Research of the Process of Energy Consumption by the Automated Shuttle of the Warehouse System

The purpose of this study is the mathematical modelling of electromechanical processes to estimate the electricity consumption of an automated shuttle warehouse system. In the form of a system of two ordinary differential equations with initial conditions, it is proposed the mathematical model allowing to study the processes of electric energy consumption by an automated shuttle with direct current motors, which is used as the automation tools in modern warehouse systems for transporting goods between racks. The proposed mathematical model allows us to determine the angular velocity of the shuttle wheels and the current in the rotor windings of its driving electric motors for a given supplied electric voltage. The process of electric energy consumption is characterized by the current in the rotor windings of the driving electric motors of the shuttle and their supplied voltage. By means the proposed mathematical model, the process of energy consumption is researched for the automated shuttle accelerated from the state of the rest to achieving of the steady speed under an instantaneously supplied constant electric voltage. The considered example shows that the proposed model allows us to study both transient and steady processes of electric energy consumption by a shuttle with direct current motors when transporting goods between racks of a warehouse system.