N.I. Bouraou, A.V. Osovtsev
Èlektron. model. 2024, 46(3):114-125
https://doi.org/10.15407/emodel.46.03.114
ABSTRACT
The article is devoted to the development of a system of stabilization and guidance of equipment, which is installed on land-based small-scale mobile robots of the wheel type. During the operation of such objects, problems arise due to modes of movement, overcoming obstacles, movement on terrain with different types and profiles of the terrain. During such a movement, there are disturbances in the place of installation of the equipment, which leads to its deviation from the horizon plane. A stabilization system is used to ensure accuracy requirements in a wide range of movement speeds and operating conditions of mobile robots.
In the article, the simulation of the stabilization system under the action of external disturbances caused by the influence of the movement of the mobile robot through terrain with a complex profile in combination with the inclination of the different steepness of the movement surface was carried out. A stabilization system simulation scheme with a basic structure and with an additionally introduced proportional-integrating controller was developed, realizations of various types of disturbances were generated by a combination of different inclination angles and different road profile classes. As a result of the simulation, the time realizations of the system’s response to the generated disturbances, which are the dependences of the stabilization error, were obtained, the root mean square deviations and the maximum value of the angle of deviation of the place of installation of the equipment from the horizon plane were determined.
The results of the study showed that the system with an additionally introduced proportional-integrating regulator provides acceptable stabilization error values under the conditions of action of all considered types of disturbances. The obtained results will be used for the development of an adaptive digital system of stabilization of equipment installed on small-sized mobile robots of the wheel type.
KEYWORDS
mobile robots, stabilization system, modeling, inclination of the plane of motion, profile, stabilization error.
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