METHODOLOGY FOR DETERMINING THE PARAMETERS OF THE TRACKING SYSTEM OF THE RTK VN MOTION CONTROL IN THE AUTONOMOUS GUIDANCE MODE

Abstract

The aim of the study is to improve the accuracy of the motion control system of ground-based robotic systems for military purposes (RTK VN) of tracked type based on the application of the method of constructing two-circuit automatic control systems equivalent to combined systems. The use of automatic control systems equivalent to combined systems makes it possible to increase the accuracy of automatic control systems by reducing the value of the dynamic error, that is, achieving error invariance, without violating the stability of the system. The objective of the study is the possibility of achieving zero error in single-circuit and double-circuit automatic motion control systems RTK. To solve this problem, it is necessary to determine the structure of the ACS and draw up block diagrams of automatic traffic control systems of the RTK VN along the angle of the course. This task can be solved in stages. During the first stage, the connection of control errors in single-circuit automatic control systems with a constant input effect is considered. The next stage is the justification of the construction of two-circuit systems taking into account the linear input effect. Next, it is necessary to determine the parameters of the second circuit of the two-circuit ACS by the movement of the RTK. The problem considers the relationship of the dynamic control error in dual-circuit ACS by the movement of the RTK along the angle of the course with the linear input effect. The method used in the article allows us to solve the problem of achieving the invariance of the error in the ACS by the movement of the RTK VN along the angle of the course. The paper presents a methodology for determining the parameters and structure of the ACS in order to achieve zero error, which, in turn, leads to increased accuracy while meeting the requirements for the stability of the system. The calculation results confirm the operability of the proposed methodology and show that with various input effects (constant and linear) in single-circuit and double-circuit ACS, the RTK movement along the course can achieve independence of reducing the dynamic error from the stability of the ACS (i.e., achieving error invariance without loss of stability of the system).