Search

Search Results

• INVESTIGATION OF THE ACCURACY OF MODELS OF THE TRACKING SYSTEM OF THE RTK VN MOTION CONTROL IN THE AUTONOMOUS GUIDANCE MODE

  I.V. Piskulin

  2023-06-07

  Abstract ▼

  The effectiveness of the use of autonomous mobile robots largely depends on the motion control
  system. For a crew car, the question of selecting the optimal driving speed is decided by the driver. The
  speed of movement of autonomous robots, especially over very rough terrain, is significantly lower and
  this is caused by the operation of an autonomous control system. In tracked chassis, one of the components
  of speed is known to have such a property as agility, which characterizes the controllability of a
  vehicle under specified conditions. The aim of the study is to increase the efficiency of automatic control
  systems (ACS) for the movement of ground-based robotic systems for military purposes (RTK VN) on the
  course based on the application of the method of two-circuit systems equivalent to combined. 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 to experimentally determine
  the dependences of the steady-state value of the error of reproducing the angle of the course with
  constant and linear input influences in single-circuit and double-circuit automatic motion control
  systems of the RTK. In the course of the work, it was proposed to draw up structural diagrams of
  automatic traffic control systems of the RTK VN along the course angle, based on structural diagrams
  to develop models for conducting experimental studies of the proposed approach by computer
  modeling methods. In the course of the study, it is proposed to analyze the accuracy of reproducing
  the angle of the course based on the data obtained as a result of modeling. As part of the ongoing
  work, the task of building motion control systems for autonomous mobile tracked vehicles and robots
  is considered. A model of the automatic motion control system of tracked RTCs is proposed based on
  the application of the method of two-circuit systems equivalent to combined ones. The simulation
  results confirm the efficiency of the proposed approach and show that it is possible to obtain improved
  indicators of the functioning of the control system in terms of accuracy and efficiency.
  The method proposed in the article allows us to solve the problem of improving the efficiency of the
  RTK motion control system along the course angle in offline mode.

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

  Е.Y. Pushkareva, I.V. Piskulin

  2023-04-10

  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).