Modeling of Control System for Tracked Mobile Robot Taking Into Account Kinematic and Dynamic Parameters

Science & Technique Pub Date : 2024-02-02 DOI:10.21122/2227-1031-2024-23-1-5-14

S. A. Pauliukavets, A. A. Velchenko, A. A. Radkevich, D. Y. Tschaplygin

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Abstract

The paper examines the problem of constructing a motion control system for autonomous mobile tracked robots in an informal external environment. Based on the proposed mathematical model of the control system for a tracked mobile robot, which takes into account kinematic and dynamic parameters, simulation modeling of a tracked mobile robot was carried out in the dynamic modeling environments of technical systems MATLAB Simulink and SimInTech, which made it possible to control the coordinates of a tracked mobile robot along a predetermined trajectory with a certain accuracy. To increase the stability of the mobile robot motion control system, a PID controller of the armature current and electromagnetic torque was introduced into it. During the simulation study, graphical dependences on time were obtained: supply voltage; rotation angle of the robot body; track speeds; motor armature current; electromagnetic torque of engines; armature current of motors with PID controller; the path traveled by the caterpillars; electromagnetic torque of motors with a PID controller, and also the center of mass of the robot was set when setting a trajectory with a radius of 10 m for 6.2 s. Models were built in the MATLAB Simulink software package: general simulation, kinematic simulation and dynamic simulation of a tracked mobile robot, simulation subsystem of the electric drive control unit. In the SimInTech software environment, a simulation model of the dynamic part of the right electric drive of a tracked mobile robot was obtained. A comparative analysis of the graphical dependencies of the angular velocity of the roller and armature current of the motor of a tracked mobile robot, obtained in the MATLAB Simulink and SimInTech packages, was carried out, which revealed a number of advantages and disadvantages when testing the operation of the control system of a tracked mobile robot in an unformalized external environment.

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考虑运动学和动力学参数的履带式移动机器人控制系统建模

本文探讨了在非正式外部环境中为自主移动履带式机器人构建运动控制系统的问题。根据所提出的考虑运动学和动力学参数的履带式移动机器人控制系统数学模型，在技术系统 MATLAB Simulink 和 SimInTech 的动态建模环境中对履带式移动机器人进行了仿真建模，从而可以对履带式移动机器人沿预定轨迹的坐标进行一定精度的控制。为了提高移动机器人运动控制系统的稳定性，在其中引入了电枢电流和电磁转矩的 PID 控制器。在仿真研究过程中，获得了与时间相关的图形：电源电压、机器人身体的旋转角度、轨迹速度、电机电枢电流、发动机电磁转矩、带 PID 控制器的电机电枢电流、毛毛虫行走的路径、带 PID 控制器的电机电磁转矩，以及在半径为 10 m 的轨迹上设定 6.2 s 时机器人的质心。在 MATLAB Simulink 软件包中建立了模型：履带式移动机器人的一般仿真、运动仿真和动态仿真，以及电驱动控制单元的仿真子系统。在 SimInTech 软件环境中，获得了履带式移动机器人右侧电驱动动态部分的仿真模型。对在 MATLAB Simulink 和 SimInTech 软件包中获得的履带式移动机器人的滚筒角速度和电机电枢电流的图形依赖关系进行了比较分析，发现了在非正规化外部环境中测试履带式移动机器人控制系统运行时的一些优缺点。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Science & Technique

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