S. V. Sokolov, V. A. Pogorelov, A. L. Okhotnikov, M. V. Kurinenko
A new approach to the processing of satellite navigation measurements for high-precision positioning of moving objects moving along a priori (program) trajectories is considered. Existing methods of processing satellite information using the least squares method or its various modifications provide the required positioning accuracy mainly only for stationary objects. At the same time, to assess the state of highly dynamic objects, taking into account the noise of satellite measure- ments, it is very effective to use modern methods of stochastic filtering theory, taking into account both the unevenness of the movement of a transport object and errors in the processing of measurements. The considered approach is based on the use of these methods of nonlinear stochastic filtering. It is proposed to increase the accuracy of positioning a moving object using electronic maps. The use of a digital path model makes it possible to approximate with a given accuracy the a priori (program) trajectory of a moving object with a set of trajectory intervals — orthodromies. These intervals allow you to establish an analytical dependence on the navigation parameters, which ensures high positioning accuracy and a significant reduction in computational costs. The integration of information from electronic maps and stochastic filtering algorithms for dynamic processing of satellite measurements made it possible to significantly reduce computational costs when estimating the current coordinates of a moving object and at the same time significantly improve positioning accuracy compared to traditional methods of processing satellite messages.
{"title":"A Method of Combining Data from Electronic Maps and Satellite Measurements for High-Precision Positioning of Moving Objects","authors":"S. V. Sokolov, V. A. Pogorelov, A. L. Okhotnikov, M. V. Kurinenko","doi":"10.17587/mau.24.551-559","DOIUrl":"https://doi.org/10.17587/mau.24.551-559","url":null,"abstract":"A new approach to the processing of satellite navigation measurements for high-precision positioning of moving objects moving along a priori (program) trajectories is considered. Existing methods of processing satellite information using the least squares method or its various modifications provide the required positioning accuracy mainly only for stationary objects. At the same time, to assess the state of highly dynamic objects, taking into account the noise of satellite measure- ments, it is very effective to use modern methods of stochastic filtering theory, taking into account both the unevenness of the movement of a transport object and errors in the processing of measurements. The considered approach is based on the use of these methods of nonlinear stochastic filtering. It is proposed to increase the accuracy of positioning a moving object using electronic maps. The use of a digital path model makes it possible to approximate with a given accuracy the a priori (program) trajectory of a moving object with a set of trajectory intervals — orthodromies. These intervals allow you to establish an analytical dependence on the navigation parameters, which ensures high positioning accuracy and a significant reduction in computational costs. The integration of information from electronic maps and stochastic filtering algorithms for dynamic processing of satellite measurements made it possible to significantly reduce computational costs when estimating the current coordinates of a moving object and at the same time significantly improve positioning accuracy compared to traditional methods of processing satellite messages.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135141512","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The article is devoted to the development a closed-loop depth and course control algorithms for underwater robot with pair undulating fin. The controller was proposed based on the Active Disturbance Rejection Control (ADRC) technique and fuzzy logic. A brief review of the underwater robot with pair undulating fin (AUV) is carried out. The dynamic and kinematic robot model is given, and the robot model with the environment is presented in the Simscape-MATLAB library. To solve the problem of controlling course and depth of the robot, a method of Active Disturbance Rejection Control (ADRC) is proposed. This robust control method based on extension of the system model with an additional and fictitious state variable, representing everything that is not included in the mathematical description of the plant. This method allows to treat the considered system with a simpler model, since the negative effects of modeling uncertainty are compensated in real time. The advantage of the proposed method is that an exact analytical description of the system is not required, since it can be assumed that the unknown parts of the dynamics are internal noise in the installation. The fuzzy control method is used to build a non-linear relationship between controller outputs and fin parameters that determine the generated fin forces. The results of modeling of the problem of heading and depth control using a complete nonlinear dynamic model with six degrees of freedom are presented. The conducted studies confirm the operability, adequacy, and anti-disturbance ability of the ADRC controller.
{"title":"Undulating Propulsion Underwater Robot Control Method Based on ADRC and Fuzzy Logic","authors":"A. Ahmad, A. Yuschenko","doi":"10.17587/mau.24.469-480","DOIUrl":"https://doi.org/10.17587/mau.24.469-480","url":null,"abstract":"The article is devoted to the development a closed-loop depth and course control algorithms for underwater robot with pair undulating fin. The controller was proposed based on the Active Disturbance Rejection Control (ADRC) technique and fuzzy logic. A brief review of the underwater robot with pair undulating fin (AUV) is carried out. The dynamic and kinematic robot model is given, and the robot model with the environment is presented in the Simscape-MATLAB library. To solve the problem of controlling course and depth of the robot, a method of Active Disturbance Rejection Control (ADRC) is proposed. This robust control method based on extension of the system model with an additional and fictitious state variable, representing everything that is not included in the mathematical description of the plant. This method allows to treat the considered system with a simpler model, since the negative effects of modeling uncertainty are compensated in real time. The advantage of the proposed method is that an exact analytical description of the system is not required, since it can be assumed that the unknown parts of the dynamics are internal noise in the installation. The fuzzy control method is used to build a non-linear relationship between controller outputs and fin parameters that determine the generated fin forces. The results of modeling of the problem of heading and depth control using a complete nonlinear dynamic model with six degrees of freedom are presented. The conducted studies confirm the operability, adequacy, and anti-disturbance ability of the ADRC controller. ","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"17 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75167217","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
V. A. Kushnikov, A. S. Bogomolov, V. A. Ivashenko, A. D. Selyutin, A. F. Rezchikov, E. V. Kushnikova, A. I. Markov
This research provides a new approach to solving the problem of identifying emergency situations in the processes of aircraft repair work by forming a metric space of emergency situations and determining the distance between its points. The main stages of repair of Mi-8 helicopters and their modifications at a typical aircraft repair facility are described. The main stages of solving the problem of identifying production situations are determined. Model has been formed to classify the characteristics of production situations that arise during the repair of Mi-8 helicopters. When analyzing the production situation, it is compared with known situations recorded in the database. If its complete coincidence with known situations is found in the metric space of production situations, then the situation is considered known, the decision maker is issued a list of documents. Otherwise, in the metric space of situations, the point closest to the situation that has arisen is determined, and management personnel are given documents. After the end of the production situation, the updated information on the data, documents and recommendations used by the management personnel in the decision-making process is entered by experts into the computer memory, and the situation itself is included in the database used by the management system. A software package has been developed as part of the production process management systems of an aircraft repair company. The efficiency indicators of the implementation of the identification system of complex production situations at the enterprise are determined.
{"title":"The Problem of Production Situations Identifi cation in the Systems of Production Processes Management of an Aircraft Repair Enterprise","authors":"V. A. Kushnikov, A. S. Bogomolov, V. A. Ivashenko, A. D. Selyutin, A. F. Rezchikov, E. V. Kushnikova, A. I. Markov","doi":"10.17587/mau.24.451-461","DOIUrl":"https://doi.org/10.17587/mau.24.451-461","url":null,"abstract":"This research provides a new approach to solving the problem of identifying emergency situations in the processes of aircraft repair work by forming a metric space of emergency situations and determining the distance between its points. The main stages of repair of Mi-8 helicopters and their modifications at a typical aircraft repair facility are described. The main stages of solving the problem of identifying production situations are determined. Model has been formed to classify the characteristics of production situations that arise during the repair of Mi-8 helicopters. When analyzing the production situation, it is compared with known situations recorded in the database. If its complete coincidence with known situations is found in the metric space of production situations, then the situation is considered known, the decision maker is issued a list of documents. Otherwise, in the metric space of situations, the point closest to the situation that has arisen is determined, and management personnel are given documents. After the end of the production situation, the updated information on the data, documents and recommendations used by the management personnel in the decision-making process is entered by experts into the computer memory, and the situation itself is included in the database used by the management system. A software package has been developed as part of the production process management systems of an aircraft repair company. The efficiency indicators of the implementation of the identification system of complex production situations at the enterprise are determined.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135498872","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Redistributing energy resources within a group of ground robots allows for an increase in the reachable workspace area and expands its functional capabilities. The use of wireless energy transfer systems for exchanging energy resources between ground robots reduces the requirements for positioning accuracy and enhances the reliability of the robotic system. This study examines control and management algorithms for a bidirectional wireless energy transfer system when operating as part of a ground robot. A structural diagram of the bidirectional wireless energy transfer module is proposed for integration into the robot’s control system, built on distributed principles. The developed algorithms take into account the specific features of the circuitry solutions of the bidirectional wireless energy transfer system, implemented using an uncontrolled resonant generator. The proposed solutions are tested on a robotics platform. The experiments focus on the process of replenishing the energy resources of one robot with another robot. Energy is transmitted between robots equipped with the same Li-ion battery, which has a nominal voltage of 7.4 V and a capacity of 5 A•h. The battery is charged from 50 % to 90 % capacity with different positioning accuracies of the robots. When there is a displacement of 4 mm and a distance of 4 mm between the receiving and transmitting coils, the charging time was 48 minutes, which is 5 % longer than the wired charging method. The maximum charging time reached 57 minutes with a distance of 15 mm between the robots. The use of bidirectional wireless power transfer for energy exchange between ground robots or for charging robots at a charging station enhances the autonomy of the group’s operation, as energy transfer can be successfully achieved even with low positioning accuracy. The proposed solutions can be used for battery charging and resource redistribution processes in groups of ground and underwater robots.
{"title":"Control Algorithms for a Bidirectional Wireless Power Transmission System at the Redistribution of Energy Resources in a Group of Ground Robots","authors":"K. D. Krestovnikov","doi":"10.17587/mau.24.481-488","DOIUrl":"https://doi.org/10.17587/mau.24.481-488","url":null,"abstract":"Redistributing energy resources within a group of ground robots allows for an increase in the reachable workspace area and expands its functional capabilities. The use of wireless energy transfer systems for exchanging energy resources between ground robots reduces the requirements for positioning accuracy and enhances the reliability of the robotic system. This study examines control and management algorithms for a bidirectional wireless energy transfer system when operating as part of a ground robot. A structural diagram of the bidirectional wireless energy transfer module is proposed for integration into the robot’s control system, built on distributed principles. The developed algorithms take into account the specific features of the circuitry solutions of the bidirectional wireless energy transfer system, implemented using an uncontrolled resonant generator. The proposed solutions are tested on a robotics platform. The experiments focus on the process of replenishing the energy resources of one robot with another robot. Energy is transmitted between robots equipped with the same Li-ion battery, which has a nominal voltage of 7.4 V and a capacity of 5 A•h. The battery is charged from 50 % to 90 % capacity with different positioning accuracies of the robots. When there is a displacement of 4 mm and a distance of 4 mm between the receiving and transmitting coils, the charging time was 48 minutes, which is 5 % longer than the wired charging method. The maximum charging time reached 57 minutes with a distance of 15 mm between the robots. The use of bidirectional wireless power transfer for energy exchange between ground robots or for charging robots at a charging station enhances the autonomy of the group’s operation, as energy transfer can be successfully achieved even with low positioning accuracy. The proposed solutions can be used for battery charging and resource redistribution processes in groups of ground and underwater robots. ","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"34 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82176630","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
One of the most promising methods for improving control efficiency is the parallel synthesis of commands by a group of computing devices. However, delays in digital-to-analog conversions and software processing, the need to synchronize calculations, and signal transmission coordination prevent the achievement of maximum performance in distributed systems. Problems can be solved by increasing the power of embedded microprocessors. This leads to an undesirable increase in design complexity, energy consumption, and dimensions of controls. For the miniaturization of embedded control systems, the article proposes to apply the principles of the indivisibility of physical processes in a technical system and the execution of control commands based on the functional combination of aggregates with analog logic devices (agents). A generalized model of changing the states of a technical system is considered, which sets the principles for switching on or off groups of units. The concept of an automaton of ternary logic is introduced, which determines the order of interaction of aggregates in the time domain. The synthesis of the block diagram of the automaton is carried out. In the mathematical model of the automaton, the operations of ternary logic receive a specific physical content in the form of retrospective processing of changes in the states of aggregates. It is shown that ternary logic automata can be combined into open and closed chains, setting hardware control algorithms units robot. The circuits for connecting automata controlled by elements of asynchronous logic are given. When connected in series, the automata control the order of switching on and off the units. Chains of three-valued logic automata can be arbitrarily long, determining the behavior of the system in the process of its operation. Due to the rejection of program control, such automata can operate in real time, limited only by the delay of signals in logic elements. An important advantage of the proposed technical solution is the unification of the automatic control system. The simplicity of the design of devices and the absence of additional add-ons make it possible to integrate such circuits into the controls of microminiature robots, reducing their weight and size parameters. Promising areas of application of analog automata are microelectromechanical and microelectronic devices.
{"title":"Built-in Analog Automatic Controls for Small Robots","authors":"N. Dembitsky","doi":"10.17587/mau.24.462-468","DOIUrl":"https://doi.org/10.17587/mau.24.462-468","url":null,"abstract":"One of the most promising methods for improving control efficiency is the parallel synthesis of commands by a group of computing devices. However, delays in digital-to-analog conversions and software processing, the need to synchronize calculations, and signal transmission coordination prevent the achievement of maximum performance in distributed systems. Problems can be solved by increasing the power of embedded microprocessors. This leads to an undesirable increase in design complexity, energy consumption, and dimensions of controls. For the miniaturization of embedded control systems, the article proposes to apply the principles of the indivisibility of physical processes in a technical system and the execution of control commands based on the functional combination of aggregates with analog logic devices (agents). A generalized model of changing the states of a technical system is considered, which sets the principles for switching on or off groups of units. The concept of an automaton of ternary logic is introduced, which determines the order of interaction of aggregates in the time domain. The synthesis of the block diagram of the automaton is carried out. In the mathematical model of the automaton, the operations of ternary logic receive a specific physical content in the form of retrospective processing of changes in the states of aggregates. It is shown that ternary logic automata can be combined into open and closed chains, setting hardware control algorithms units robot. The circuits for connecting automata controlled by elements of asynchronous logic are given. When connected in series, the automata control the order of switching on and off the units. Chains of three-valued logic automata can be arbitrarily long, determining the behavior of the system in the process of its operation. Due to the rejection of program control, such automata can operate in real time, limited only by the delay of signals in logic elements. An important advantage of the proposed technical solution is the unification of the automatic control system. The simplicity of the design of devices and the absence of additional add-ons make it possible to integrate such circuits into the controls of microminiature robots, reducing their weight and size parameters. Promising areas of application of analog automata are microelectromechanical and microelectronic devices. ","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"35 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79970557","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In connection with the development of aviation technology, the expansion of the functionality of modern aircraft and the complication of the tasks being solved, additional stringent requirements are imposed on the accuracy of air navigation. Along with high accuracy, navigation autonomy is also required. The autonomy of aircraft navigation implies the navigation of an aircraft without the use of active radar facilities. In this article, to calculate the optimal reference flight path of an aircraft in a horizontal plane, the Bellman dynamic programming method is proposed using a digital terrain map. A technique, algorithms have been developed, and a numerical experiment has been carried out using fragments of a digital terrain map. High accuracy and autonomy of navigation are necessary, among other things, to ensure stealth (invisibility) of aircraft by ground-based radar facilities of a potential enemy in low-altitude flight mode. The best stealth of an aircraft flight in a low-altitude flight mode is achieved not only by flying around, but also by avoiding obstacles, due to the shielding properties of the earth’s surface. Autonomy of navigation provides periodic correction of the reference flight path during long-term flight, and high accuracy prevents aircraft collisions with the earth’s surface in low-altitude flight mode. The purpose of this work is to select the optimal reference trajectory (route) of an aircraft flight in the low-altitude flight mode. This article discusses a method developed based on the principle of dynamic programming for calculating the reference flight path in the horizontal plane depending on the DEM and the implementation of the algorithm based on the proposed method with a specific numerical example. The method makes it possible to calculate the optimal flight route, which provides the greatest secrecy of the aircraft in the low-altitude flight mode using the screening properties of the earth’s surface irregularities.
{"title":"Planning the Optimal Reference Flight Path of an Aircraft Using a Terrain Map","authors":"N. B. Agayev, Q. H. Orujov, N. N. Kalbiyev","doi":"10.17587/mau.24.496-502","DOIUrl":"https://doi.org/10.17587/mau.24.496-502","url":null,"abstract":"In connection with the development of aviation technology, the expansion of the functionality of modern aircraft and the complication of the tasks being solved, additional stringent requirements are imposed on the accuracy of air navigation. Along with high accuracy, navigation autonomy is also required. The autonomy of aircraft navigation implies the navigation of an aircraft without the use of active radar facilities. In this article, to calculate the optimal reference flight path of an aircraft in a horizontal plane, the Bellman dynamic programming method is proposed using a digital terrain map. A technique, algorithms have been developed, and a numerical experiment has been carried out using fragments of a digital terrain map. High accuracy and autonomy of navigation are necessary, among other things, to ensure stealth (invisibility) of aircraft by ground-based radar facilities of a potential enemy in low-altitude flight mode. The best stealth of an aircraft flight in a low-altitude flight mode is achieved not only by flying around, but also by avoiding obstacles, due to the shielding properties of the earth’s surface. Autonomy of navigation provides periodic correction of the reference flight path during long-term flight, and high accuracy prevents aircraft collisions with the earth’s surface in low-altitude flight mode. The purpose of this work is to select the optimal reference trajectory (route) of an aircraft flight in the low-altitude flight mode. This article discusses a method developed based on the principle of dynamic programming for calculating the reference flight path in the horizontal plane depending on the DEM and the implementation of the algorithm based on the proposed method with a specific numerical example. The method makes it possible to calculate the optimal flight route, which provides the greatest secrecy of the aircraft in the low-altitude flight mode using the screening properties of the earth’s surface irregularities. ","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"33 1-2 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78219147","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In determinate models of control dynamic objects usage minimum of information operating physical factors. Criterions orthogonal tests of optimization should be damage enter probable (density of probability), or another realization of vector accidental indignation and application put into practice, example object of control type aircraft. Example variable (unsteady) control of factor aircraft (realization accidental of parameters) should be guarantee execution concrete of realization purposes, even in maximum be in difficulties. This demand include in number criterions of optimization achievement extreme of expectation value of quality functional of object of control. Application flight fitness probability achievement execution completion of mission. Definition irregularity control of decision with take into consideration should be name problem optimum mean quantity or statistical optimization of dynamic system. By the solution statistical problem optimization arise news enough session difficulties. She connected with decision theoretical questions, which now should be by the analysis of determinate models and organization of quality procedure. Latter procedure realization by the considerable increase machine time and including methods statistical simulation (artificial reproduction) of property object of control (aircraft). Application criterion statistical optimization propose, what beforehand (in good time) statistical according to official returns. Receipt of statistical information realization analysis of experience developmental. Methods optimization propose arbitrary law of random characteristic. Reliable of conclusions under certain conditions possess statistical characteristic.
{"title":"Optimum Average of High-Speed to Describe of Aircraft by the Flying-Tests","authors":"U. V. Kojevnikov, G. P. Shibanov","doi":"10.17587/mau.24.489-495","DOIUrl":"https://doi.org/10.17587/mau.24.489-495","url":null,"abstract":"In determinate models of control dynamic objects usage minimum of information operating physical factors. Criterions orthogonal tests of optimization should be damage enter probable (density of probability), or another realization of vector accidental indignation and application put into practice, example object of control type aircraft. Example variable (unsteady) control of factor aircraft (realization accidental of parameters) should be guarantee execution concrete of realization purposes, even in maximum be in difficulties. This demand include in number criterions of optimization achievement extreme of expectation value of quality functional of object of control. Application flight fitness probability achievement execution completion of mission. Definition irregularity control of decision with take into consideration should be name problem optimum mean quantity or statistical optimization of dynamic system. By the solution statistical problem optimization arise news enough session difficulties. She connected with decision theoretical questions, which now should be by the analysis of determinate models and organization of quality procedure. Latter procedure realization by the considerable increase machine time and including methods statistical simulation (artificial reproduction) of property object of control (aircraft). Application criterion statistical optimization propose, what beforehand (in good time) statistical according to official returns. Receipt of statistical information realization analysis of experience developmental. Methods optimization propose arbitrary law of random characteristic. Reliable of conclusions under certain conditions possess statistical characteristic. ","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"8 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75797460","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The article is devoted to the motion analysis of a highly maneuverable mobile robot with four omniwheels, taking into account the conditions for the appearance of wheel detachment from the surface, and the occurrence of wheel slipping. Within the motion analysis the task of determination support reactions for a mobile robot is considered. To solve this task, the design of a mobile robot is presented in the form of the frame with rods. To disclosure the static indeterminacy of the considered system the forces method is used. Dependences of support reactions from the position of the center mass are obtained. The feature of the considered system is that the obtained dependencies of the support reactions are nonlinear. Based on the obtained dependences of the support reactions, the influence of the position of the center of mass of a mobile robot with four wheels on the occurrence of detachment and slipping of wheels of a mobile robot was considered. Investigation was carried out within the framework of the dry friction model, according to which module of the friction force proportionally depends on the support reaction acting on the wheel from the side of the motion surface. Simulation was carried out, as a result of which the conditions for the position of the center of mass of a mobile robot were determined, in which wheels of a mobile robot do not detach from the motion surface, and there is no wheel slipping.
{"title":"Motion of a Four-Wheeled Omnidirectional Mobile Robot without Slipping and Detachment from the Surface","authors":"A. Kilin, Y. Karavaev, V. Shestakov","doi":"10.17587/mau.24.403-411","DOIUrl":"https://doi.org/10.17587/mau.24.403-411","url":null,"abstract":"The article is devoted to the motion analysis of a highly maneuverable mobile robot with four omniwheels, taking into account the conditions for the appearance of wheel detachment from the surface, and the occurrence of wheel slipping. Within the motion analysis the task of determination support reactions for a mobile robot is considered. To solve this task, the design of a mobile robot is presented in the form of the frame with rods. To disclosure the static indeterminacy of the considered system the forces method is used. Dependences of support reactions from the position of the center mass are obtained. The feature of the considered system is that the obtained dependencies of the support reactions are nonlinear. Based on the obtained dependences of the support reactions, the influence of the position of the center of mass of a mobile robot with four wheels on the occurrence of detachment and slipping of wheels of a mobile robot was considered. Investigation was carried out within the framework of the dry friction model, according to which module of the friction force proportionally depends on the support reaction acting on the wheel from the side of the motion surface. Simulation was carried out, as a result of which the conditions for the position of the center of mass of a mobile robot were determined, in which wheels of a mobile robot do not detach from the motion surface, and there is no wheel slipping.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"675 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74757175","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The control plant is a trolley of a single-girder overhead crane designed to move a suspended payload along the span. Features of the plant: one control with two degrees of freedom, the uncertainty of mass-inertial characteristics, and the action of non-smooth uncontrolled disturbances. We consider the reduced dynamics of the DC motor in the mathematical model, where the power supply voltage of the armature circuit is a control. Here, parametric and external disturbances affecting the mechanical subsystem become unmatched (i.e., they act through different channels with control) and cannot be directly compensated. This paper considers two main problems, each of which uses S-shaped smooth sigmoid functions with saturation. The first problem is to design the trajectory of the trolley considering the design constraints on its velocity and acceleration. Tracking such a trajectory should ensure the smooth transfer of the payload in a given time and the damping of its oscillations. For this purpose, a reference trajectory has been developed in the form of the sum of a sigmoid function and an integral of the swing angle. The proposed solution is not inferior in the efficiency to existing analogs, while its implementation requires less computational costs. The second problem is to develop a robust tracking system. For this purpose, a procedure for block synthesis of discontinuous true control and sigmoid fictitious controls (local feedbacks) has been developed. The latter are smooth analogs of discontinuous control and make it possible to suppress unmatched disturbances with a given accuracy without identifying them. In contrast to standard linear local feedbacks, the boundness of sigmoid fictitious controls does not lead to a large overshoot of state variables, which is critical in the presence of design constraints. In addition, such fictitious controls are implemented in mechanical plants and do not contribute to the wear of the actuator, which inevitably occurs when discontinuous fictitious controls are used. We presented the results of numerical simulation and carried out a comparative analysis of closed-loop systems with various fictitious controls: linear, discontinuous, and sigmoid. The results of the numerical simulation demonstrated the effectiveness of the developed approach.
{"title":"Methods for Damping Payload Oscillations and Robust Control of an Overhead Crane Trolley Considering the Dynamics of the Electric Drive","authors":"A. Antipov, S. Krasnova","doi":"10.17587/mau.24.412-420","DOIUrl":"https://doi.org/10.17587/mau.24.412-420","url":null,"abstract":"The control plant is a trolley of a single-girder overhead crane designed to move a suspended payload along the span. Features of the plant: one control with two degrees of freedom, the uncertainty of mass-inertial characteristics, and the action of non-smooth uncontrolled disturbances. We consider the reduced dynamics of the DC motor in the mathematical model, where the power supply voltage of the armature circuit is a control. Here, parametric and external disturbances affecting the mechanical subsystem become unmatched (i.e., they act through different channels with control) and cannot be directly compensated. This paper considers two main problems, each of which uses S-shaped smooth sigmoid functions with saturation. The first problem is to design the trajectory of the trolley considering the design constraints on its velocity and acceleration. Tracking such a trajectory should ensure the smooth transfer of the payload in a given time and the damping of its oscillations. For this purpose, a reference trajectory has been developed in the form of the sum of a sigmoid function and an integral of the swing angle. The proposed solution is not inferior in the efficiency to existing analogs, while its implementation requires less computational costs. The second problem is to develop a robust tracking system. For this purpose, a procedure for block synthesis of discontinuous true control and sigmoid fictitious controls (local feedbacks) has been developed. The latter are smooth analogs of discontinuous control and make it possible to suppress unmatched disturbances with a given accuracy without identifying them. In contrast to standard linear local feedbacks, the boundness of sigmoid fictitious controls does not lead to a large overshoot of state variables, which is critical in the presence of design constraints. In addition, such fictitious controls are implemented in mechanical plants and do not contribute to the wear of the actuator, which inevitably occurs when discontinuous fictitious controls are used. We presented the results of numerical simulation and carried out a comparative analysis of closed-loop systems with various fictitious controls: linear, discontinuous, and sigmoid. The results of the numerical simulation demonstrated the effectiveness of the developed approach.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"23 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89247749","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, the authors present the synthesis of control laws for the flexible joint manipulator to stabilize the oscillation and track the desired trajectory. To solve this problem, the article applies synergetic control theory. In synergetic control theory the desired values are impressed as invariants. So the invariants act as the control objectives of the system and our task is to find the control laws for them. Using this theory, the control law is designed to ensure the movement of the closed-loop system from an arbitrary initial state into the vicinity of the desired invariant manifold, i.e. the objective attracting manifold. Thereby, not only reach the necessary invariant but also ensure the asymptotic stability of the entire system. The quality of the proposed control law is shown through simulation results on Matlab and its efficiency is shown by comparison with backsteping control law.
{"title":"Control Law Synthesis for Flexible Joint Manipulator Based on Synergetic Control Theory","authors":"C. X. Nguyen, S. V. Tran, H. Phan","doi":"10.17587/mau.24.395-402","DOIUrl":"https://doi.org/10.17587/mau.24.395-402","url":null,"abstract":"In this paper, the authors present the synthesis of control laws for the flexible joint manipulator to stabilize the oscillation and track the desired trajectory. To solve this problem, the article applies synergetic control theory. In synergetic control theory the desired values are impressed as invariants. So the invariants act as the control objectives of the system and our task is to find the control laws for them. Using this theory, the control law is designed to ensure the movement of the closed-loop system from an arbitrary initial state into the vicinity of the desired invariant manifold, i.e. the objective attracting manifold. Thereby, not only reach the necessary invariant but also ensure the asymptotic stability of the entire system. The quality of the proposed control law is shown through simulation results on Matlab and its efficiency is shown by comparison with backsteping control law.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"89 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75911298","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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