ИССЛЕДОВАНИЕ ТОЧНОСТИ МОДЕЛЕЙ СЛЕДЯЩЕЙ СИСТЕМЫ УПРАВЛЕНИЯ ДВИЖЕНИЕМ РТК ВН В РЕЖИМЕ АВТОНОМНОГО НАВЕДЕНИЯ

Abstract

The effectiveness of the use of autonomous mobile robots largely depends on the motion controlsystem. For a crew car, the question of selecting the optimal driving speed is decided by the driver. Thespeed of movement of autonomous robots, especially over very rough terrain, is significantly lower andthis is caused by the operation of an autonomous control system. In tracked chassis, one of the componentsof speed is known to have such a property as agility, which characterizes the controllability of avehicle under specified conditions. The aim of the study is to increase the efficiency of automatic controlsystems (ACS) for the movement of ground-based robotic systems for military purposes (RTK VN) on thecourse based on the application of the method of two-circuit systems equivalent to combined. The use ofautomatic control systems equivalent to combined systems makes it possible to increase the accuracy ofautomatic control systems by reducing the value of the dynamic error, that is, achieving error invariancewithout violating the stability of the system. The objective of the study is to experimentally determinethe dependences of the steady-state value of the error of reproducing the angle of the course withconstant and linear input influences in single-circuit and double-circuit automatic motion controlsystems of the RTK. In the course of the work, it was proposed to draw up structural diagrams ofautomatic traffic control systems of the RTK VN along the course angle, based on structural diagramsto develop models for conducting experimental studies of the proposed approach by computermodeling methods. In the course of the study, it is proposed to analyze the accuracy of reproducingthe angle of the course based on the data obtained as a result of modeling. As part of the ongoingwork, the task of building motion control systems for autonomous mobile tracked vehicles and robotsis considered. A model of the automatic motion control system of tracked RTCs is proposed based onthe application of the method of two-circuit systems equivalent to combined ones. The simulationresults confirm the efficiency of the proposed approach and show that it is possible to obtain improvedindicators 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 theRTK motion control system along the course angle in offline mode.