МЕТОДИКА ОПРЕДЕЛЕНИЯ ПАРАМЕТРОВ СЛЕДЯЩЕЙ СИСТЕМЫ УПРАВЛЕНИЯ ДВИЖЕНИЕМ РТК ВН В РЕЖИМЕ АВТОНОМНОГО НАВЕДЕНИЯ

Abstract

The aim of the study is to improve the accuracy of the motion control system of ground-based roboticsystems for military purposes (RTK VN) of tracked type based on the application of the method ofconstructing two-circuit automatic control systems equivalent to combined systems. The use of automaticcontrol systems equivalent to combined systems makes it possible to increase the accuracy of automaticcontrol 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 zeroerror 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 trafficcontrol systems of the RTK VN along the angle of the course. This task can be solved in stages. Duringthe first stage, the connection of control errors in single-circuit automatic control systems with a constantinput effect is considered. The next stage is the justification of the construction of two-circuit systemstaking into account the linear input effect. Next, it is necessary to determine the parameters of thesecond circuit of the two-circuit ACS by the movement of the RTK. The problem considers the relationshipof the dynamic control error in dual-circuit ACS by the movement of the RTK along the angle of thecourse with the linear input effect. The method used in the article allows us to solve the problem ofachieving the invariance of the error in the ACS by the movement of the RTK VN along the angle of thecourse. The paper presents a methodology for determining the parameters and structure of the ACS inorder to achieve zero error, which, in turn, leads to increased accuracy while meeting the requirementsfor the stability of the system. The calculation results confirm the operability of the proposed methodologyand show that with various input effects (constant and linear) in single-circuit and double-circuitACS, the RTK movement along the course can achieve independence of reducing the dynamic errorfrom the stability of the ACS (i.e., achieving error invariance without loss of stability of the system).