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

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.