Year: 2021
Type: article
Abstract: Purpose of research.The purpose of this study is to assess the possibility of developing and simulating an optimalcontrol system for the longitudinal movement of a robocars according to the criterion of maximum speed by using theMSC.Adams virtual modeling system and the MATLAB mathematical modeling packageMethods.One of the research approaches is system modeling, while a virtual modeling system is used as a softwaretool for synthesizing a virtual physical model of a robot, and a package of application programs for solving technicalcomputing problems MATLAB and a graphical environment for simulation Simulink are used to model a controlsystem. The Pontryagin maximum principle is used as a synthesis method for the longitudinal displacement controlsystem, and the maximum speed is used as an optimality criterion.Results:The structure of the control system for a robotic platform is presented; an optimal control algorithm isdeveloped and implemented in the Simulink environment. The structure of the physical model management systemwith data transfer to Adams has been developed. The acceleration curves and the phase portrait of the model controlsystem during the longitudinal movement of the robotic platform are presented and analyzed.Conclusion.As can be seen from the above simulation results, the optimal positional control law, which implementsthe maximum principle, fulfills the task with the required quality indicators. In this regard, the proposed algorithm canbe used in the development of control systems for the longitudinal movement of mobile robots. Joint modeling of thevirtual prototype and the object control system in the Matlab and Adams environment avoids the production of a fullscale model and makes it possible to take into account the physical properties of the object without creating ananalytical model.
Institution: Belgorod State Technological University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W3127106979