Open AccessAnalytical design of control system mathematical models for mobile robots based on the methods of inverse problems of dynamics and modal PID controllers
Author(s) -
В. Н. Сизых,
S. B. Antoshkin,
Roman Daneev,
Maxim V. Bakanov,
А. В. Лившиц,
Aleksandrov Aa
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.179
H-Index - 26
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/760/1/012053
Subject(s) - pid controller , control theory (sociology) , control engineering , modal , deflection (physics) , robot , mobile robot , computer science , engineering , artificial intelligence , control (management) , temperature control , chemistry , physics , polymer chemistry , optics
Mathematical models of a three-wheeled mobile robot based on the variable state apparatus and in the operator’s form are presented. Based on these mathematical models, the synthesis of its adaptive control system is carried out according to the method of constructing Ziegler-Nichols PID controllers, as well as modal PID controllers. The design method of proportional controllers with double differentiation (PDD) of the autonomous robot is justified. The rules of wheel pair control are synthesized on the basis of reference models using a simple gradient scheme of the inverse problems method of dynamics in the formulation of P. D. Krutko for the problem of stabilizing (blanking) the angular velocities for a three-wheeled mobile robot. Simulink-models of robot movement are developed for cases with the use of PID-controllers which are adjusted by the Ziegler-Nichols method at synchronous deviation of wheels. Simulink-models of robot motion have been developed for cases using PID controllers set up according to the Ziegler-Nichols method for synchronous wheel deflection, modal and real PID controllers for differential wheel deflection, as well as double differentiation controllers. The analysis of modeling results is considered.