Algorithms for control of longitudinal motion of a two-wheel experimental sample

Abstract

The subject of study is the process of forming algorithms for controlling the angular and translational movements of a two-wheeled experimental sample (TWES). The aim is to develop approaches to the formation of control algorithms for the translational and angular movements of a non-stationary automatic control object. Tasks: to concretize the process of synthesis of a control algorithm by state according to the criterion of the minimum integral of the weighted error modulus for a linear mathematical description of an automatic control object in the state space. Form a block diagram of an automatic control system by the state. Improve the approach to the synthesis of output control algorithms for mathematical description in the frequency domain of short-period and long-period motions of TWES. Illustrate the peculiarity of the approach using a specific example of a TWES under control and disturbing influences. Develop a simulation scheme in the Simulink environment and investigate responses to external step influences. Develop an approach to the formation of control algorithms by the diagnosis of TWES as an object of automatic control. Describe the procedure and means of deep diagnostics of emergencies of TWES. Develop algorithms for restoring the operability of the automatic rational control system. Used methods are a method of state space, the method of relative functions, the method of transfer functions, the method of optimization by integral criterion, the method of synthesis by logarithmic asymptotic frequency characteristics, methods of diagnosing and restoring operability. The following Results: three approaches were formed to the formation of control algorithms of the angular and translational movements of the TWES using linear mathematical descriptions in the time and frequency domains. Conclusions. The scientific novelty lies in the formation of approaches to the combined control of angular and translational movements, considering the structural and parametric features of the mathematical descriptions of TWES.