Computer-Aided Design of the Robotic Platform Control System Using Adams and Matlab

Abstract

Purpose of research. The purpose of this study is to assess the possibility of developing and simulating an optimal control system for the longitudinal movement of a robocars according to the criterion of maximum speed by using the MSC.Adams virtual modeling system and the MATLAB mathematical modeling package Methods. One of the research approaches is system modeling, while a virtual modeling system is used as a software tool for synthesizing a virtual physical model of a robot, and a package of application programs for solving technical computing problems MATLAB and a graphical environment for simulation Simulink are used to model a control system. The Pontryagin maximum principle is used as a synthesis method for the longitudinal displacement control system, 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 is developed and implemented in the Simulink environment. The structure of the physical model management system with data transfer to Adams has been developed. The acceleration curves and the phase portrait of the model control system 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 implements the maximum principle, fulfills the task with the required quality indicators. In this regard, the proposed algorithm can be used in the development of control systems for the longitudinal movement of mobile robots. Joint modeling of the virtual 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 an analytical model.