Modeling of the Stabilization System of Mobile Robot Equipment in the Conditions of Movement on Terrain with Slopes and Unevenness

Abstract

The article is devoted to the development of a system of stabilization and guidance of equipment, which is installed on land-based small-scale mobile robots of the wheel type. During the operation of such objects, problems arise due to modes of movement, over-coming obstacles, movement on terrain with different types and profiles of the terrain. During such a movement, there are disturbances in the place of installation of the equip-ment, which leads to its deviation from the horizon plane. A stabilization system is used to ensure accuracy requirements in a wide range of movement speeds and operating condi-tions of mobile robots. In the article, the simulation of the stabilization system under the action of external disturbances caused by the influence of the movement of the mobile robot through terrain with a complex profile in combination with the inclination of the different steepness of the movement surface was carried out. A stabilization system simulation scheme with a basic structure and with an additionally introduced proportional-integrating controller was developed, realizations of various types of disturbances were generated by a combination of different inclination angles and different road profile classes. As a result of the simula-tion, the time realizations of the system’s response to the generated disturbances, which are the dependences of the stabilization error, were obtained, the root mean square devia-tions and the maximum value of the angle of deviation of the place of installation of the equipment from the horizon plane were determined. The results of the study showed that the system with an additionally introduced pro-portional-integrating regulator provides acceptable stabilization error values under the con-ditions of action of all considered types of disturbances. The obtained results will be used for the development of an adaptive digital system of stabilization of equipment installed on small-sized mobile robots of the wheel type.