Published on 23 February 2019
The purpose. This paper is devoted to the generalization of the theoretical research and uniaxial wheeled modules (UWM) development results, conducted at the department of “Automated complexes of orientation and navigation systems” of the Moscow Aviation Institute (MAI). This work is aimed at the development of UWM as efficient vehicles for solving various monitoring tasks in the steady developing areas, in particular – mountains and foothills. It includes monitoring the state of pavement dynamics, roadside natural formation and engineering structures as well as the airfield infrastructure and the surrounding airspace. The methods. In the UWM structures development process we used the gyroscopic stabilizers construction methods, in particular, the method of ensuring UWM’s platform invariance to the inertia forces arising from its arbitrary movement along the space-time trajectory (STT). The generalized UWM’s mathematical model is obtained based on the second kind Lagrange equations for non – golonomic systems. When forming the signals for UWM platforms angular orientation control and stabilizing them in the horizon plane, we used inertial, gyroscopic, gravitational and flywheel methods and their combinations. For the stable UWM’s movement along given STT all structures use two-circuit control method. The results. The functional features defining the variants of the UWM structures and including the number of platform’s degrees of freedom relative to the wheels set’ axis, as well as the ways to control its angular orientation are summarized. A generalized UWM mathematical model has been constructed, and the particular UWM models can be derived from it. It is proposed to use a unified approach to the UWM movements along given STT control system construction. Common UWM’s software and hardware features are revealed. Presented UWM simulation results have confirmed the effectiveness of the proposed technical solutions. Conclusion. The generalizations of the work done at MAI was carried out, in particular, UWM structures development, mathematical models development, the formation of ways to control the angular orientation and stabilization of UWM platforms, development of the motion control algorithms for UWMs moving along given STT. In general, we have created the toolkit that makes it possible to effectively select one or another type of the developed UWMs in relation to the current monitoring task requirements.
Tags: мониторинг, одноосный колесный модуль, платформа, горная территория управление ориентацией, управление движением по траектории
ISSN 1998-4502 (Print) ISSN 2499-975Х (Online)