title: Ð¡Ð¸ÑÑÐµÐ¼Ð° Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð´Ð»Ñ ÑÐ´ÐµÑÐ¶Ð°Ð½Ð¸Ñ ÐºÑÑÑÐ° Ð°Ð²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»Ñ
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Automatic control system for keeping the course of the car
Creators: name: ÐÐµÑÐºÑÐ»Ð¾Ð², ÐÐ½Ð´ÑÐµÐ¹
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2021
Subjects: lqr Ð¾Ð¿ÑÐ¸Ð¼Ð°Ð»ÑÐ½ÑÐ¹ ÑÐ¸Ð½ÑÐµÐ·
ÑÐ¸ÑÑÐµÐ¼Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ
ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ñ
Ð½ÐµÐ»Ð¸Ð½ÐµÐ¹Ð½Ð°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ
ÑÑÐ½ÐºÑÐ¸Ð¾Ð½Ð°Ð»
ts - ÑÐµÐ³ÑÐ»ÑÑÐ¾Ñ
Ð½ÐµÑÑÑÐºÐ°Ñ ts - Ð¼Ð¾Ð´ÐµÐ»Ñ
simulink
lqr optimal synthesis
control system
path
nonlinear model
functional
ts - regulator
fuzzy ts - model

description: Ð¢ÐµÐ¼Ð° Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¹ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ: Â«Ð¡Ð¸ÑÑÐµÐ¼Ð° Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð´Ð»Ñ ÑÐ´ÐµÑÐ¶Ð°Ð½Ð¸Ñ ÐºÑÑÑÐ° Ð°Ð²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»ÑÂ». ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° ÑÐ¸Ð½ÑÐµÐ·Ñ ÑÐµÐ³ÑÐ»ÑÑÐ¾ÑÐ° Ð´Ð»Ñ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÐ¼ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½ÑÐ¼ ÑÑÐµÐ´ÑÑÐ²Ð¾Ð¼ Ð½Ð° Ð·Ð°Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸, Ð° ÑÐ°ÐºÐ¶Ðµ Ð½Ð°ÑÐ¾Ð¶Ð´ÐµÐ½Ð¸Ñ Ð¾Ð¿ÑÐ¸Ð¼Ð°Ð»ÑÐ½ÑÑ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¾Ð² ÑÐµÐ³ÑÐ»ÑÑÐ¾ÑÐ° ÐÐ°Ð´Ð°ÑÐ¸, ÐºÐ¾ÑÐ¾ÑÑÐµ ÑÐµÑÐ°Ð»Ð¸ÑÑ Ð² ÑÐ¾Ð´Ðµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ: 1. ÐÑÐ¾Ð°Ð½Ð°Ð»Ð¸Ð·Ð¸ÑÐ¾Ð²Ð°ÑÑ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ñ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÐºÐ¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½Ð¾Ð³Ð¾ ÑÑÐµÐ´ÑÑÐ²Ð° 2. ÐÑÐ¿Ð¾Ð»Ð½Ð¸ÑÑ Ð¾Ð±Ð·Ð¾Ñ Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð°Ð²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»Ñ Ð¸ ÑÐ»ÐµÐºÑÑÐ¾Ð½Ð½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÑÐ°Ð±Ð¸Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð±Ð¾ÐºÐ¾Ð²Ð¾Ð³Ð¾ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð°Ð²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»Ñ 3. ÐÑÐ¿Ð¾Ð»Ð½Ð¸ÑÑ Ð¾Ð±Ð·Ð¾Ñ Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ð¾Ð½Ð½ÑÑ Ð¿Ð¾Ð´ÑÐ¾Ð´Ð¾Ð² Ð´Ð»Ñ ÑÐµÑÐµÐ½Ð¸Ñ Ð·Ð°Ð´Ð°ÑÐ¸ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ 4. ÐÐ¾ÑÑÑÐ¾Ð¸ÑÑ Ð¼Ð¾Ð´ÐµÐ»Ñ Ð´Ð»Ñ ÐºÐ¾Ð¼Ð¿ÑÑÑÐµÑÐ½Ð¾Ð³Ð¾ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð² ÑÑÐµÐ´Ðµ Simulink 5. ÐÑÐ¿Ð¾Ð»Ð½Ð¸ÑÑ Ð²ÑÑÐ¸ÑÐ»Ð¸ÑÐµÐ»ÑÐ½ÑÐ¹ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½Ñ Ð¿Ð¾ ÑÑÐ°Ð±Ð¸Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð½Ð° Ð·Ð°Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸, Ð¸ÑÐ¿Ð¾Ð»ÑÐ·ÑÑ ÑÐ°Ð·Ð½ÑÐ¹ Ð½Ð°Ð±Ð¾Ñ ÑÐ°Ð²Ð½Ð¾Ð²ÐµÑÐ½ÑÑ ÑÐ¾ÑÐµÐº, Ð¸ Ð¿ÑÐ¾Ð²ÐµÑÑÐ¸ Ð°Ð½Ð°Ð»Ð¸Ð· Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½ÑÑ Ð´Ð°Ð½Ð½ÑÑ Ð Ð¿ÑÐµÐ´ÑÑÐ°Ð²Ð»ÐµÐ½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÐµ Ð±ÑÐ» ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½ ÑÐ¸Ð½ÑÐµÐ· Ð½ÐµÑÐµÑÐºÐ¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ ÑÑÐµÐ´ÑÑÐ² ÐºÐ¾Ð¼Ð¿ÑÑÑÐµÑÐ½Ð¾Ð³Ð¾ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ. Ð¡Ð¸Ð½ÑÐµÐ· ÑÐµÐ³ÑÐ»ÑÑÐ¾ÑÐ° Ð±ÑÐ» ÑÐ¾Ð²ÐµÑÑÐµÐ½ Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ Ð¼ÐµÑÐ¾Ð´Ð° LQR Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð¸ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¸ÑÐµÑÐºÐ¾Ð¹ Ð¾Ð¿ÑÐ¸-Ð¼Ð¸Ð·Ð°ÑÐ¸Ð¸ Ñ Ð·Ð°Ð´Ð°Ð½Ð¸ÐµÐ¼ Ð´Ð¾Ð¿ÑÑÑÐ¸Ð¼ÑÑ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ñ Ð¾Ð±Ð»Ð°ÑÑÐµÐ¹. Ð ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð±ÑÐ» Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½ Ð°Ð½Ð°Ð»Ð¸Ð· ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ¾Ð² Ñ ÑÐ°Ð·Ð½ÑÐ¼ Ð½Ð°Ð±Ð¾ÑÐ¾Ð¼ ÑÐ°Ð²Ð½Ð¾Ð²ÐµÑÐ½ÑÑ ÑÐ¾ÑÐµÐº, Ð° ÑÐ°ÐºÐ¶Ðµ Ð±ÑÐ»Ð° Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð° Ð¿ÑÐ¾Ð²ÐµÑÐºÐ° Ð¾Ð¿ÑÐ¸Ð¼Ð°Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÐµÑÐµÐ½Ð¸Ñ ÑÐµÐ³ÑÐ»ÑÑÐ¾ÑÐ° Ð½Ð° Ð°ÑÐ¸Ð¼Ð¿ÑÐ¾ÑÐ¸ÑÐµÑÐºÑÑ ÑÑÑÐ¾Ð¹ÑÐ¸Ð²Ð¾ÑÑÑ, ÐºÐ¾ÑÐ¾ÑÐ°Ñ Ð¸ Ð¿Ð¾ÐºÐ°Ð·Ð°Ð»Ð° ÑÑÐ°Ð±Ð¸Ð»Ð¸Ð·Ð°ÑÐ¸Ñ TS - Ð¼Ð¾Ð´ÐµÐ»Ð¸.
description: The subject of the graduate qualification work is "Automatic control system for keeping the course of the car". This work is devoted to the synthesis of a regulator for a control system of an unmanned vehicle on a given trajectory, as well as finding the optimal parameters of the regulator. Tasks that were solved during the study: 1. Analyze the equations of vehicle motion dynamics 2. To review the mathematical model of the car and the electronic stabilization system of the lateral movement of the car 3. Review the optimization approaches for solving the control problem 4. Build a model for computer simulation in the Simulink environment 5. Perform a computational experiment to stabilize the model on a given tra-jectory using a different set of equilibrium points, and analyze the data obtained In the presented work, the synthesis of fuzzy control using computer simula-tion tools was considered. The synthesis of the controller was accomplished using the LQR optimization method and parametric optimization with the specification of admissible dynamic regions. As a result of the study, we analyzed the results with a different set of equilib-rium points, and also checked the optimal solution of the controller for asymptotic stability, which showed the stabilization of the TS model.