title: Ð¡Ð¾Ð³Ð»Ð°ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ðµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ ÑÐ¸ÑÑÐµÐ¼Ð¾Ð¹ ÑÐ»ÐµÐºÑÑÐ¾Ð¿ÑÐ¸Ð²Ð¾Ð´Ð¾Ð² ÑÐµÑÑÑÑÑ ÐºÐ¾Ð»ÑÑÐ½Ð¾Ð³Ð¾ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ°
title: Ð½Ð°ÑÑÐ½ÑÐ¹ Ð´Ð¾ÐºÐ»Ð°Ð´
titleType: Subtitle
title: Coordinated control of the electric drive system of a four-wheel mobile robot
Creators: name: ÐÐµÑÐºÐ¾Ð²ÑÐºÐ¸Ð¹, ÐÐ²Ð³ÐµÐ½Ð¸Ð¹
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: 2020
Subjects: ÐÐ°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
Ð Ð¾Ð±Ð¾ÑÑ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐµ
ÐºÐ¾Ð»ÑÑÐ½ÑÐµ ÑÐ¾Ð±Ð¾ÑÑ
Ð½ÐµÐ»Ð¸Ð½ÐµÐ¹Ð½Ð¾Ðµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ
Ð½ÐµÑÑÑÐºÐ¾Ðµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ
Ð½ÐµÐ¹ÑÐ¾ÑÐµÑÐµÐ²Ð¾Ðµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ
Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¸ÑÐµÑÐºÐ°Ñ Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ñ
wheeled robot
nonlinear control
fuzzy control
neural network control
parametric optimization

description: ÐÑÐµÐ´ÑÑÐ°Ð²Ð»ÐµÐ½Ð½Ð¾Ðµ Ð² Ð½Ð°ÑÑÐ½Ð¾Ð¼ Ð´Ð¾ÐºÐ»Ð°Ð´Ðµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð¾ Ð°ÐºÑÑÐ°Ð»ÑÐ½Ð¾Ð¹ ÑÐµÐ¼Ðµ ÑÐ¾Ð³Ð»Ð°ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÐ¸ÑÑÐµÐ¼Ð¾Ð¹ ÑÐ»ÐµÐºÑÑÐ¾Ð¿ÑÐ¸Ð²Ð¾Ð´Ð¾Ð² ÑÐµÑÑÑÑÑÐºÐ¾Ð»ÑÑÐ½Ð¾Ð³Ð¾ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½Ð¾Ð³Ð¾ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ°, ÐºÐ¾Ð»ÑÑÐ° ÐºÐ¾ÑÐ¾ÑÐ¾Ð³Ð¾ ÑÐºÐ¾Ð¼Ð¿Ð¾Ð½Ð¾Ð²Ð°Ð½Ñ Ð² Ð´Ð¸ÑÑÐµÑÐµÐ½ÑÐ¸Ð°Ð»ÑÐ½ÑÐµ Ð¿ÑÐ¸Ð²Ð¾Ð´Ð½ÑÐµ Ð±Ð»Ð¾ÐºÐ¸. ÐÐ¾ÐºÐ»Ð°Ð´ ÑÐ¾Ð´ÐµÑÐ¶Ð¸Ñ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ðµ Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð¸ÑÑÐ»ÐµÐ´ÑÐµÐ¼Ð¾Ð³Ð¾ ÐºÐ¾Ð»ÑÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ°, Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ðµ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¾Ð³Ð»Ð°ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ, Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¸ÑÐµÑÐºÑÑ Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ñ ÑÐ¸ÑÑÐµÐ¼Ð½Ð¾Ð³Ð¾ ÑÐµÐ³ÑÐ»ÑÑÐ¾ÑÐ° Ð¸ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÑ Ð½Ð°ÑÑÑÐ½ÑÑ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ¾Ð². ÐÐ¾ÑÑÑÐ¾ÐµÐ½Ð¸Ðµ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¾Ð³Ð»Ð°ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ ÑÐ°ÑÐºÑÑÐ²Ð°ÐµÑ Ð±Ð»Ð¾Ðº ÑÐ°ÑÑÑÑÐ° ÑÑÐ°ÐµÐºÑÐ¾ÑÐ½ÑÑ Ð¾ÑÐ¸Ð±Ð¾Ðº, ÑÐ¸ÑÑÐµÐ¼Ð½ÑÐ¹ ÑÐµÐ³ÑÐ»ÑÑÐ¾Ñ Ð² ÑÑÑÑ Ð¸ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð¸ÑÑ (Ð½ÐµÐ»Ð¸Ð½ÐµÐ¹Ð½ÑÐ¹, Ð½ÐµÑÑÑÐºÐ¸Ð¹, Ð½ÐµÐ¹ÑÐ¾ÑÐµÑÐµÐ²Ð¾Ð¹) Ð¸ ÑÐ¿Ð¾ÑÐ¾Ð± Ð½Ð°ÑÑÑÐ¾Ð¹ÐºÐ¸ Ð»Ð¾ÐºÐ°Ð»ÑÐ½ÑÑ ÑÐµÐ³ÑÐ»ÑÑÐ¾ÑÐ¾Ð² ÑÐºÐ¾ÑÐ¾ÑÑÐ¸ ÑÐ»ÐµÐºÑÑÐ¾Ð¿ÑÐ¸Ð²Ð¾Ð´Ð¾Ð² ÐºÐ¾Ð»ÑÑ. Ð ÐµÐ·ÑÐ»ÑÑÐ°ÑÑ Ð½Ð°ÑÑÑÐ½ÑÑ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ¾Ð² ÑÐ¾Ð´ÐµÑÐ¶Ð°Ñ Ð³ÑÐ°ÑÐ¸ÐºÐ¸ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ ÑÐµÐ½ÑÑÐ° ÐºÐ¾ÑÐ¿ÑÑÐ° Ð½Ð° Ð´Ð²ÑÑ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸ÑÑ Ð² Ð·Ð°Ð²Ð¸ÑÐ¸Ð¼Ð¾ÑÑÐ¸ Ð¾Ñ ÑÐ¸Ð¿Ð° Ð¿ÑÐ¸Ð¼ÐµÐ½ÑÐµÐ¼Ð¾Ð³Ð¾ ÑÐ¸ÑÑÐµÐ¼Ð½Ð¾Ð³Ð¾ ÑÐµÐ³ÑÐ»ÑÑÐ¾ÑÐ°, Ð° ÑÐ°ÐºÐ¶Ðµ Ð²ÑÐµÐ¼Ñ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð¸Ñ ÑÐ°ÑÑÑÑÐ¾Ð² ÑÐ¿ÑÐ°Ð²Ð»ÑÑÑÐ¸Ñ Ð²Ð¾Ð·Ð´ÐµÐ¹ÑÑÐ²Ð¸Ð¹ Ð¿ÑÐ¸ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸Ð¸ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ ÑÑÑÑÐ¾Ð¹ÑÑÐ² Ð² Ð°Ð¿Ð¿Ð°ÑÐ°ÑÐ½Ð¾Ð¹ ÑÐ°ÑÑÐ¸ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ. ÐÑÐµ ÑÐ»ÐµÐ¼ÐµÐ½ÑÑ ÑÐ°Ð±Ð¾ÑÑ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ñ Ð² Ð¼Ð°ÑÑÑÐ°Ð±Ð¸ÑÑÐµÐ¼Ð¾Ð¹ ÑÐ¾ÑÐ¼Ðµ Ñ Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½Ð¾ÑÑÑÑ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸Ñ Ð´Ð»Ñ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½ÑÑ ÑÐ¾Ð±Ð¾ÑÐ¾Ð² Ñ Ð½ÐµÑÐ¸Ð¼Ð¼ÐµÑÑÐ¸ÑÐ½Ð¾Ð¹ ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸ÐµÐ¹ ÑÐ°ÑÐ¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ Ð¿ÑÐ¸Ð²Ð¾Ð´Ð½ÑÑ Ð±Ð»Ð¾ÐºÐ¾Ð².
description: The presented result of scientific research is devoted to the actual topic of coordinated control of the electric drive system of a four-wheel industrial mobile robot, the wheels of which are assembled in differential drive units. The report of scientific research contains the construction of a mathematical model of the considered wheeled robot, the construction of a coordinated control system, parametric optimization of the system regulator and the results of experiments. The constructed system of a coordinated control contains a block for calculating trajectory errors, a system controller in three versions (nonlinear, fuzzy, neural network) and a method for setting up local speed controllers for wheel electric drives. The results of experiments contain graphs of the position of the center of the body on two trajectories, depending on the type of system controller used, as well as the time for performing calculations of control actions when using various devices in the hardware of the control system. All work elements are made in a scalable form with the possibility of using mobile robots with an asymmetrical design of the arrangement of drive units.