title: Ð¡ÑÐ°Ð±Ð¸Ð»Ð¸Ð·Ð°ÑÐ¸Ñ Ð½ÐµÐ¿Ð¾Ð»Ð½Ð¾Ð¿ÑÐ¸Ð²Ð¾Ð´Ð½Ð¾Ð¹ Ð¼ÐµÑ Ð°Ð½Ð¸ÑÐµÑÐºÐ¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ
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: Stabilization of a non-four-wheel drive mechanical system
Creators: name: ÐÐµÑÐµÐ´Ð¾Ð², ÐÐ¼Ð¸ÑÑÐ¸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: 2021
Subjects: Ð·Ð°Ð¼ÐºÐ½ÑÑÐ°Ñ ÑÐ¸ÑÑÐµÐ¼Ð°
ÑÑÑÐ¾Ð¹ÑÐ¸Ð²Ð¾ÑÑÑ
ÑÐ¿ÑÐ°Ð²Ð»ÑÐµÐ¼Ð¾ÑÑÑ
Ð½Ð°Ð±Ð»ÑÐ´Ð°ÐµÐ¼Ð¾ÑÑÑ
Ð½Ð°Ð±Ð»ÑÐ´Ð°ÑÐµÐ»Ð¸ ÑÐ¾ÑÑÐ¾ÑÐ½Ð¸Ñ
Ð¿Ð¸Ð´-ÑÐµÐ³ÑÐ»ÑÑÐ¾ÑÑ
closed system
stability
controllability
observability
state observers
pid regulators

description: ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ ÑÐ°Ð±Ð¾ÑÐ¾ÑÐ¿Ð¾ÑÐ¾Ð±Ð½Ð¾ÑÑÐ¸ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð½ÐµÐ¿Ð¾Ð»Ð½Ð¾Ð¿ÑÐ¸Ð²Ð¾Ð´Ð½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ Ð² ÑÑÐ»Ð¾Ð²Ð¸ÑÑ Ð´ÐµÑÐ¸ÑÐ¸ÑÐ° Ð´Ð°ÑÑÐ¸ÐºÐ¾Ð² Ð¾Ð±ÑÐ°ÑÐ½ÑÑ ÑÐ²ÑÐ·ÐµÐ¹. 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Ð·ÑÑÐµÐ½Ð¸Ðµ Ð¾ÑÐ¾Ð±ÐµÐ½Ð½Ð¾ÑÑÐµÐ¹ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð½ÐµÐ¿Ð¾Ð»Ð½Ð¾Ð¿ÑÐ¸Ð²Ð¾Ð´Ð½ÑÐ¼Ð¸ Ð¼ÐµÑÐ°Ð½Ð¸ÑÐµÑÐºÐ¸Ð¼Ð¸ Ð¾Ð±ÑÐµÐºÑÐ°Ð¼Ð¸. 2. ÐÐ·ÑÑÐµÐ½Ð¸Ðµ Ð¿ÑÐ¾Ð±Ð»ÐµÐ¼ ÑÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð² ÑÑÐ»Ð¾Ð²Ð¸ÑÑ Ð½ÐµÐ¿Ð¾Ð»Ð½Ð¾Ð³Ð¾ Ð¸Ð·Ð¼ÐµÑÐµÐ½Ð¸Ñ Ð²ÐµÐºÑÐ¾ÑÐ° ÑÐ¾ÑÑÐ¾ÑÐ½Ð¸Ñ. 3. Ð¦Ð¸ÑÑÐ¾Ð²Ð¾Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð¿ÑÐ¾ÑÐµÑÑÐ¾Ð² Ð¾ÑÐµÐ½Ð¸Ð²Ð°Ð½Ð¸Ñ ÐºÐ¾Ð¼Ð¿Ð¾Ð½ÐµÐ½Ñ Ð²ÐµÐºÑÐ¾ÑÐ° ÑÐ¾ÑÑÐ¾ÑÐ½Ð¸Ñ Ð´Ð»Ñ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ Ð²Ð°ÑÐ¸Ð°Ð½ÑÐ¾Ð² Ð¾ÑÐµÐ½Ð¸Ð²Ð°ÑÐµÐ»ÐµÐ¹ Ñ ÑÐµÐ»ÑÑ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ñ Ð¸Ñ Ð´Ð¾ÑÑÐ¾Ð¸Ð½ÑÑÐ². 4. Ð¦Ð¸ÑÑÐ¾Ð²Ð¾Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð¿ÑÐ¾ÑÐµÑÑÐ¾Ð² Ð² Ð·Ð°Ð¼ÐºÐ½ÑÑÐ¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ðµ, Ð²ÐºÐ»ÑÑÐ°ÑÑÐµÐ¹ Ð´Ð¸ÑÐºÑÐµÑÐ½ÑÐµ ÑÐµÐ°Ð»Ð¸Ð·ÑÐµÐ¼ÑÐµ ÐÐÐ-ÑÐµÐ³ÑÐ»ÑÑÐ¾ÑÑ Ñ ÑÐµÐ»ÑÑ Ð²ÑÑÐ²Ð»ÐµÐ½Ð¸Ñ Ð¸Ñ Ð¿ÑÐµÐ´ÐµÐ»ÑÐ½ÑÑ Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½Ð¾ÑÑÐµÐ¹. ÐÑÐ¾Ð±ÐµÐ½Ð½Ð¾ÑÑÑ ÑÐ°Ð±Ð¾ÑÑ ÑÐ²Ð»ÑÐµÑÑÑ Ð³Ð°ÑÐ¼Ð¾Ð½Ð¸ÑÐ½Ð¾Ðµ ÑÐ¾ÑÐµÑÐ°Ð½Ð¸Ðµ Ð°Ð½Ð°Ð»Ð¸ÑÐ¸ÑÐµÑÐºÐ¸Ñ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ¾Ð² Ð¸ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ¾Ð² ÑÐ¸ÑÐ»ÐµÐ½Ð½Ð¾Ð³Ð¾ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ. ÐÑÐ±Ð¾Ñ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¾Ð² Ð¿ÑÐµÐ´Ð»Ð¾Ð¶ÐµÐ½Ð½ÑÑ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð¾ÑÑÑÐµÑÑÐ²Ð»ÑÐ»ÑÑ Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð»Ð¸Ð½ÐµÐ°ÑÐ¸Ð·Ð¾Ð²Ð°Ð½Ð½Ð¾Ð¹ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð¾Ð±ÑÐµÐºÑÐ° Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ ÐºÐ»Ð°ÑÑÐ¸ÑÐµÑÐºÐ¸Ñ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² ÑÐµÐ¾ÑÐ¸Ð¸ Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ. Ð­ÑÑÐµÐºÑÐ¸Ð²Ð½Ð¾ÑÑÑ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð¿ÑÐ¾Ð²ÐµÑÑÐ»Ð°ÑÑ Ð½Ð° Ð½ÐµÐ»Ð¸Ð½ÐµÐ¹Ð½Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð¾Ð±ÑÐµÐºÑÐ°, Ð´Ð»Ñ ÑÐµÐ³Ð¾ Ð² Simulink Ð±ÑÐ»Ð¸ ÑÐ¾Ð·Ð´Ð°Ð½Ñ Ð¸ Ð¿ÑÐ¾ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ñ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÐµ ÑÑÑÑÐºÑÑÑÐ½ÑÐµ ÑÑÐµÐ¼Ñ Ð·Ð°Ð¼ÐºÐ½ÑÑÑÑ ÑÐ¸ÑÑÐµÐ¼. ÐÐ½Ð¸ Ð¿Ð¾Ð·Ð²Ð¾Ð»Ð¸Ð»Ð¸ Ð´Ð°ÑÑ ÑÐµÐºÐ¾Ð¼ÐµÐ½Ð´Ð°ÑÐ¸Ð¸ Ð´Ð»Ñ Ð½Ð°ÑÑÑÐ¾Ð¹ÐºÐ¸ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¾Ð² Ð¾ÑÐµÐ½Ð¸Ð²Ð°ÑÐµÐ»ÐµÐ¹ Ð²ÐµÐºÑÐ¾ÑÐ° ÑÐ¾ÑÑÐ¾ÑÐ½Ð¸Ñ. ÐÐ»Ñ Ð·Ð°Ð¼ÐºÐ½ÑÑÐ¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ Ñ ÐÐÐ-ÑÐµÐ³ÑÐ»ÑÑÐ¾ÑÐ°Ð¼Ð¸ Ð±ÑÐ»Ð¸ Ð½Ð°Ð¹Ð´ÐµÐ½Ñ Ð¿ÑÐµÐ´ÐµÐ»ÑÐ½ÑÐµ Ð·Ð½Ð°ÑÐµÐ½Ð¸Ñ Ð¿ÐµÑÐ¸Ð¾Ð´Ð¾Ð² Ð´Ð¸ÑÐºÑÐµÑÐ¸Ð·Ð°ÑÐ¸Ð¸, Ð¿ÑÐ¸ ÐºÐ¾ÑÐ¾ÑÑÑ Ð·Ð°Ð¼ÐºÐ½ÑÑÐ°Ñ ÑÐ¸ÑÑÐµÐ¼Ð° Ð¾ÑÑÐ°ÐµÑÑÑ ÑÐ°Ð±Ð¾ÑÐ¾ÑÐ¿Ð¾ÑÐ¾Ð±Ð½Ð¾Ð¹.
description: This work is devoted to the study of the efficiency of control algorithms for a non-fourwheel drive system in conditions of a shortage of feedback sensors. Problems which are solved in the course of the study: 1. Study of the features of control of non-four-wheel drive mechanical objects. 2. Study of the problems of implementation of control algorithms under conditions of incomplete measurement of the state vector. 3. Digital modeling of the estimation processes of the state vector components for different evaluator options in order to compare their merits. 4. Digital modeling of processes in a closed system, including discrete realizable PID controllers in order to identify their limiting capabilities. The peculiarity of the work is a harmonious combination of analytical results and results of numerical modeling. The choice of the parameters of the proposed control algorithms was carried out on the basis of a linearized dynamic model of the object using classical methods of control theory. The effectiveness of control algorithms was tested on a nonlinear model of an object, for which various structural schemes of closed systems were created and tested in Simulink. They allowed us to give recommendations for tuning the parameters of the state vector estimators. For a closed-loop system with PID controllers, the limiting values of the sampling periods were found, at which the closed-loop system remains operational.