Analysis of the control system of the clear logic of the wheel robot with differential drive
| Autor: | Dmytro Mishchuk, Yuvgen Mishchuk, Oleksandr Kalashnikov |
|---|---|
| Rok vydání: | 2021 |
| Zdroj: | Gіrnichі, budіvelnі, dorozhnі ta melіorativnі mashini. :12-23 |
| ISSN: | 2709-6149 2312-6590 |
| DOI: | 10.32347/gbdmm2021.97.0201 |
| Popis: | The ability of a mobile robot to move in the environment is an important task in robotics, so the development of advanced control systems for robots is a hot topic of research. Clear logic control systems for robotic-wheeled machines are one of the most common. Such systems are simple in design, but still have the lowest cost compared to others. One of the disadvantages of such control systems is their limited accuracy. This is usually due to imperfect control programs on which similar systems work and the imperfection of the mechanical system of drive converters, in particular for wheeled robots with differential drive, there may be cases where the robot with clear logic control can endlessly search for targets and move to a given point in space, even in the absence of obstacles in its path. This study proposes an analysis of the movements of a two-wheeled robot according to the developed algorithm of clear logic. A mathematical model of the step-by-step movement of a wheeled robot was developed, which calculates the coordinates of the centre of the mobile system. The decision-making system in the developed model is built on a relay ("ON-OFF") controller. In this study work, the authors also proposed a method for determining the moment on the rotor of the drive motor of the robot wheel, depending on the speed of the robot on a straight surface. In addition, the dependences of the change in the speed of a wheeled robot with a differential drive depending on the change in the PWM frequency in the range from 30 to 60% have been studied and presented. Graphs were presented that show how the switching frequency of the robot controller changes when it moves to the desired goal of movement in a straight line without obstacles. |
| Databáze: | OpenAIRE |
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