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Karpov E.K., Kuznetsova E.M.


The paper provides a brief description of two-wheeled mobile platform parameters. The transfer function type in the canonical form is determined for the studied platform and its coefficients are calculated. Comparison of the output characteristics of the mobile platform rotational motion and its mathematical model showed that with a sufficient degree of reliability the model can be used to calculate the coefficients and adjust the mobile platform regulator. The discrepancy between the experimental and calculated curve is caused by experimental errors. Complete suppression of oscillations and a slight delay at the transient response to the steady-state value output is due to unaccounted components of the transfer function when it is presented by the oscillatory link. Based on the experimental data, the control actions shaper coefficients are calculated as a control system automatic controller of the rotational motion control system of a two-wheeled mobile platform. Researches of principal possibilities of the developed algorithm realization on the microcontroller basis are carried out. The peculiarity of this algorithm is the absence of such solutions for microcontrollers operating systems, as well as the absence of standard libraries for programming such converters on microcontrollers or programmable logic controllers. The applied controller setting allows you to control the process of rotating the mobile platform around the vertical axis faster and more accurately, taking into account changes in the controlled object characteristics.


mobile platform; control object model; control actions shaper; microcontroller

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ISSN 1813-7911