Registration Number
0220U103773,
0117U007282
, R & D reports
Title
Development of a computerized monitoring system and automatic control of mobile robot, multi-purpose on the basis of intellectual technologies
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Head
Gerasin Alexander S., Кандидат технічних наук
Registration Date
18-11-2020
Organization
Admiral Makarov National University of Shipbuilding
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The processes of monitoring and automatic control in a computerized system of automation of a mobile multipurpose robot are the object of research.
The methods of synthesis and structural organization, models, software and hardware means of the computerized system for monitoring and automatic control of the multipurpose mobile robot are the subject of research.
The aim of the work is to develop a functional structure, mathematical and simulation models, optimized intelligent control devices and control algorithms, effective hardware and software means, as well as an experimental sample of computerized system for monitoring and automatic control of the multipurpose mobile robot (MMR) to increase its reliability, energy and economic efficiency when moving and performing specified technological operations on complex ferromagnetic surfaces located at different angles.
Research methods. Research in the development of a computerized monitoring and automatic control system of MMR is based on the integrated use of methods: theories of automatic control for the synthesis of structures and algorithms of automatic control systems (ACS), as well as for comparative analysis of their quality indicators with different regulators; theories of mathematical analysis for the synthesis of mathematical models of MMR; identification theory, fuzzy set theory, neural network technologies, electromagnetic field theory (for the synthesis of clamping force observers and the spatial motion regulator of the MMR); theories of optimization (for adjustment of optimum parameters of regulators of MMR’s ACS); computer modeling (for analysis and verification of the obtained theoretical propositions).
Theoretical and practical results. An experimental model of a laboratory MMR capable of moving on inclined ferromagnetic surfaces is created at the final stage of the work. A factory crawler platform was chosen as the basis of the caterpillar propulsion. The selected platform is finalized taking into acc
Product Description
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Kilimanov Bohdan O.
Povoroznyuk Oleksiy S S
Topalov Andriy M.
Cherno Oleksandr O.
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2020-11-18
