In today's world robotic devices are more and more often used to help people. They solve both domestic and industrial problems. When designing any object inevitably have to deal with testing under different conditions. To do this can build a test model, but if the object is quite complex and several models need to be built at once, to save labor and material resources can help mathematical modeling. This article presents mathematical modeling of processes based on typical functional blocks in the form of systems of differential-algebraic equations. Mathematical modeling and control algorithm as a set of interrelated structures are considered. The robot motion is simulated for the forward direction of rotation of wheels, the reverse direction of rotation, and the opposite directions of rotation. A model of the control device, which forms the control actions on the wheel motor according to the value of the deviation of the current orientation of the wheeled robot from the preset one, is constructed. These influences allow you to bring the orientation of the robot to the desired orientation. Quality metrics are obtained for various values of the rotational speed of the work. Although this model neglects the action of many forces that arise during the motion, it allows us to identify the influence on the motion and trajectory of the robot of such factors as the radius of the wheels, the distance between them, the magnitude of the voltage applied to the motors during the turn.
Paper is divote to results of the development of the thermal vacuum tests computer model of allowing to investigate impact of external factors on the devices which are in conditions of own external atmosphere of the spacecraft in the SimInTech environment of the technical systems dynamic modeling. For a solution an objective models of a control object of the thermal vacuum TVAC-1400 camera are created, and the regulators executed on the basis of the programmable industrial controller Siemens S7-300 setup of key parameters is made, control algorithms are implemented by the modes of tests. The developed model allows to exercise control of test programs of the different equipment, prevention of failures at an error of the operator or interruptions in engineering networks, to reveal the most adverse situations which can arise process of functioning of the thermal vacuum camera. Besides, the presented model can be used for a research of behavior of controlled parameters of thermal vacuum tests and working off of control algorithms. In article development process and settings of model of thermal vacuum tests, its submodels and a control bar, implementation of the main algorithms are step by step described. Also results of adequacy check to the developed model are presented.
Efficiency and quality of operation of local automatic control systems as part of an autonomous object is mainly determined by the regulator in their composition and the used control law, for the synthesis of which is necessary to use modern computer-aided design systems. The article presents the results of the application of genetic algorithm as a method of parametric synthesis of the PID-controller implemented in the SimInTech visual dynamic modeling environment, which currently is used by enterprises in the rocket and space sectors of Russian Federation. Object of research is the dynamic negative feedback system on the example of the automatic angular position of artificial satellite control system. The functional scheme and the simplified mathematical model of the system in the form of the transfer functions of its links are presented. The computer model of the system as well as a process of synthesis of the controller are implemented as a package of projects, based on standard blocks and submodels SimInTech. Projects interact using a common signal base, which provides information exchange between projects, making the system model flexible and versatile. An interactive computing environment for programming language Python, Jupyter Notebook, is used as a third-party software. The organization of interaction between SimInTech and Jupyter Notebook is described, scripts of programs for its implementation are presented.
The energy efficiency of solar panels is largely determined by the accuracy of their orientation to the Sun. The article presents the results of the development of a software control system for the orientation of the solar panel, depending on the geographical location and calendar date. The system model is implemented in the environment of dynamic modeling of SimInTech technical systems and includes a model of a complex of electromechanical devices for solar panel orientation, a discrete PID controller and a software control unit, which are implemented on the basis of standard SimInTech blocks and submodels. The panel orientation system allows to change the coordinates of the azimuth and location that determine the orientation of the panel in three-dimensional space and control them according to a given program. The system is implemented as a package of projects that interact through a common signal base, which provides information exchange between projects, making the system model flexible and universal. The result of the control system is presented in the 3D module of the visual editor, which allows you to visually track the results of management and the efficiency of equipment use. To confirm the quality indicators of the orientation control of the solar panel the percentage of the received energy capacity is calculated.
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