Features of the mathematical model for the control forces calculation of the four-wheeled robot

Leonard, A. V.; Tverdohlebov, S A; Гаврилов, А. Е.; Ustinov, S. A.; Burhanov, A A

doi:10.1088/1757-899x/489/1/012054

Cited by 1 publication

(3 citation statements)

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“…To have illustrating the proposed general approaches developed for simulating and processing the measured electrical signals from the board sensors installed on the wheeled electro-mechanic platform we will consider the model problem about four wheeled platform with the installed board accelerometer, because similar systems are widely used now [12,15].…”

Section: Modelling Four Wheeled Electro-mechanic Platform With the Bo...mentioning

confidence: 99%

“…Really, a lot of the modern researches are about different kinds problems dealt about controlling, measuring and defining the motion state of the wheeled platforms including the general autonomous navigation and motion safety [3,7,8], the path's trajectory [1,9], the current position and the attitude [4,10] as well as by the velocity [8] and the acceleration [11]. Besides, there are a lot of researches dealt with defining the mechanical interactions between the wheels and the soils [12,13] as well as with estimating the aerodynamic [14] and control forces [15]. It is necessary to note too, 2021 JINST 16 P10006 the identification problems representing the particular kind of processing the measurements are indirectly and directly [16] actually presented in a lot of researches.…”

Section: Introductionmentioning

confidence: 99%

“…Numerical processing of the measured signals is based on using the mathematical models providing the relations between the directly measured signals from the board sensors and the wheeled platforms parameters, so these mathematical models must having all necessary properties agreed with their using purposes, and constructing such mathematical models can be the difficult problem in general. Although, the mathematical models are widely discussed for numeric processing of measuring signals from the board sensors installed on wheeled platforms, but the most researches dealt with the particular kinds of mathematical models, measurements and their processing like in [1,[8][9][10][15][16][17][18][19][20]. At the same time, there are no the conventional generalized approaches of mathematical modelling fit for the numeric processing of the measurement results.…”

Section: Introductionmentioning

confidence: 99%

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An approach for numerical simulating and processing of measured electrical signals from board sensors installed on wheeled electro-mechanical platforms

2021

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The generalized approaches of mathematical modelling for numerical simulating and processing of measured electrical signals from board sensors installed on wheeled electro-mechanical platforms are developed in this research. The mathematical backgrounds of the developed approaches are elaborated on the basis of especially formulated initial-value problems need to be solved numerically or the identification procedure need to be applied. It is shown that using the Lagrange's formalism and the electro-mechanical analogies for constructing the improved coupled mathematical models both the mechanics and electrics and electronics of the wheeled platforms and the installed board sensors and the measuring electronic transducers allows having the more information if processing of the measured signals will be on the basis of such improved mathematical models. It is considered the particular example of using the proposed approaches dealt with simulating and processing the measured electric signals from the board accelerometer installed on the four wheeled electro-mechanic platform. Due to this example it was shown that using of the improved mathematical models allows the significantly wider possibilities of accelerometer measuring, so that the different parameters can be estimated by means processing the direct accelerometer measures using the corresponded mathematical models. It was shown that, the most difficulties of identification problems for processing the measured signals from the board sensors installed on the wheeled platforms are due to inherent them the mathematical incorrectness according to Hadamard. The effectiveness of using the filtering of the results of processing the measured signals is shown for the considered particular example of the identification problem also.

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Section: Modelling Four Wheeled Electro-mechanic Platform With the Bo...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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An approach for numerical simulating and processing of measured electrical signals from board sensors installed on wheeled electro-mechanical platforms

2021

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Features of the mathematical model for the control forces calculation of the four-wheeled robot

Cited by 1 publication

References 4 publications

An approach for numerical simulating and processing of measured electrical signals from board sensors installed on wheeled electro-mechanical platforms

An approach for numerical simulating and processing of measured electrical signals from board sensors installed on wheeled electro-mechanical platforms

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