КЕРУВАННЯ РУХОМ ФРОНТАЛЬНОГО НАВАНТАЖУВАЧА ЗА ЗАДАНОЮ ТРАЄКТОРІЄЮ
DOI:
https://doi.org/10.30977/BUL.2219-5548.2023.101.0.26Ключові слова:
фронтальний навантажувач, стеження за траєкторією, система керування, регулятор стануАнотація
В статті запропоновано систему керування рухом за заданою траєкторією автономного малогабаритного навантажувача з жорсткою рамою. Система керування складається з двох контурів: розімкнутого та замкнутого. Керуючий вплив розімкнутого контуру системи керування ґрунтується на використанні бажаних швидкостей та прискорень навантажувача. Другим контуром є регулятор зі зворотним зв'язком у просторі станів. Для синтезу цього регулятора виконана лінеаризація кінематичної моделі навантажувача зворотним зв’язком.
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