Systematic design of ADRC-based unmanned tracked vehicle trajectory tracking with FPGA-in-the-loop validation

Momir Stanković; Rafal Madonski; Stojadin Manojlović

doi:10.5937/vojtehg72-49983

Momir Stanković Univerzitet odbrane u Beogradu, Vojna akademija, Beograd, Republika Srbija https://orcid.org/0000-0001-8371-9341
Rafal Madonski Šleski tehnološki univerzitet, Fakultet za automatsko upravljanje, elektroniku i računarstvo, Glivice, Republika Poljska https://orcid.org/0000-0002-1798-0717
Stojadin Manojlović Univerzitet odbrane u Beogradu, Vojna akademija, Beograd, Republika Srbija https://orcid.org/0000-0003-1268-5310

DOI: https://doi.org/10.5937/vojtehg72-49983

Ključne reči: besposadno gusenično vozilo, praćenje putanje, upravljanje sa aktivnim potiskivanjem poremećaja (ADRC), upravljanje brzinom, PID regulator, FIL simulacija, hardverska validacija

Sažetak

Uvod/cilj: Projektovanje sistema autonomnog praćenja zadate trajektorije besposadnog guseničnog vozila predstavlja složen zadatak zbog postojanja nepoznate i nemerljive dinamike proklizavanja. Stoga je primena standardnih industrijskih upravljačkih algoritama često ograničena.

Metode: Predložena je primena regulatora na osnovu upravljanja sa aktivnim potiskivanjem poremećaja (ADRC), posebno projektovanih za longitudinalni i lateralni kanal upravljanja vozila. Primena navedenog algoritma omogućila je visoke performanse upravljanja u uslovima postojanja nestacionarnosti modela objakta upravljanja i uticaja poremećaja proklizavanja.

Rezultati: Predstavljena je detaljna procedura primene ADRC algoritma za praćenje zadate putanje besposadnog guseničnog vozila, koja je obuhvatila projektovanje, diskretizaciju, simulacionu analizu performansi i eksperimantalnu verifikaciju na osnovu simulacija sa FPGA hardverom u petlji upravljanja (FIL simulacije).

Zaključak: Predložena metodologija validacije projektovanog sistema upravljanja na osnovu FIL simulacija omogućila je smanjenje projektantskog vremena između čisto računarskih simulacija (koje su najčešće suviše idealizovane) i eksperimentalnih verifikacija na realnom sistemu. Dobijeni rezultati su pokazali prednosti predloženog rešenja u odnosu na standardne industrijske regulatore u različitim uslovima upotrebe besposadnog guseničnog vozila.

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Projektovanje kretanja besposadnog guseničnog vozila po zadatoj putanji na osnovu ADRC regulatora i FIL simulacija

Sažetak

Reference

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