Modeling an integrated engine control system for an autonomous small-sized complex for transportation of small objects

Authors: Kanygin A.V.
Published in issue: #4(57)/2021
DOI: 10.18698/2541-8009-2021-4-688
Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: mobile robotic complex, motor control, control channels, electrical components, pulse width modulation, PWM controller, optimization of control channels, microcontroller, multichannel automatic control system
Published: 20.04.2021

The paper is devoted to the problem of control optimization of a multipurpose robotic complex equipped with a manipulator for moving small objects. The author formulated terms of reference for solving this problem and proposed a variant of the implementation of a small-sized autonomous complex. A schematic diagram of the interaction of an engine control module, an on-board computer and an unmanned aerial vehicle is considered. The method of voltage control in the armature circuit of a single electric motor is presented. A method is proposed for reducing the number of signal transmission channels when combining several control channels for different types of electric motors based on a multichannel controller with pulse width modulation (PWM controller). The parameters of the electrical components of the circuit are selected. The electrical circuit of the integrated control module is simulated using a PWM controller.

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