BIZON–UGV for Airport Pavement Testing: Mechanics and Control
The paper presents a study of the performance and development of unmanned ground vehicles (UGVs), establishing mathematical and numerical models of the chassis system. The model analysis is performed by 3D software package SolidWorks 2018 with finite element discretization. The mesh modelling and an...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-03-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/14/6/2472 |
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| author | Marcin Chodnicki Mirosław Nowakowski Paweł Pietruszewski Mariusz Wesołowski Sławomir Stępień |
| author_facet | Marcin Chodnicki Mirosław Nowakowski Paweł Pietruszewski Mariusz Wesołowski Sławomir Stępień |
| author_sort | Marcin Chodnicki |
| collection | DOAJ |
| description | The paper presents a study of the performance and development of unmanned ground vehicles (UGVs), establishing mathematical and numerical models of the chassis system. The model analysis is performed by 3D software package SolidWorks 2018 with finite element discretization. The mesh modelling and analysis are focused on studying the strength and stiffness of the robotic platform chassis and the distribution of stress and deformation in the extremal condition. The paper also presents an autopilot design with a new cascade control system for the autonomous motion of an unmanned ground vehicle based on proportional–integral–derivative (PID) and feedforward (FF) control. The PID-FF controller is part of a UGV used in a hybrid control system for precise control and stabilization, which is necessary to increase the vehicle motion stability and maneuver precision. The hybrid PID-FF control system proposed for the ground vehicle model gives satisfactory control quality while maintaining the simplicity of the control system. The presented tests performed in mechanical design and control analysis give good results and prove the usefulness of the designed unmanned device. |
| first_indexed | 2024-04-24T18:35:40Z |
| format | Article |
| id | doaj.art-730f34ab33ba41de8dd9a6b2f21e05b8 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-04-24T18:35:40Z |
| publishDate | 2024-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-730f34ab33ba41de8dd9a6b2f21e05b82024-03-27T13:19:51ZengMDPI AGApplied Sciences2076-34172024-03-01146247210.3390/app14062472BIZON–UGV for Airport Pavement Testing: Mechanics and ControlMarcin Chodnicki0Mirosław Nowakowski1Paweł Pietruszewski2Mariusz Wesołowski3Sławomir Stępień4Air Force Institute of Technology, Ksiecia Boleslawa St. 6, 01-494 Warsaw, PolandAir Force Institute of Technology, Ksiecia Boleslawa St. 6, 01-494 Warsaw, PolandAir Force Institute of Technology, Ksiecia Boleslawa St. 6, 01-494 Warsaw, PolandMilitary Institute of Armoured and Automotive Technology, Okuniewska 1, 05-070 Sulejowek, PolandFaculty of Control, Robotics and Electrical Engineering, Poznan University of Technology, Piotrowo 3a, 60-965 Poznan, PolandThe paper presents a study of the performance and development of unmanned ground vehicles (UGVs), establishing mathematical and numerical models of the chassis system. The model analysis is performed by 3D software package SolidWorks 2018 with finite element discretization. The mesh modelling and analysis are focused on studying the strength and stiffness of the robotic platform chassis and the distribution of stress and deformation in the extremal condition. The paper also presents an autopilot design with a new cascade control system for the autonomous motion of an unmanned ground vehicle based on proportional–integral–derivative (PID) and feedforward (FF) control. The PID-FF controller is part of a UGV used in a hybrid control system for precise control and stabilization, which is necessary to increase the vehicle motion stability and maneuver precision. The hybrid PID-FF control system proposed for the ground vehicle model gives satisfactory control quality while maintaining the simplicity of the control system. The presented tests performed in mechanical design and control analysis give good results and prove the usefulness of the designed unmanned device.https://www.mdpi.com/2076-3417/14/6/2472finite element methodmechanical stress and deformationairport pavementunmanned ground vehicleautopilotproportional–integral–derivative control |
| spellingShingle | Marcin Chodnicki Mirosław Nowakowski Paweł Pietruszewski Mariusz Wesołowski Sławomir Stępień BIZON–UGV for Airport Pavement Testing: Mechanics and Control Applied Sciences finite element method mechanical stress and deformation airport pavement unmanned ground vehicle autopilot proportional–integral–derivative control |
| title | BIZON–UGV for Airport Pavement Testing: Mechanics and Control |
| title_full | BIZON–UGV for Airport Pavement Testing: Mechanics and Control |
| title_fullStr | BIZON–UGV for Airport Pavement Testing: Mechanics and Control |
| title_full_unstemmed | BIZON–UGV for Airport Pavement Testing: Mechanics and Control |
| title_short | BIZON–UGV for Airport Pavement Testing: Mechanics and Control |
| title_sort | bizon ugv for airport pavement testing mechanics and control |
| topic | finite element method mechanical stress and deformation airport pavement unmanned ground vehicle autopilot proportional–integral–derivative control |
| url | https://www.mdpi.com/2076-3417/14/6/2472 |
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