Mathematical Simulation of Controlled Movement of Wheeled Vehicle in Real Time

One of the most important stages in the development of a wheeled vehicle motion control system are the development and testing of control algorithms. We consider it expedient to replace the road tests of the system by simulating the movement of the wheeled vehicle in real time for a preliminary assessment of its workability. Previously, a mathematical simulation of the controlled motion of the wheeled vehicle was carried out to verify the model adequacy to a real object. The control algorithm is based on predicting the position of the wheeled vehicle by means of a predetermined forecast time and consists of global and local regulation. The global control by use the deviation from the specified trajectory determines the angle of rotation of the steered wheels, providing movement along the specified trajectory. Local regulation provides the implementation of the specified value of the angle of turn of the steered wheels. The equipment complex provides the registration and generation of the necessary parameters for the operation of the control system in real time. The tests were carried out at the experimental stand "steering -front suspension of the vehicle." Turning the front controlled wheels to the desired angle was carried out by an electromechanical steering correction mechanism. Motion along straight and curved trajectories was simulated with and without disturbances from the reference surface. According to the results of the experiments, it was found that the implemented control algorithm provides movement.