Version 1
: Received: 8 February 2024 / Approved: 9 February 2024 / Online: 9 February 2024 (11:57:52 CET)
How to cite:
Stepien, S. J.; Chodnicki, M.; Nowakowski, M.; Pietruszewski, P.; Wesołowski, M.; Dobrowolski, D. Bizon – UGV for Airport Pavement Testing. Mechanics and Control.. Preprints2024, 2024020586. https://doi.org/10.20944/preprints202402.0586.v1
Stepien, S. J.; Chodnicki, M.; Nowakowski, M.; Pietruszewski, P.; Wesołowski, M.; Dobrowolski, D. Bizon – UGV for Airport Pavement Testing. Mechanics and Control.. Preprints 2024, 2024020586. https://doi.org/10.20944/preprints202402.0586.v1
Stepien, S. J.; Chodnicki, M.; Nowakowski, M.; Pietruszewski, P.; Wesołowski, M.; Dobrowolski, D. Bizon – UGV for Airport Pavement Testing. Mechanics and Control.. Preprints2024, 2024020586. https://doi.org/10.20944/preprints202402.0586.v1
APA Style
Stepien, S. J., Chodnicki, M., Nowakowski, M., Pietruszewski, P., Wesołowski, M., & Dobrowolski, D. (2024). Bizon – UGV for Airport Pavement Testing. Mechanics and Control.. Preprints. https://doi.org/10.20944/preprints202402.0586.v1
Chicago/Turabian Style
Stepien, S. J., Mariusz Wesołowski and Damian Dobrowolski. 2024 "Bizon – UGV for Airport Pavement Testing. Mechanics and Control." Preprints. https://doi.org/10.20944/preprints202402.0586.v1
Abstract
In the paper, a study of the performance of unmanned ground vehicle (UGV), establishes numerical simulation model of the chassis system by three-dimensional software and finite element analysis software. Based on the numerical modelling and analysis, the work focuses on study of the strength and stiffness of the vehicle's chassis and researched the distribution of stress and deformation under the extremal condition. The paper also presents an autopilot design with new cascade control system for an autonomous motion of an unmanned ground vehicle based on Proportional-Integral-Derivative (PID) and Feed-Forward (FF) control. The PID-FF controller is a part of dedicated for presented UGV used in a hybrid control system for precise control and stabilization, necessary to increase the vehicle motion stability and maneuvers precision. The hybrid PID-FF control system proposed for the ground vehicle model gives a satisfactory quality of control, while maintaining the simplicity of the control system. Presented tests performed in area of mechanical design and control analysis gives good results and proves usefulness of designed unmanned device.
Keywords
finite element method; mechanical stress and deformation; airport pavement; unmanned ground vehicle; autopilot; proportional-integral-derivative control; feedforward control
Subject
Engineering, Control and Systems Engineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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