Scientific Journal of KubSAU

Polythematic online scientific journal
of Kuban State Agrarian University
ISSN 1990-4665
AGRIS logo UlrichsWeb logo DOAJ logo

Name

Ivoilov Andrey Yurievich

Scholastic degree

Academic rank

Honorary rank

Organization, job position

Novosibirsk State Technical University
   

Web site url

Email

iau13hv@mail.ru


Articles count: 1

Sort by: Date Title Views
651 kb

CLARIFICATION OF A MODEL OF A BALANCING ROBOT BY LOGICAL AND EMPIRICAL METHODS

abstract 1211607011 issue 121 pp. 336 – 356 30.09.2016 ru 652
This work studies the mathematical model of the object “inverted pendulum” on the example of the unstable electromechanical devices which is balancing robot on wheel couple. Unfortunately, many details of object model are unknown. Logical and empirical method offers hypotheses about the difference between the actual object model from its mathematical approximation based on logical analysis with subsequent refinement of this model and testing of the hypothesis with modeling of the systems with the updated model. As a result, the amendments to the model have been found containing nonlinear components. With the help of these amendments, the dynamic characteristics of the actuator, filters, friction and the tendency of the object to fluctuations are better taken into account
.