Principles of adaptive control of roll stability of reconfigurable chassis with planetary-wheeled propulsion system

Abstract

BACKGROUND: Roll stability control is a relevant issue in transport platforms’ design in general. Well-known methods of roll stability control are used in development of vehicles of various types. However, these methods can not always be applied in design of small unmanned platforms, so development of special solutions is needed.

AIM: Justification of feasibility of application of anti-roll balancing mechanisms in small unmanned vehicles.

METHODS: The study is based on the analysis of technical solutions implemented in the design of platforms with extreme off-road capabilities and space rovers. Well-known methods of fundamentals of vehicle dynamics are the main tools of the study.

RESULTS: The options of roll stability control system for small unmanned platforms are described. The conclusions regarding feasibility of different options of balancing mechanisms for addressing the issue of counteraction of stability losing and overturning are made.

CONCLUSIONS: The discussed principles of roll stability control could be implemented in special small unmanned vehicles with any type of propulsion system. The further research in this field considers building of mathematical models capable of evaluating the required kinematics and power properties of the system of adaptive roll stability control, as well as testing using the mockup of a moving platform.

Keywords

steering control / transport vehicle / off-road capability / vehicle mobility / roll stability

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Funding

Минобрнауки РоссииRussian Ministry of Education and Science(FNRG-2022-0026 1022031700007-3-2.2.2)

RIGHTS & PERMISSIONS

Eco-Vector