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Boris Andrievsky, Victor V. Putov

Last modified: 2023-06-29


The article deals with the issues of increasing the efficiency of braking modes of controlled electromechanically driven transport wheels with pneumatic tires by means of a robust simple adaptive control approach. To describe the sliding friction model of a transport wheel with a pneumatic tire, the dry, semi-dry, and liquid types of friction are introduced. The rolling of a braking transport wheel on a dry smooth surface has an uneven “stall” character, and the wheel moves in shocks, which, under certain conditions, acquire a periodic nature of the frictional self-oscillations. The elastic properties of a pneumatic tire, which arise when the braking torque is transferred from the hub of the transport wheel, are also included in the plant dynamics model.  Elastic deformations of the tire pneumatics are taken into account by a weightless elastic connection connecting the disks. In the talk, to solve the problem of controlling a nonlinearly elastic electromechanical plant, a robust method of simple adaptive control (SAC) based on signal-parametric speed-gradient algorithms is proposed and studied by computer simulations.According to this approach, signal-parametric adaptation algorithms are obtained in the form of systems with an implicit reference model (IRM). The output of an "extended" control object represents an ``adaptation error''. The control goal is formulated as a limiting ratio relative to the quadratic quality index, the convergence of which is required to be ensured in a finite time. The parametric component of the control algorithm for the main feedback loop is obtained on the basis of motion along the anti-gradient of the rate of change of the objective function. The signal component of the control action is obtained as a speed gradient algorithm, which in the case under consideration takes the form of a relay control law. In the talk, comparative modeling of different structures of the control algorithm was carried out, as well as an analysis of the quantization of the control process in time. The results obtained demonstrate the efficiency of the proposed method.