Control of adaptive mover optimal diameter taking into account multi-criteria analysis

摘要

The technique of automatic control of mover diameter for increase of ground and profile passability of adaptive mobile robotic complex has been proposed. Boundary conditions and estimation criteria have been revealed and mathematical apparatus for determination of optimal diameter taking into account mass, geometric and ground characteristics has been proposed. General equation of variation of adaptive mover diameter for mobile robotic complex has been obtained in terms of dependencies graphs of optimal diameters from correlation of weighting coefficients, mass, geometric and ground characteristics.