Indicatory Horizontal Stabilization of the Platform with Two Degrees of Freedom of a Uniaxial Wheel Module at Its Displacements on a Nonhorizontal, Uneven Surface

摘要

In this paper, we propose the structure of a uniaxial wheel module moving on a nonhorizontal uneven surface without slipping. Its platform has two degrees of freedom relative to the axis of the wheel pair and the upper pendulum relative to this axis. The indicatory stabilization of the platform in the horizontal plane is realized by the reactive moments of the driving motors of the stabilizing and compensating flywheels and by the gravitational moments of the forces produced by the stabilizing flywheels during their linear movements controlled by the linear motors. Information on the deviations of the platform from the horizontal plane is formed by the accelerometer sensors of the horizon, while the deviations from the underlying surface are detected by laser altimeters. We develop a mathematical model of the module's motion and propose structures for controlling the rotational and translational movements of its flywheels. The effectiveness of the indicatory stabilization system mentioned above is confirmed by the results of the numerical modeling of the dynamics of the horizontal leveling processes of the platform when the module moves on a nonhorizontal, uneven underlying surface.