Analysis of the indirect stabilization system`s parameters of movable objects during the movement on the rugged terrain
The article investigates the influence of road irregularities on the dynamic characteristics of the ground moving object and on the stabilization system`s parameters for equipment placed on this object. Previous studies examine the methods of modeling external disturbance, as well as the effect of perturbing the characteristics of ground objects. In this paper, the simulation of the caterpillar object movement on the ground with irregularities is performed, after which the obtained data is used to simulate in the Simulink program the stabilization system for the equipment installed on this object. An inequality modeling technique based on the use of correlation function and spectral power density is presented, as well as an algorithm based on the Rice-Pearson expansion. Three types of roads are considered, the level of irregularities is determined in accordance with ISO 8608. Using the software complex "Universal Mechanism", formation of irregularities turns in turn for the left and right tracks of the caterpillar. The results are stored in a file that is used to further simulate the caterpillar's movement. After that, the model of the caterpillar object is set up and the modeling of the object movement is done on the formed irregularities. The simulation`s results will be the angular position of the equipment`s installation place relative to the earth's surface. The obtained data are used to determine the parameters of the biaxial system of indirect stabilization. To do this, a coordinate transformation based on the theory of finite rotations of a rigid body and quaternions is performed. As a result, the values obtained for the equipment`s angles of horizontal and vertical guidance, which are the parameters of stabilization. After that, the stabilization system is modeled and the errors of working out the given signals for three types of roads are determined. The maximum errors of working out the stabilization parameters for each channel for all types of roads do not exceed 5.5 mrad, which is acceptable, taking into account the irregularities level and the object`s speed. On the basis of the obtained results the conclusion about the admissibility of the proposed stabilization system for use on land tracked objects with further possible improvements is made.