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One of strategically important issues of energy security of Ukraine and the countries of Europe today is to reduce the consumption of natural gas. This task is particularly relevant in winter, when a significant amount of natural gas is consumed for heating premises. Therefore, one can predict that in the nearest future, in Ukraine and European countries, premises will be heated more frequently by electrical energy.
A massive transition to electric heating of premises under conditions of the implementation of national objective in Ukraine and the countries of Europe related to a significant reduction in energy consumption necessitates to rethink the process of control over electric heating of premises. It is required that the algorithms that control power supply to premises should include mechanisms for planning the amount of electric energy consumed by an individual. This is especially true of such energy-intensive processes like heating the premises.
Therefore, it is an important task for Ukraine and the countries of Europe to work out an approach for creating systems to control electric heating of premises in a house or apartment that would take into consideration not only information about the desired temperature regime, but also information on the desired amount of electricity needed for heating.
Purpose: Mobile robots are used in many areas of industry and commerce. This paper describes research on and development of a mobile platform, which is based on the concept of a ball-on-ball balancer, with two electrical drives at an angle of 90° providing a velocity vector in any direction in the horizontal plane. The purpose is to implement an originally novel principle for an omnidirectional mobile platform of very high agility, which is able at any given situation to move immediately in any direction without additional steering movements or steering mechanism.
Methodology: In advance of the design and implementation of the control strategy for the mobile device, the method of theoretical modelling of the vehicle’s properties and behaviour was applied. The developed theoretical and numerical dynamic models take into account all the control parameters which allow for the determination of the critical value of angular acceleration of the driving wheel. This is needed to prevent any slippage of the ball as this would result in the loss of accuracy of positioning. The equations of motion were implemented in the platform controller and tested. The mobile platform consists of a ball of 0.2 m radius driven in the X-Y plane by two wheels that are attached to servo motors. The mobile platform is controlled by a CAN PLC controller interfacing with the motor drives, accelerometers and a laser sensor for feedback. Wireless communication provides the interface with the station controller via Wi-Fi and XBee Series 2 modules.
Findings: The experimentally obtained results show that the mobile platform can be reliably controlled using the ball-onball balancer principle with the developed control algorithm. Additional application of a sensor for guiding the mobile platform along obstacles or guiding lines improves the accuracy of the movement.
Originality: The originality of the control strategy for a mobile platform with an omnidirectional drive, proposed at the paper, is the avoiding slippage by limiting the platform acceleration to below the critical value by means of monitoring and limiting the lead values of the feedback control loop of the driving wheels.
Practical value: Development of control strategy for the mobile robot, which is based on the concept of a ball-on-ball balancer with two electrical drives at an angle of 90° providing a velocity vector in any direction in the horizontal plane.
Automated stabilization of loading capacity of coal shearer screw with controlled cutting drive
(2015)
A solution of topical scientific problem of coal shearer output increase providing minimum specific power supply for coal cutting, transportation, and loading in terms of thin seams has been proposed. The solution is based on the use of earlier proposed criterion of screw gumming for optimum cutting velocity-coal shearer feed rate ratio in the context of increased screw rotation owing to phase voltage frequency increase. Simulation results of automated control system for coal shearer operations with frequency-controlled cutting drive within thin seams have confirmed the efficiency of the system using proposed algorithm of smart analysis of coal shearer power signal.