Wheel drive control system of an under-ice robot for monitoring underwater objects

The aim of the study is to develop a design and to study the control system of a wheeled underwater robot with adjustable buoyancy for under-ice monitoring of underwater objects.As part of the study, the task is to generate a mathematical model and its computer implementation for the controlled movement of a wheeled robot on the inner surface of ice, as well as to set up computational experiments demonstrating the operability of the proposed automatic control system for an anti-slip device.The work uses both classical methods for constructing and studying mathematical models and control systems for mobile robots, as well as original methods for numerically integrating systems of nonlinear differential equations that describe the effects of slipping the robot wheels relative to the supporting ice surface.The novelty of the work lies in using an original way of moving a wheeled robot at the interface of media with regulating the normal reaction by controlling the volume of wheeled air cylinders and controlling slippage using an automatic control system that improves the drive energy efficiency while accelerating.In the course of the study, the authors developed: an original design and a method of moving a robot for monitoring underwater objects, a design diagram of the device and a schematic design of the robot drive control system. A mathematical model is created that describes the object controlled motion and a set of computational experiments is performed to prove the applicability of the proposed methods for implementing movement without slipping the driving wheels of a mobile robot.The method of moving proposed in the paper has a number of key advantages in monitoring underwater objects; however, implementing the advantages in practice is associated with the necessity to use a system for controlling slippage of the robot wheels with a supporting surface. The paper proposes the structure and algorithms of the control system to ensure movement with minimal slippage, and computational experiments on the mathematical model of the device prove its applicability and effectiveness.