The control features of the drive modules with a variable gear ratio for the mobile robotics complexes in extreme conditions

This paper examines the features of mobile robotic systems drive modules control in separate motion modes. Modern requirements for mobile robotic systems such as weight and dimensions also the limited power of energy sources on the board create some obstacles to increasing the traction characteristics of drive modules. The mechanical transmission gear ratio changing was chosen as the method of increasing of the drive modules torque while maintaining the drive motors power. The article reflects the development results of the drive modules with variable gear ratios intended for use as part of the mobile robotic systems chassis. The paper provides information on the drive modules design. In the course of the work, a mathematical description of the drive modules operation for separate motion modes of mobile robotic systems was compiled. From the calculation of holding the mobile robotic system in a stationary state on a slope, it follows that the “reduced” gear at the drive motor rated torque is optimal mode. Based on the “braking on a slope” extreme case calculation results limitations for the drive modules performance were formulated. The requirements for limiting the drive modules maximum torque must be implemented by the control system. A mathematical description of blocks that take into account the nonlinear properties of drive module components is presented. As a result of the work, criteria for building a correct simulation model were drawn up. The functions and components of the drive module control system are also described. Proposals have been formulated for equipping mobile robotic systems with sensors and a brake energy release system to implement the functionality of drive modules.