Corresponding author: Klimachkova Anna S., Postgraduate Student, Bauman Moscow State Technical University, Moscow, 105005, Russian Federation,
e-mail: wolff_al@mail.ru

Received on January 26, 2015
Accepted February 20, 2015

The main trend in designing of automobiles and mobile robots is a widespread use of mechatronic modules and systems. But there are many questions concerning the mechatronics-based approach. We see a constant integration of the theory and practice of an automobile and a mobile robot. Thus, research in these areas can be carried out simultaneously. The aim of the research is development of a designing approach of the mechatronics-based locomotion module for the automobiles and mobile robots. Mechatronics-based locomotion module is intended to control: (i) turning of the wheels of the axle, (ii) pressure in the chambers of the hydraulic cylinders of the axle suspensions and (in) vertical displacement of the left and right wheels of the axle. The task of the research is development of a complex mathematical model, which includes development of control algorithms for the all-wheel steering system and the regulated wheel springing system, choice of the control system components and of electro-hydraulic servo drive of wheels turning. On the basis of the mathematical model the authors studied all the components of the mechatronics-based locomotion module. All the obtained results of physical modeling were done with the use of a mechatronics-based locomotion module test bench. The article describes the study of electro-hydraulic servo drive with a centralized hydraulic system.

Keywords: mechatronics-based locomotion module, automobile, mobile robot, mathematical model, all-wheel steering system, test bench, electro-hydraulic servo drive

For citation:
Belousov B. N., Stepnov V. L., Ksenevich T. I., Klimachkova A. S. Mechatronics-Based Locomotion Module. Designing and Modeling Approacht Control Systems, Mekhatronika, Avtomatizatsiya, Upravlenie, 2015, vol. 16, no. 7, pp. 484—490.
DOI: 10.17587/mau.16.484-490

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