Simplified mathematical model of the dynamics of an unmanned vehicle with two steering axes
https://doi.org/10.21822/2073-6185-2026-53-1-123-138
Abstract
Objective. The aim of this study is to create an effective model of the dynamics of a dual-axis unmanned vehicle, suitable for developing autonomous control algorithms.
Method. The study is based on mathematical modeling methods.
Result. This paper presents a mathematical model describing the dynamics of an unmanned vehicle with two steering axes. It considers the dynamics of the center of mass, suspension dynamics, body rotation around the center of mass at pitch and roll angles, the effect of wheel lift-off due to suspension deformation and changes in vertical loads, and the force of gravity during longitudinal movement when the body is tilted. An analytical method for calculating the moments of inertia about the main axes is proposed, based on the geometric parameters and position of the body, wheels, and the center of mass of the load. To simplify the modeling, the following assumptions were made: wheel rotational dynamics are not considered, tire-road interaction is described in a simplified manner, and the dynamics of the power and steering gears approximated by first order differential equations.
Conclusion. The input and output of the proposed mathematical model correspond to real signals from the onboard control system, ensuring its applicability for debugging control algorithms under conditions close to operational ones. The simulation results demonstrated the correctness of the described relationships for modeling unmanned vehicle dynamics and their applicability for debugging motion control systems.
About the Authors
I. V. Lobachev
Bauman Moscow State Technical University
Russian Federation
Russian Federation
Ivan V. Lobachev, Postgraduate Student, Senior lecturer, Department of IU1 "Automatic Control Systems",
2nd Baumanskaya St., Moscow 105005
A. L. Maslennikov
Bauman Moscow State Technical University
Russian Federation
Russian Federation
Andrey L. Maslennikov, Senior lecturer, Department of IU1 "Automatic Control Systems",
2nd Baumanskaya St., Moscow 105005
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For citations:
Lobachev I.V., Maslennikov A.L. Simplified mathematical model of the dynamics of an unmanned vehicle with two steering axes. Herald of Dagestan State Technical University. Technical Sciences. 2026;53(1):123-138. (In Russ.) https://doi.org/10.21822/2073-6185-2026-53-1-123-138
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