Mathematical models of a three-wheeled mobile robot based on the variable state apparatus and in the operator’s form are presented. Based on these mathematical models, the synthesis of its adaptive control system is carried out according to the method of constructing Ziegler-Nichols PID controllers, as well as modal PID controllers. The design method of proportional controllers with double differentiation (PDD) of the autonomous robot is justified. The rules of wheel pair control are synthesized on the basis of reference models using a simple gradient scheme of the inverse problems method of dynamics in the formulation of P. D. Krutko for the problem of stabilizing (blanking) the angular velocities for a three-wheeled mobile robot. Simulink-models of robot movement are developed for cases with the use of PID-controllers which are adjusted by the Ziegler-Nichols method at synchronous deviation of wheels. Simulink-models of robot motion have been developed for cases using PID controllers set up according to the Ziegler-Nichols method for synchronous wheel deflection, modal and real PID controllers for differential wheel deflection, as well as double differentiation controllers. The analysis of modeling results is considered.

The article analyzes failures of bearings of the axle box unit with polyamide cages and investigates the influence of climatic conditions on operational characteristics of cages. It is determined that the greatest number of defects during the operation of polyamide cages occurs in the following periods: summer-autumn, autumn, winter, winter-spring, spring. The revealed dependence of the operational properties of polyamide samples on weather and climatic conditions in different seasons of the year allows predicting the change in the operational characteristics of the cage and taking measures to restore and improve them. The authors proposed a method of restoration and improvement of operational properties of cages by processing them using a technique of high-frequency electrothermy. Full-scale tests showed the high efficiency of the proposed method, expressed in reducing the weight of the samples as a result of moisture removal, as well as in an ambiguous change in strength properties. Their ambiguity lies in the fact that cages differently restore their original hardness indicators after processing. And in the periods corresponding to winter and winter-spring, it was possible to restore strength indicators to a level even above the original one. For high-frequency processing of polyamide cages, a device has been developed that provides the required coverage of the workpiece electrodes on the upper, lower and inner side surfaces of the partitions. The test of the developed device made is possible to achieve the desired results, expressed in a significant decrease in the relative humidity of the cages and an increase in their strength characteristics by 7.6% of the initial level. All this confirms the practical importance and progressiveness of the developments presented in the work.

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Ларченко Анастасия Геннадьевна -кандидат технических наук, доцент кафедры автоматизации производственных процессов; Иркутский государственный университет путей сообщения.

In this scientific work, the authors consider the issue of non-destructive testing. In the article, the authors describe the process of improving the performance properties of polymeric products of complex configuration. In the article, the authors choose the method of high-frequency control as the most suitable for assessing the quality of products in the manufacture and during repair work. The scientific work describes the process of diagnosing products made from polymeric materials on the developed diagnostic device. This article describes the development of methods for designing a technological additional device for diagnosing products of complex configuration. In this paper, the authors solved the problem of manufacturing electrodes for experimental diagnostics. The authors drew conclusions and set goals for further research.