Forming signals of current trajectories in computer-aided system of modal controlling unmanned vehicles in open pit mining

The article defines the object of control in the form of signals of current trajectories (CT), along which unmanned vehicles (UMV) move. It describes the subject field of research – the principle and technology of forming the signals generated by the computer-aided system for modal controlling the UMVs during their movement along quarry routes. In order to develop procedures for identifying an upcoming trajectory of the UMV when bypassing some static or dynamic obstacles, conditions are included in the software and hardware complex for the formation of the UMV corresponding trajectory direction based on assigned sinusoidal-like frequency-time-dependent functions (chirp signals) responsible for redirecting the UMV along a particular trajectory. The corresponding chirp signals for the left and right deviation trajectories of the UMV are fixed. The notion of sporadic disturbances and force-modal transient processes (TP) is introduced. There has been also reviewed a new description of TP, whose signal contains the variable frequency changing by a certain law depending on the direction and nature of a CT deviation and the environment of UMV. The essence and reasons for the effects of structural and parametric nonstationarity of the control object (CO) are explained. Analytical and graphical interpretations of the emerging nonstationarity caused by the introduction of additional stationary and dynamic-type poles into the CO are presented. It is noted that the stationary poles characterize the inertia of the aperiodic components of the trajectory chirp signals, and the dynamic ones determine the permanently varied frequency of transients (their chirp form). The properties of both sporadic and forced-modal TPs’ poles localized on the complex plane are characterized. Calibration characteristics are determined that establish a relationship between the instantaneous frequency of TP and the metric deviation of UMV CT relative to the nominal axial trajectory. The difference between the procedures of localization and re-localization of poles for modal upward and downward reverse TP, on which the efficiency and safety of UMV moving along the quarry routes, depends, is functionally identified and considered. All the procedures mentioned above make it possible to monitor online and control effectively the dynamics of operative and safe UMV trajectory moving along technological quarry routes in open pit mining.