MATHEMATICAL MODEL OF THE MOVEMENT OF A ROBOTIC PLATFORM FOR DISINFECTION OF LIVESTOCK FACILITIES

Source abstract

The high density of livestock content creates favorable conditions for the spread of pathogenic microflora, which causes a decrease in the productivity of farm animals by 15-20 percent. Currently, traditional stationary sanitary treatment systems are economically impractical, in this regard, mobile robotic complexes that generate and evenly distribute electroaerosols are offered as an effective alternative. (Research Purpose) The research purpose is developing a mathematical model of the movement of a robotic disinfection platform taking into account the dynamics of the battery discharge. (Materials and methods) The model is based on electromechanical equations of traction drive. The relationship between electrical and mechanical parameters is described without taking into account the inductance of the winding, through resistance, current, counter-EMF constant and angular velocity. The traction force on the wheels is expressed through the constant torque of the engine, the radius of the wheel and the gear ratio of the gearbox. A key feature of the model is the integration of the generalized Paykert equation describing the process of battery discharge with the robot’s equation of motion. The battery voltage is represented as a linear approximation in the operating range. The result is a system of nonlinear ordinary differential equations. (Results and discussion) Tests and calculations showed that the platform reaches an operating speed of 0.13-0.15 meters per second in 2-3 minutes, after which the mode stabilizes. It is known that the greatest stability and speed are provided by lithium-iron-phosphate batteries (LiFePO4), while lithium-ion (Li-ion) show slightly reduced rates. As the platform moves, the voltage gradually decreases, which causes a slight decrease in speed. When overcoming the distance of 80 meters, the voltage drop does not exceed 11-12 percent, which confirms the technical sufficiency of the selected capacity for a full processing cycle. (Conclusions) The introduction of autonomous robotic systems contributes to the rationalization of technological processes, increases the utilization rate of disinfectants, minimizes biological risks for personnel and livestock, and creates conditions for sustainable development of the industry. The developed model confirms that the 2 Amp-hour battery fully covers the energy needs of the platform.