Digital tests of the robotic chassis' cyber-physical system for agricultural unmanned vehicle

The report explored the problem of digital testing of a robotic agricultural vehicle. The approach to representing the robotic chassis as a cyber-physical system is to build a complex of digital models of units and built-in measuring tools for monitoring physical processes. Based on a model-oriented approach, a digital twin of a robotic chassis for diagnostics and forecasting was built. Information from the vehicle's on-board measurement system is used to continuously correct model parameters. Models of a car driver, chassis, individual units, and subsystems have been developed. A car model with fifteen degrees of freedom is described. The simulation results for various scenarios of the movement of a robotic vehicle are presented. The simulation results were used in the design of the KAMAZ unmanned vehicle for agricultural purposes.