SOLUTION TO THE PROBLEM OF IDENTIFYING THE DYNAMIC PARAMETERS OF A HUMAN OPERATOR OF A MOBILE FIRE-FIGHTING UNIT BASED ON SEGWAY WHILE EXTINGUISHING FIRES

Abstract

This study addresses the pressing scientific and technical challenge of enhancing the efficiency of autonomous mobile firefighting units based on Segway platforms. The research focuses on modeling the behavior of the human operator, a key component in the control system responsible for directing the extinguishing agent. The subject of the study is a Segway-based mobile firefighting unit, characterized by its high maneuverability, compact size, and suitability for operation in environments with complex architectural layouts.
The paper emphasizes the necessity of formalizing the operator’s dynamic characteristics. A linear model of the operator is proposed, comprising three sequential elements: a delay link, a non-inertial link, and an inertial link. To identify the parameters of this model, a series of experiments was conducted in which operators responded to visual stimuli presented via an interactive whiteboard. Measurements of reaction times and control movements enabled the calculation of transfer functions and identification of time-related parameters.
The experimental results revealed the following operator characteristics: delay time — 0.17–0.25 seconds; time constant — 0.26–0.30 seconds; transfer coefficient — 2.34–2.97. Stabilization of these values was observed after 12 trials, indicating a training effect. These findings form the basis for constructing a generalized mathematical model that enhances the accuracy, reliability, and adaptability of autonomous firefighting systems operating in real-time. The conclusions support the development of adaptive control systems incorporating human-in-the-loop dynamics.