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| I. B. Yadykin
Frequency Method of Ill-stable Linear Dynamic Systems Analysis
Methods for solving of the Lyapunov direct differential and algebraic equations are considered. Feature of the new approach is to use gramians decomposition as sums of matrix quadratic forms that are generated by Faddeev matrices. Each form is a solution of a linear matrix differential or algebraic equation corresponding to separate combinative eigen-value of the system dynamic matrix. Asymptotic estimates for H2 norm of the system transfer function for ill-stable SISO systems are obtained. The estimates can be considered as assessments of the system stability loss risk.
Keywords: lyapunov matrix equation, SISO (single in single out) systems, transfer function H2 norm, ill-stable system, stability loss risk assessment
P. 3 – 9
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| I. V. Nekrasov
Implementing a Mixed-Integer Programming Procedure for Optimization of Step Mode Control Process in a Discrete System
The papår concerns some problems of using the mathematical programming approach for building optimal control algorithms in discrete dynamic systems. The research is focused on a special case of a multiposition relay regulation law (step mode control). The author designs an optimal closed-loop control strategy using the mixed-integer optimization background. The optimization problem includes the additional integer constrains for the variables that represent the control signal. The computational procedure of the designed control algorithm bases on the standard branch-and-bound principle.
Keywords: discrete systems, optimal control, multiposition relay, step mode control. mixed-integer programming, branch-and-bound principle
P. 9 – 13
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| I. A. Kalyaev, V. N. Kotov, I. P. Scherbinin, M. N. Krasilschikov, V. N. Evdokimenkov
Features of Firmware Realization of the Distributed Information System of Monitoring of Technical Condition of Components of Russian Railways Rolling Stocks
In the paper we consider an approach to design of an Embedded system of rolling stock (RS) diagnostics based on multi-agent technologies. Smart sensors (SS) of physical quantities, which provide continuous control of RS condition, are considered as a basis of implementation of the system. For such implementation we have defined the form of the general task of the system which consists in evaluation of technical condition and the way of its solution using consolidated resource of smart sensors. Features of system hardware are considered. The structure of software implementation of the system is defined. The generalised algorithm of operation of an SS agent is suggested. Directions of its further improvement for practical implementation are specified.
Keywords: embedded system of rolling stock diagnostics, network of smart sensors, multi-agent technologies
P. 14 – 20
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V. M. Lokhin, S. V. Manko, M. P. Romanov, S. A. K. Diane, P. E. Tripolskiy, S. A. Karpov
Models and Algorithms for Agent Number Estimation in Multi-Robot Systems
Methods and algorithms are suggested for estimation of number of robots in multi-agent robotic systems, taking into account particularities of applied problems being solved and specificity of task planning models. Results of modeling are presented that confirm the adequacy of investigated approach.
Keywords: multi-robot system, multi-agent control, graph task planning models, number of robots
P. 20 – 23
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V. A. Martunyuk, V. A. Trudonoshin, V. G. Fedoruk, E. V. Fedoruk
Solving Backward Problem in Mechanical Dynamics by the Example of Tripod
The paper introduces new approach for solving backward problem in mechanical dynamics with assistance of program systems for simulation of complex technical objects. Mathematical backgrouds are described, test example (mechanical tripod) is produced. Numerical experiment confirms the correctness of the approach.
Keywords: CAE, modeling, mathematical model, mechanical systems, dynamics, backward problem
P. 24 – 27
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S. L. Zenkevich, N. K. Galustyan
Angle Stabilization and Flight Modeling of a Quadrocopter
This article presents the design of angle stabilization system for a quadrocopter (quadrotor helicopter), which includes the following stages: the design and verification of mathematical model of a quadrocopter; the linearization of mathematical model; the design of a linear quadratic regulator for stabilization under arbitrary angels. Flight tests in MATLAB and "Universal Mechanism" are presented and suggest that Angle Stabilization System works properly.
Keywords: quadrocopter, mathematical model, angel stabilization system
P. 27 – 32
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V. V. Putov, A. V. Putov, B. R. Andrievsky
Control of Braking Vehicle Wheels with Electromechanical Propulsion
A mathematical model describing the dynamic behavior of the vehicle braking wheels with pneumatic tires and electro-mechanical propulsion, white taking into account the elastic properties of a manual transmission and tires with falling characteristic of dry friction (Stribeck effect). Built direct, indirect and combined adaptive control of the braking modes of transport wheels with simultaneous suppression controls the influence of elastic deformation of the transmission and some results of research, and provides a comparative analysis of the effectiveness of building adaptive systems.
Keywords: inhibition of the transport wheel with electro-propulsion; mathematical model that takes into account the elastic properties of the tire and dry friction with falling characteristic; direct, indirect and combined adaptive brake control system; a comparative analysis of the effectiveness of adaptive systems
P. 33 – 40
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Yu. I. Buryak, A. A. Skreennikov
Development of Pattern Classifier Moving a Group of Objects Based on Use of Radio Frequency Identification
There was proposed an approach to solving the problem of estimating the order of movement of marked with RFID tags objects by processing feedback from the questionnaires probing their periodic pulses. There was formed the selection criteria of the object, standing first in line, there was done the estimation of the risk of this criterion using the mathematical tools of statistical analysis and hypothesis testing. There were demonstrated the experimental results and parametric analysis in the wide range of conditions of the movement of objects in a group, proving the applicability of the proposed approach.
Keywords: radio frequency identification, aviation components, statistical analysis, hypothesis testing
P. 42 – 47
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A. O. Lavrov, V. V. Petrov, B. E. Fedunov
The Operative Design of the Trajectory on the Plane for the Leaving of the Object in the Given Point with the Given Course. Part 2
It is examined the problems of the construction of trajectories in the real time in the knowledge bases of some on-board operative advising expert systems.
Keywords: the base trajectory, the zone of the threats, design of the trajectories with pass-by of the zone of the threats
P. 48 – 55
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M. N. Pravidlo, V. A. Nesterov, A. N. Belyaev
The Analysis of the Adaptive Closed-Loop Ejection System of Stores. Part 2
The mathematical model of dynamics of aircraft stores ejecting by adaptive closed loop control system, functioning without use of a priori data about loadings acting on the stores with aerodynamic interference taking into account is developing. Technical characteristics of adaptive installation of aircraft weapons are analyzed, and also the block diagram and the main algorithms of regulation received as a results of the analysis requirement to parameters of ejecting aircraft stores is offered.
Keywords: aircraft store ejector system, aircraft weapons, adaptive ejection system, forced separation, aerodynamic interference, ejection, conditions for safe ejection, dimensional stability, closed loop control
P. 56 - 61
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L. N. Aleksandrovskaya, V. G. Borisov, V. N. Mazur, S. V. Khlgatyan, A. E. Ardalionova
Non-Parametric Methods for Assessing Compliance with the Safety Requirements of Automatic Landing Aircraft Airworthiness
The article considers the specifics, arising when operating on large volumes of samplings (n = 100000...1000000), obtained during the statistical modeling of aircraft ICAO Cat. III automatic landing safety estimation problems and gives out recommendations on the reasoning of the necessary statistical tests volumes and safety probability measures estimation procedures design.
Keywords: aircraft of automatic landing system, safety requirements, density-free tolerance interval
P. 62 – 67
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A. A. Kushnerik, D. N. Mikhailov, N. S. Sergeenko, A. F. Scherbatyuk, V. A. Goy, I. E. Tufanov, F. S. Dubrovin
Marine Robotic Complex Including Autonomous Unmanned Underwater and Surface Vehicles
Marine autonomous robotic complex (MARC) was designed in 2013 in "Underwater robotics "Scientific Educational Center based on Far Eastern Federal University and IMTP FEB RAS. It includes autonomous unmanned underwater and surface vehicles. Program control and navigation systems were created for the complex that allows joint operation of heterogeneous vehicles in group. The main systems of the complex are discussed in the paper and some marine trial results are supplemented.
Keywords: autonomous unmanned underwater and surface vehicles, program control system, navigation and communication system
P. 67 – 72
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