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| A. R. Gaiduk, E. A. Plaksienko
Realizability Conditions of Transfer Functions by System with Partially Given Structure
Realizability conditions of transfer functions with any way appointed coefficients (roots) of a denominator and numerator (partially) by system with partially given structure are considered in view of physical realizability conditions of an control device. These conditions are necessary for design of control systems models which can be realized precisely practically.
Keywords: transfer function, operator, control system, given part, structure, quality, realizability
P. 3–9.
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| R. D. Akhmetsafin, R. Z. Akhmetsafina
Computational Cost of Stepwise Regression Methods for Online Identification
This paper considers the problem of choosing optimal set (subset) of the descriptive variables (regressors) from a fixed set of candidates. Forward Selection and Backward Elimination methods adding/removing a candidate in/from the current set of descriptive variables step-by-step. Each variable is tested to be included or excluded using a chosen model comparison criteria that improves the model the most, and this process repeated until none improves the model. The model selection criteria may be calculated directly or recursively. Algorithms for recursive computing of the residuals sum of squares (RSS) for the model selection criteria in the recursive least squares method are presented.
This paper evaluates the computational costs of the recursive calculation of stepwise model selection criteria for all possible steps of selection.
Keywords: model selection criteria, Forward Selection, Backward Elimination, computational costs
P. 9-14.
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| V. I. Rakov, O. V. Zakharova
Research Computing Opportunities of Increase of Speed of Digital Regulators for Drives of Processing Equipment. Part 1. Reduction of Time of Execution of Programs
The requirement of creation of extremely high-speed digital regulators is discussed. Stages on reduction of time of execution of programs and for reduction of time of carrying out computing operations are allocated. The realization direction on providing the minimum time of execution of programs of management is chosen.
Keywords: regulator, controller, productivity
P. 15-24.
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L. A. Klimina, A. P. Holub
Control of Operation Modes of a Wind Power Station by Differential Planet Gear
The mathematical model of an autonomous wind power station containing a differential planet gear is introduced. The turbine shaft is rigidly connected with the carrier, and the generator rotor is rigidly joined with a sun gear. The generator is connected to a local electrical circuit. The system is controlled with a control torque applied to the external ring gear. The main purpose of the control is to maintain constant angular speed of the rotor of the generator taking into account changeable external conditions: wind speed and electrical load. Conditions of existence of stable steady regimes corresponding to operation modes of the turbine are obtained. A technique for estimation of power loss due to the control is introduced. The paper provides theoretical explanation of the effect of hysteresis of power loss due to control with respect to direction of changing of parameters, such as wind speed and external resistance. The control strategy is suggested that allows to overcome the hysteresis zone and to reach the preferable operation mode.
Keywords: wind power station, differential planet gear, piecewise constant control, steady regimes, stability, power loss due to control, output power
P. 24-32.
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S. A. Voititski, S. V. Feofilov
Synthesis of an Adaptive Control System of Horizontal Air-Basis Radar's Drive
This article is devoted to synthesis of an electrical drive's adaptive control system. Adaptation algorithm of the two-dimensional regulator's coefficients is proposed. Also in this article developed application-oriented methodic of stability's control and adaptation to peturbation action.
Keywords: PID-regulator, adaptation, reference mode
P. 33-40.
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F. N. Pritykin, O. I. Gordeev
The Generalized Method of Definition of a Corner of Service for the Flat Not Closed Kinematic Circuits of Manipulators on the Basis of the Analysis of Instant Conditions
In this work the algorithm of definition of a corner of service for the flat not closed kinematic circuits having various structure of kinematic circuits, on the basis of synthesis of movements on a vector of speeds is offered. Dependences definitions of the specified corner describing accuracy by the developed method in various points of configuration space for flat mechanism of the manipulator having seven parts are received.
Keywords: virtual modeling of movements of robots, flat mechanisms of manipulators, a corner of service
P. 41-44.
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A. V. Nazarova, T. P. Ryzhova
The Robot Team Control System
Problems of control of the multiagent robotic system are considered. The modular structure of the robot team control system is developed. The algorithm of the tasks distribution between robots is considered. The algorithm of moving of the robots to its target points in the workspace with obstacles and the algorithm of uniform placement of robots in the working area are described. The algorithms of the data processing are considered.
Keywords: multiagent robotic system, control centre, modular control system, robot team, "Auction" model of negotiate, method of "potentials"
P. 45-50.
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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 3
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. 52-55.
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Ya. G. Sapunkov
Optimal Control of a Spacecraft with Engine of Limited or Pulse Thrust and Solar Sail
With the use of KS-variables the problem of optimal control of meeting of two spacecrafts, one of which is uncontrolled and moves only under the force of gravity to the Sun, the second spacecraft is controlled by a solar sail and engine of limited or pulse thrust is solved with the help of the Pontryagin maximum principle. The functional defining quality of control process is a linear combination with weight factors of two criteria: the time and the integrated sum of quantities of pulses spent on the control process.
Keywords: optimal control, combined functional of quality, spacecraft, limited and pulse thrust, solar sail, soft and hard meeting, Kustaanheimo—Stiefel's variables
P. 55-61.
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R. A. Petukhov, V. V. Evstifeev, M. V. Palkin
The Small Spacecraft'S Combined Angular Motion Control System
A new approach for building angular motion control systems (based on a combination of gravity stabilizer and micro-jet thrusters) for small spacecrafts, carrying angular orientation in an orbital coordinate system, is discussed. The mathematical models and calculation methods for specified combined systems have been proposed, as well as the ways of sedation, orientation and stabilization of spacecrafts using such systems. The computer simulation of combined angular motion control system for spacecraft (having mass 10 kg) was carried out.
Keywords: space craft, control system, stabilization, orientation, micro-electro-mechanical systems, micro-jet thrusters, gravitation, dynamics, nanosatellite
P. 62-67.
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V. M. Artuschenko, B. A. Kucherov
Significance of Informatization in Increasing Efficiency of Distribution of Control Facilities for Spacecrafts
Significance of using information technologies for informatization of distribution of control facilities for spacecrafts considers. Brief description of problem domain is adduced. Description of tools used for application development is given. Description of realized methods of information exchange planning authority with subscribers is adduced, their comparative analysis is constructed. Issue of notification for specialists about receipt of information is considered. Information technologies used for statistical processing of data and informative presentation of data about distribution of control facilities for spacecrafts are given. Influencing of used technologies to informatization process is indicated. Shown that using offered information technologies has a positive effect on the efficiency of distribution of control facilities for spacecrafts.
Keywords: informatization, database, information exchange, alert, control facilities
P. 67-72
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