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ABSTRACTS OF ARTICLES
OF THE JOURNAL "MECHATRONICS, AUTOMATION, CONTROL" N. 7, 2014
| A. B. Filimonov, professor, filimon_ab@mail.ru, "MATI" — Russian State Technological University, N. B. Filimonov, professor, nbfilimonov@mail.ru, M. V. Lomonosov Moscow State University Hybrid Scheme of Solution to the Problems of Linear Acting on the Basis of Polyhedral Optimization Formalism The problems of application of hybrid control systems for solution to the problems of linear speed is discussed. Hybrid systems include analog and discrete components whose dynamics is described by differential and difference equations respectively. In the proposed scheme of hybrid control the mechanism of amplitude-impulse modulation of analog control signals with the purpose of discretization of control problem is used. The discretization of the model of control object makes possible to apply methods of mathematical programming for optimization of discrete control processes. P. 3—9 |
| V. I. Shiryaev, professor, head of Control Systems department, vis@prima.susu.ac.ru, E. O. Podivilova, postgraduate student of Control Systems department, podivilova_elena@mail.ru, Federal State State-Financed Educational Institution of High Professional Education "South Ural State University" (National Research University) Feasible Set Approximation in Dynamic System State Guaranteed Estimation Problem under Condition of Uncertainty The article describes guaranteed estimation of dynamic system state vector under condition of uncertainty when statistic information about disturbances, noises and initial state is unknown but sets of their possible values are available. In this case state estimation is performed with minimax filter which consists of a construction of feasible sets. Algorithm of construction feasible set approximation with polyhedron of any form is presented when disturbance, noise and initial state sets are polyhedrons given by linear inequalities systems. The article describes the construction of feasible set approximation using current measurement and saved for several previous steps information without performing intractable set operations. The algorithms are based on implicit description of feasible set with dynamic system state equations and linear inequalities describing disturbances, noises and initial state. Approximation construction is reduced to solving a number of linear programming problems. The algorithms are demonstrated with the numerical examples for two-dimensional system and six-dimensional system of fighter aircraft F-16. The comparison of feasible sets approximations and Kalman filter estimations is performed. P. 10—16 |
| V. I. Potapov, Professor, Head of the chair of Informatics and Computer Science, ivt@omgtu.ru, Omsk state technical University Mathematical Model and Algorithm of Optimal Control Movable Object in Conflict Situation Mathematical model and the algorithm of the numerical solution of optimal control, involved in conflict situations mobile controllable via the communication channels redundant system has been involved which a failure rate of components depending on the time and space to which you are moving the system is moving. P. 16—22 |
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F. M. Kulakov, Professor, St. Petersburg Institute for Informatics and Automation of RAS, A. S. Shmyrov, Professor, D. V. Shymanchuk, Associate Professor, shimanchuk@mail.ru, Robotic Spacecraft Control Using an Unstable Libration Point This article considers the navigation control problems of robotic spacecraft that is functioning both in the neighborhood of an unstable libration point of the Earth-Sun system and in the near-Earth space. The robotic spacecraft motion is considered under Hill’s circular restricted three-body problem approximation. The concept of special function of phase variables referred to as "hazard function" in this article is analyzed on the basis of a linearized system of equations of motion. Numerical analysis of controlled trajectories is carried out subject to the value of the "hazard function". Under the mathematical model being considered, it was shown that it is possible to maneuver in the near-Earth space with a return to the neighborhood of the collinear libration point and stabilize the orbital motion. It is thus proposed to use the property of the instability of the collinear libration point as a positive factor allowing to change the trajectory of motion significantly at the influence of a small control influence. Investigation results obtained in this work may be useful in developing projects related to solving the problems of asteroid and comet impact hazard. The numerical simulation results obtained are illustrated graphically. P. 23—28 V. F. Filaretov, professor, head of laboratory, filaret@pma.ru, Institute of Automation and Control Processes Far Eastern Branch of RAS, A. Ju. Konoplin, assistant, kayur-prim@mail.ru, Far Eastern Federal University System of Automatic Stabilization of Underwater Vehicle in Stationkeeping Regime with Working Multilink Manipulator. Part 2 In this paper the synthesis method of combined closed-loop automatic system of underwater vehicle position and orientation stabilization in stationkeeping regime is described. Underwater vehicle invariance to external influences created by working underwater manipulator is provided by thrusts of its screws. These thrusts are proportional to said external influences calculated in real time scale. For precise calculation of these effects modification of recursive algorithm for solving inverse problem of underwater manipulator dynamics was developed. Presented modification allows take into account all features of viscous environment influences on manipulator links committing random movements at high speed. To increase accuracy of stabilization of underwater vehicle additional automatic systems closed-loop at all linear and angular movement of this vehicle was synthesized. Said systems may use data obtained from high-precision navigation onboard sensors and devices. P. 29—34 |
Yu. V. Turygin, professor, Yu. V. Zubkova, senior lecturer, zubkov-jr@yandex.ru, Kalashnikov Izhevsk State Technical University, R. Hartyansky, PhD in technical sciences, docent, rene.hartansky@stuba.sk, Slovak University of Technology in Bratislava The Positioning Accuracy Research of Manipulator Output Member of Automated Electron Beam Production Complex The paper presents the mathematical model of electron beam positioning during electron-beam welding. The model specialty is an electron beam deviations account (the deviation of perpendicularity, the joint centre beam deviation, the error of mechatronic modules) from an ideal position. P. 35—41 P. A. Budko, professor, budko62@mail.ru, A. I. Litvinov, graduated in a military academy, litvinovaleks@mail.ru, Military Academy of Communications of Marshal of the Soviet Union S. M. Budyonny, St. Petersburg Kinetic Method of Control and Diagnostics of Technical Means The main approaches connected with development of a kinetic method of control and diagnostics of technical means are considered in the article. Are mentioned the main restrictions and shortcomings of operating monitoring systems and diagnostics connected by that in process of increase of complexity of controlled systems of function of control also considerably become complicated. Thus there are problems of a choice of rational set of controlled parameters and the organization of procedures of control according to real-life problems. The essence of these problems is defined by development of technical means in the direction of complication of circuit construction and functional communications technical means generates considerable difficulties for ensuring necessary reliability, and also is accompanied by sharp increase in time, material and labor expenditure at service owing to what the increased potential opportunities of technical means can't be completely realized. The analysis of existing scientific means of diagnosing, the main shortcomings and contradictions of considered area are formulated. Definite solutions, based on which the proposed kinetic method-sky monitoring and diagnostic technology is offered. The main direction of development of systems of contactless control and diagnostics of technical means is formulated. P. 42—47 |
D. V. Tupikov, postgraduate student of the Department of "System engineering" of Saratov State Technical University, A. F. Rezchikov, director of Institute of Precision Mechanics and Control of RAS, Saratov, V. A. Ivaschenko, the leading scientific employee of Institute of Precision Mechanics and Control of RAS, Saratov, iptmuran@san.ru The Approach to Predict Values of Factors of Fire-Risk The approach to forecasting of values of the factors causing fire-dangerous situations in fire and explosive productions is offered in the paper. As such factors are considered: indoors temperature, optical density of air, conducting resistance, resistance of isolation of conducting and air density of indoors. The forecast of values of these factors is based on use of an artificial neural network, as which it is accepted multilayered perceptron. The architecture, activation function and algorithm perceptron learning, which in total enable not only to distinguish of input data from learning sequence, but also to predict tendencies of their change with an admissible accuracy on time intervals, sufficient for adoption of reasonable decisions and measures for prevention of fire-dangerous situations are also offered. At essential change of operating conditions of productions is provided adaptation of perceptron to these conditions by its retraining on new retrospective data in real time. P. 48—51 |
V. I. Lukasiewicz, General director, lukasevichvi@cmp.ru, JSC "TSENTROMASHPROEKT", S. V. Sokolov, Professor, s.v.s.888@yandex.ru, Rostov State University of Railways Solution of the Problem of Inertial Earth Navigation Using Information of Electronic Maps An approach to solving the problem of navigation, based on the approximation of the movement trajectory of the object by means of electronic maps by set of great circle trajectories is considered. P. 53—59 E. Yu. Zybin, Senior Researcher, V. V. Kosyanchuk, Chief Researcher, A. M. Kulchak, Chief of Section, amkulchak@2100.gosniias.ru, State Research Institute of Aviation Systems Analytical Solution of the Optimal Aircraft Control System Reconfiguration Problem in Case of Actuators Failures The article discusses the optimal approximation by analytical functions algorithm for solving the problem of aircraft control reconfiguration in case of different actuators failures. The algorithm is based on optimal analytical solution of linear matrix equation, where the analytical form of pseudoinverse matrix is formed with the help of skeleton matrix decomposition. The notion of approximate solvability conditions is introduced, which allows evaluating the accuracy of the solution in advance, before reconfiguration problem solving. Solvability and accuracy conditions are both based on Frobenius norms. However, the results can be generalized for any type of Schatten p- norms due to their invariantness to orthogonal transformations. It is shown that in the case of satisfaction of the solvability conditions the control reconfiguration problem can be analytically optimized in terms of the residual norm of the resulting control effectiveness matrix. This allows keeping all the advantages of analytical solutions while maintaining its specified accuracy. The results are successfully applied to aircraft control reconfiguration problem with deriving the whole set of analytical solutions with the best accuracy available. P. 59—66
Ya. G. Sapunkov, Senior Staff Scientist of the Laboratory of "Mechanics, Navigation and Motion Control", A. V. Molodenkov, Senior Staff Scientist of the Laboratory of "Mechanics, Navigation and Motion Control", iptmuran@san.ru Precision Mechanics and Control Problems Institute of Russian Academy of Sciences, Saratov Algorithm of the Optimal in the Sense of Combined Functional Turn of a Spacecraft in the Class of Conical Motion The optimal slew problem for a spherically symmetric spacecraft as a rigid body with arbitrary attitude boundary conditions and arbitrary direction of the initial angular velocity with no restrictions on the control is considered in the quaternion formulation. The combined functional which combines the time and energy spent on turning of a spacecraft is used as optimality criterion. Using the Pontryagin maximum principle, a new analytical solution of this problem in the class of conical motions is obtained. An explicit expression for the constant in magnitude optimal angular velocity vector of the spacecraft is found. The motion trajectory of the spherically symmetric spacecraft is regular precession. The vector of the spacecraft optimal control is perpendicular to the angular velocity and is constant in magnitude. The conditions for the modulus of the initial and the form of the terminal values of the spacecraft angular velocity vector are formulated, which make it possible to solve the problem analytically in the class of conical motions. The terminal vector of the spacecraft angular velocity must be on the conical surface generated by arbitrarily given constant conditions of the problem. Algorithm of the optimal turn of a spacecraft is given. The numerical example is presented. P. 67—72 |