Abstracts of articles of the Journal "Mechatronics, Automation, Control" N. 10, 2014

O. N. Krakhmalev, Associate professor, olegkr64@mail.ru, D. I. Petreshin, Professor, Head of Department, atsys@tu-bryansk.ru, Bryansk State Technical University

Research of Movement of Manipulative Robots Based on the Analysis of Inertia Parameters

An approach to the optimization of the laws of motion manipulation robots based on an analysis of inertial parameters of robots in the space of generalized coordinates. This approach is original. In this case the objective function is not made, so the task of optimization not being examined a rigorous formulation. The proposed approach is based on a previously developed technique. This approach can be used to develop software systems management manipulation robots and systems computer-aided design robotized complexes. This approach was used to develop a method for optimizing the laws of motions manipulation robots. Optimization method is described in detail. In this paper we have an example illustrating the use of this method. In the example used robot with three degrees of freedom. Example illustrated graphics. Are available references to the literature used. The article may be of interest to specialists on the dynamics of robots.
Keywords: manipulation robots, optimization of motion, inertial forces

P. 3—8

To the contents

M. V. Bobyr, Professor, fregat_mn@rambler.ru, V. S. Titov, Professor, N. A. Milostnaya, Lecturer, nat_mil@mail.ru, South-West state university, Kursk

Prediction of Mechatronic Systems Based on Soft Fuzzy Knowledge Bases. Part 1

When controlling mechatronic systems the effect of external factors on the stability, efficiency of decision-making control, precision, and other indicators of its traditionally considered regression models. However, these models have significant drawbacks, which include the inability to use their expertise in evaluating the relationship between quality characteristics and external factors. A possible way of accounting for the above factors is the use of fuzzy controllers that implement algorithms for fuzzy-logic inference. Along with the simplification of software implementation and reduction of computational complexity, these algorithms have several advantages, increase the robustness of mechatronic systems in terms of incompleteness and uncertainty of the initial information, etc. The traditional scheme of reasoning models are Mamdani and Takagi-Sugeno. However, by using the classical formulas in them finding minima and maxima they have a number of errors, such as the curse of dimensionality, which reduces their additivity. The article forecasting of complex processes occurring in mechatronic systems, it is proposed to carry out based on soft fuzzy knowledge bases synthesized by the modified algorithm of fuzzy inference. The above examples show the article soft computing efficiency compared to rigid.
Keywords: fuzzy-logic inference, fuzzy knowledge base, adaptation, prediction, soft computing, modified algorithm fuzzylogic inference, additivity

P. 8—14

To the contents

V. F. Golovin, Associate professor, medicalrobot@mail.ru, Moscow State Industrial University (MSIU), V. E. Pavlovsky, Leading researcher, Professor, vlpavl@mail.ru, Keldysh Institute of Applied Mathematics of RAS (KIAM RAS), Moscow

The New Trends in а Medical and Service Robotics: on Materials of the International MESROB 2013 Conference

The paper deals with the review of works of ’The Workshop on new trends in MEdical and Service ROBotics (MESROB) — 2013’ conference, devoted in 2013 to the memory of the well-known Serbian scientist, professor Miomir Vukobratovich, the expert in the field of biomechanics and robotics (conference took place in Belgrade at Mihailo Pupin's Institute where for a long time M. Vukobratovich worked). The review of the corresponding Russian researches is given as well.
In the review of MeSRob 2013 three new important directions in a service and medical robotics are noted — the first consists in use of surgical and implantation robots for increase of reliability of carrying out minimum invasive operations and reductions of time of their carrying out, the second consists in use of service robots for ensuring mobility and independence of patients and elderly people, the third consists in use of network technologies and remotely operated inexpensive robots for a healthy lifestyle and rehabilitation. Examples are given. Among them it is interesting to note the concept of the emotional intelligence, allowing to realize new type of the interface of robot and human being.
The history of the Russian developments of complicated walking robots is given in the review of the Russian researches, developments are specified of Research Institute for Machine Science named after A. A. Blagonravov (IMASH) RAS, Keldysh Institute of Applied Mathematics of RAS, Institute of Mechanics of the Moscow State University, modern developments of the Volgograd scientific school in Volgograd state technical university. A lot of photos of the created devices are provided.
Keywords: medicine, service, robotics, zero moment point, exoskeleton, position/force control, rehabilitation, compliance, massage robot, emotional intellect, walking robots, hexapod apparatus, orthogonal walking movers

P. 15—21

To the contents

E. I. Vorob'yov, Professor, V. I. Chizhikov, Assosiate Professor, vichizhikov@gmail.com, A. V. Mikheyev, Junior researcher, Moscow State University Instrument Making and Informatics

Development of Models and Control Algorithms Mobile Elements of a Pneumatic Actuator Limb of a Hand

The solution of a problem of off-line adaptive control is considered by an artificial limb, thus it is meant that the operated system can possess to the operator internal model. The control panel is taken out on foot of the operator and represents the panel insole with the contact sensors, accepting signals of the operator, the Main advantage of an offered method of management is that he doesn't demand the difficult and expensive equipment and, respectively, costs of its operation. The analytical assessment of static stability of the pneumoaccumulator as artificial limb power source is stated. The kinematic scheme of an artificial limb with self-established mechanism of a forearm with a pneumatic actuator on the basis of thin-walled operated covers is offered. The compensation algorithm of management by mobile elements of an artificial limb with possibility of its use in conditions when the operated system can possess to the unfamiliar operator internal model is synthesized.
Keywords: artificial limb, management, pneumoaccumulator, pattern, static stability, adaptability element

P. 21—28

To the contents

A. V. Borisov, Associate professor, BorisowAndrej@yandex.ru, The Smolensk branch of National Research University "MEI"

Automation of Designing Core Exoskeletons

In article one of variants of the decision to build the core of a mechanical system type exoskeleton, which would be in terms of mechanical properties, corresponded to the maximum movements of locomotor apparatus. The model exoskeleton with an arbitrary finite number of links. Novelty consists in changing the lengths of rods. For the first time proposed recurrent method of constructing differential equations of motion of a rod of a mechanical system type exoskeleton pillar in the movement phase. It uses a generalization of the matrix elements by induction in the matrix form of these equations. The obtained matrix notation generalizations of the equations of motion is universal and can be applied to the description of the movement of exoskeleton with any number of links. Having received generalization for matrices, built a recursive algorithm that allows by a matrix for a n-tier exoskeleton build the matrix for the n + 1-tier mechanical system. Is algorithmization compilation of equations of motion of models with different number of links and, consequently, it becomes possible to automate the design of exoskeletons. The proposed method allows to automate the preparation of the differential equations of motion of a rod of a mechanical system deformable the links of the type of exoskeleton.
Keywords: exoskeleton, endoskeleton, rod mechanical system, deformable links, the differential equation of motion, the matrix, induction, recursion, generalization, the algorithm

P. 29—33

To the contents

S. M. Andreev, Head of chair, pk_su@bk.ru, M. S. Galdin, Postgraduate student, galdin.mike@gmail.com, Nosov Magnitogorsk State Technical University

Mathematical Model of Thermal Mode of Twin-Roll Strip Casting

The paper considers the mathematical model of the strip thermal field at the twin-roll strip casting machine. Distinctive features of the developed mathematical model are description temperature-speed mode of the casting along the unit's length, calculation of the thermal field in the strip casting rolls providing the condition of constant volume and dependence of the steel physical properties from strip's temperature. Full mathematical description and structure of the developed model are presented. The final formulas for calculating the thermal field of casting strip are received. The form of the temperature distribution along the length of the strip and transients in the dynamic conditions of the unit are described as the results of simulation. The proposed mathematical model is designed for use in automated control systems at the twin-roll strip casting machine.
Keywords: twin-roll strip casting, twin-roll mold, equation of thermal conductivity, mathematic modeling, thermal mode of casting

P. 34—40

To the contents

S. M. Kulakov, Professor, kulakov-ais@mail.ru, D. V. Toropov, Postgraduate Student, denis-toropov@mail.ru, Siberian State Industrial University, Novokuznetsk

Integration of Methods of Mathematical Modeling of Chemical Processes in the Column Ammonia Synthesis

The article describes one of the variants of the mathematical model ammonia converter, which is part of intelligent control system. A distinctive feature described in the article the method of mathematical modeling the ammonia production process is different description for the physical and chemical processes. The description of physical processes carried out by standard formulas. To describe the chemical processes in the synthesis column formulas and coefficients applied thereto determined by regression analysis of field data obtained during the active experiment. Task assigned to the block of mathematical modeling in the framework of intellectual management system is the prediction of the outputs of the control actions generated by the control system and choosing the best of them. The mathematical model is based on increments, so field data are analyzed for changes in the rate and magnitude values of physical quantities. Identified and presented requirements for the active experiment, consider a method of test data for valid reflection of the processes occurring in the synthesis column.
Keywords: development of intellectual control system, an expert knowledge base, mathematical modeling of chemical processes for ammonia synthesis.

P. 41—45

To the contents

B. V. Novosyolov, Scientific Associate in Chief, signal@kovrov.ru, "All-Russian Scientific Research Institute "Signal" Joint Stock Company, Kovrov

Parametric and Structural Potential of Differential Servodrives with a Reference Channel

The paper considers a high potential of variable servodrives with a reference channel (VSDRC). Load rotation speed of these drives is to be determined by means of subtraction of a reference channel constant speed and controlled channel varying speed on a mechanical differential. The abilities to vary parameters and structural-layout design of the whole drive are increased owing to a data interchange between the controlled and reference channels. In relation to static modes of operation, special guidelines have been worked out on the choice of the reference speed level, estimation of the attainable control range, permissible unevenness of servomotors rotation and drive limiting potential on speed regulation accuracy.
An overview is given of basic published papers reporting this category of servodrives. In particular, 35 inventions referring to this category of drives are presented in a table form, these inventions being developed by the author and his colleagues. Along with merits, the following to-be-investigated problems have been indicated: elimination of a negative dynamic channels interference, simplification of drive power kinematic targets, etc.
Keywords: differential servodrive with a reference channel, reference and controlled channels, control range, invariance

P. 46—54

To the contents

I. Sh. Nasibullayev, Researcher, sp.ishn@gmail.com, E. Sh. Nasibullaeva, Senior researcher, elvira@anrb.ru, E. V. Denisova, Leading researcher, denisova@anrb.ru, Mavlutov Institute of Mechanics, Ufa

Influence of Different Types of Friction Forces in the Two Coaxial Cylinders

The technical device consisting of two coaxial cylinders, in which the outer cylinder is fixed and the internal one moves under the differential pressure applied to its ends is considered. For the first time the influence on the motion of the inner cylinder of the two types of friction (dry friction arising from the interaction of cylinder walls and viscous friction that occurs when a viscous fluid flows in the gap between the cylinders) is investigated. The necessity of taking into account the differences in the values of the maximum force of the static friction and the force of the sliding friction is shown. It is found that the viscous friction has little effect on the dynamics of the inner cylinder and the flow regime in the gap is strongly dependent on the width of the gap. The estimation of the dynamic properties of a technical device as an element management system has been made.
Keywords: automatic control system, technical device, servopiston, hydrodynamics, Navier—Stokes equations, coaxial cylinders, dry friction, viscous friction

P. 54—59

To the contents

V. V. Soldatkin, Associate professor, haibulova.piis@kstu-kai.ru, Kazan national research technical university named after A. N. Tupolev — KAI

Features Construction and Characteristics of the System of Air Signals Helicopter's on the Basis of Stationary Multifunctional Aerometric Receiver

The analysis of problem of high-speed parameters helicopter's taking into account aerodynamic disturbances of vortex column of the main rotor. The prospects of creation of the system of air data signals helicopter's on the basis of stationary multifunctional aerometric receiver and information aerodynamic field of vortex column of the main rotor are proved.
The theoretical basis for the definition of high-speed parameters helicopter's in the range small speeds of flight of the basis of information aerodynamic field of vortex column main rotor's, mathematical models and algorithms of processing in channel of air data system on the basis of stationary multifunctional aerometric receiver and information aerodynamic field of vortex column of the main rotor's are considered.
The methodology of construction and designing of stationary multifunctional aerometric receiver, the models of informative signals, methods of parametric synthesis and rational choice of design parameters, the results of experimental research of characteristics of the receiver are considered.
Preparation for pipe testing, pipe testing are made, static characteristics are made and evaluation of instrumental errors of measuring channels of experimental sample of air data system helicopter's on the basis stationary multifunctional aerometric receiver and information aerodynamic field of the vortex column of main rotor. The results of development and research in the wind funnel of experimental sample of air data system helicopter's on the basis stationary multifunctional aerometric receiver and information aerodynamic field of vortex column of the main rotor are considered.
Keywords: helicopter, air data signals, measurement, system, stationary multifunctional receiver, features construction, experimental sample, pipe test, characteristic

P. 61—66

To the contents

S. V. Kolesnichenko, Associate professor, serjkop@yandex.ru, Milhaylovsky military artillery academy

To Develop Methods Substantiation of Requirements to Accuracy Sensitive Elements Complexioned Control Systems of High Mobile Objects

The article considers the process of formation of accuracy sensitive and reinforcement and transforming elements of the onboard equipment with respect to prospective strapdown inertial navigation systems (SINS) highly dynamic aircraft (HDA).
The aim of the research is detailed study of the provisions of methodological substantiation of requirements to accuracy of the sensitive elements of control systems on the basis of beans.
The main tasks of the research was the following:
analysis of the conditions of application of highly dynamic aircraft; analysis of structure and composition of on-Board equipment control systems highly dynamic aircraft;
the study of dependencies maximum allowable deviations of HDA;
formation of requirements to permissible values of errors sensitive elements beans;
identify features of practical application of proposed scientific and methodological apparatus for investigation of the processes of formation of the accuracy of HDA
Statements of the developed methods allow to calculate the values are not only valid care gyroscopic sensors, but also directly the accuracy parameters of these devices, such as the instability of the scale factor, the constant drift, random drift, and others. Generally, the proposed methodological apparatus allows us to evaluate the possibility of using beans as part of control systems of moving objects depending on the assumed maximum distance and driving dynamics and to assess the impact of methodical (based on the accepted model of the Earth) and noise components errors sensitive elements of the measuring unit beans on the accuracy of determination of navigation parameters.
Keywords: the trajectory of motion, moving subject, autonomous navigation, integration, control system, sensor, SINS, methods, accuracy, efficiency

P. 67—72

To the contents

Top of page