Abstracts of articles of the Journal "Mechatronics, Automation, Control" N. 12, 2014

A. B. Filimonov, Professor, filimon_ab@mail.ru, Moscow State Technical University Radio Engineering, Electronics and Automation, N. B. Filimonov, Professor, nbfilimonov@mail.ru, M. V. Lomonosov Moscow State University

Robust Correction in Control Systems with High Gain

Mechanism of robust correction in the systems with high gain is investigated. The questions of its application in the problems of synthesis of control systems with standard dynamics for objects with parametric uncertainty are discussed.
The new theoretical scheme of mechanism inclusion of high gain for the structure of control system is suggested. The robust correction of control object as a preliminary stage of solution of control problem is in its base. As a result the synthesized system has two-loop structure. The inner loop provides the robust correction of object, and the external one responds for the achievement of control objective. Such approach seems to the authors more logical. It divides the functions of correction and control. As a result in going from input control problem with uncertainty factors to the control problem by corrected object the given factors are eliminated. That approach is applicable to more wide class of problems of robust control.
Keywords: parametric uncertainty, high gain, the scheme of robust correction, synthesis of control systems, standard dynamics

P. 3—10

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N. N. Karabutov, Professor, V. M. Lokhin, Professor, S. V. Manko, Professor, cpd@mirea.ru, M. P. Romanov, Professor, m_romanov@mirea.ru, Moscow State Technical University Radio Engineering, Electronics and Automation

Models of Adaptive Control on the Base of Associative Memory

Improvement of technological processes for development of new generation of the automated equipment for difficult operations performance leads to substantial increase of requirements to quality indicators of control systems. Implementation of these requirements for systems, functioning in the uncertainty conditions, is interfaced to considerable difficulties and demands development of new approaches, especially for high-speed control systems.
Known methods of adaptive control in high-speed systems, didn't find wide application. It is connected, first of all, with complexity of adaptive algorithms, which demand large computing capacities, can lead to emergence of delay in a contour of system and to the corresponding deterioration of its dynamics.
In this article the intelligent technologies application for creation of adaptive control models is investigated. Against a large number of the publications devoted to adaptive control on the basis of application of neural networks, fuzzy logic, and also expert systems, obviously not enough attention is given to associative memory technology, which main advantage is simplicity of both program, and hardware realization and, respectively, the high speed functioning, determined by time of the appeal to a separate memory cell.
In article on the basis of the analysis and classification of the uncertainty factors, operating on automatic control system, two approaches to creation of adaptive control models with associative memory are offered and investigated.
Keywords: artificial intelligence, control, adaptation to uncertainty conditions, associative memory, absolute stability, Lyapunov's second method, dynamics of intelligent control systems, expert regulator

P. 11—17

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A. Yu. Aleksandrov, Professor, Head of Department of Medical and Biological Systems Control, alex43102006@yandex.ru, E. В. Aleksandrova, Associate professor, star1460@yandex.ru, Saint Petersburg State University

Monoaxial Stabilization of a Rigid Body under a Delay in Feedback Law

A rigid body rotating around a fixed point coinciding with its center of inertia under the action of a torque of dissipative forces and a control torque is considered. It is assumed that the dissipative forces are linear ones, and there is a positive parameter at the torque of these forces. Moreover, we consider the case when feedback law contains a delay which is continuous bounded and nonnegative function of time. The delay might be unknown, and only an upper bound for its values is given. Two approaches for the synthesis of control laws providing monoaxial stabilization of the body are proposed. The first one is based on the constructing of a linear control torque, while in the second one essentially nonlinear control torque is constructed. By the usage of the Lyapunov functions method and the Razumikhin approach, conditions are determined under which delay does not disturb the asymptotic stability of the given equilibrium position of the body. It is shown that in the case of linear control torque the destabilizing effect of delay can be compensated via the choosing of sufficiently large value of parameter at the dissipative torque, whereas in the case of essentially nonlinear control torque one can guarantee delay-independent asymptotic stability of the equilibrium position for any positive value of this parameter.
Keywords: rigid body, monoaxial stabilization, asymptotic stability, delay, Lyapunov functions

P. 18—22

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A. A. Kosov, Leading researcher, aakosov@yandex.ru, Institute for System Dynamics and Control Theory of Siberian Branch of Russian Academy of Sciences

Design of Stabilizing Control for One Switching Mechanical System

The controlled mechanical system consisting of finite number of the masses moving along one straight line, interacting among themselves by means of switched elastic forces and being under the influence of switched dissipative forces is studied. The problem of stabilization of equilibrium position for finite time in this mechanical system at any mode of switchings is considered. A simple feedback law is offered where the control force affecting each mass depends only on the coordinate and on the speed of movement of this mass. This control law guarantees the system to come to the equilibrium position for finite time from any initial situation in a small vicinity of equilibrium with the subsequent fixation at any mode of switchings for elastic and dissipative forces. Justification is carried out with use of the common Lyapunov function and theorems of stability of systems with switchings on generally homogenous approximation. As an example, the system of two interacting carts is considered. Modeling of the closed loop system confirms reduction in the equilibrium position for finite time.
Keywords: hybrid mechanical systems, control, stabilization, Lyapunov function

P. 23—26

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S. F. Sergeev, Professor, ssfpost@mail.ru, St. Petersburg Polytechnic University Mechanisms

Mechanisms Autopoietic Self-Organization and Control Problems in Technobiosphere

The article deals with the problem of co-evolution of computer man-made environment, and human society. We discuss the new information and computer networking technologies impact on people and society. We show how to technobiotics stage in the evolution of human civilization occurs. We introduce the concept of total human-autopoetics systems, according to which the autopoietics type of systemogenesis and functioning of living organisms permeates all levels of structural organization of living matter, and organized its environment and elements. We propose the author's interpretation of processes arising in man-made environment (includes human and social phenomena autopoietic self organization). We explain the mechanism of constructing and structuring influence on the development of autopoezisa global man-made environment and humans. A special place in the article dedicated to the discuss of the autopoietic systems properties in a planetary scale (the planet shown as a tehnobiod includes all human beings of planet Earth, which come into communication with the Internet). The organizing factor of this formation is a cyclic recursive communication in information and communications environment, and a people obtained the actors positions, with the help of computer technology machinery. We also show the emergency of the effects of global changes examination. These effects occur in a self-organizing and man-made environment, especially in the interface elements for integrating human in technobiotics environment.
Keywords: autoevolution, autopoiesis, design, self-organization, coevolution, consciousness, technobiod, man-made world, control

P. 27—33

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A. M. Romanov¹, Software engineer, A. K. Petrovskaya², Software engineer, B. V. Slashchev¹, Software engineer
¹Moscow state technical university of radiotechnics, electronics and automation,
²"B & R"

Usage of Modern Alternating Current Servo Drives for Direct Current Motors Control

This article reviews ways of solving a problem of absence of modern DC motor control units with output more than 300 W. This problem occurred because synchronous motors with permanent magnets are mostly better than DC motors. But despite that there are several areas, such as theaters, factories with industrial robots and machinery, made in 70s—90s, that still use DC motors for different reasons. With B & R ACOPOS inverter as an example, this article suggests a method of connecting and tuning an AC servo drives for DC motors control. It suggests a way to connect servo drive to B & R ACOPOS and contains instructions to set up ACOPOS parameter table. Suggested solution allows to obtain all advantages of modern motion control algorithms for designing and modernizing DC motor based systems. Experiment results, shown in this article, demonstrate efficiency of this method.
Keywords: servo drive, direct current motor, inverter, control algorithm, drive tuning

P. 34—40

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A. A. Afonin, Associate professor, al_aa@mail.ru, A. V. Tyuvin, Senior researcher, a.tyuvin@mail.ru, A. S. Sulakov, Associate professor, andrikman@mail.ru, Moscow Aviation Institute (National Research University)

Hardware and Algorithmic Methods of Reducing Errors of Graviinertial Complex Systems Inertial Sensors

The paper deals with the hardware and algorithmic methods of increasing the accuracy of inertial sensors (accelerometers and gyroscopes) of a corrected strapdown inertial navigation system, which is the main block of the graviinertional navigation system. To improve the accuracy of sensors it is offered to periodically use the analytical adjustment and calibration of inertial measurement unit of strapdown inertial navigation system on stationary base before the onboard navigation and gravimetric measurements. It is also proposed to use optimal estimation and correction procedures of main strapdown inertial navigation system errors, including inertial measurement unit errors by providing the special modes of system carrier movement. It is expected that the joint use of procedures will allow to provide the inertial measurement unit sufficient accuracy for the implementation of the onboard vector gravimetric measurements. The results of the simulation, confirming the possibility of achieving of high total accuracy of measurements of proper acceleration and absolute angular velocity are given.
Keywords: strapdown inertial navigation system, inertial measurement unit, analytical adjustment and calibration, strapdown graviinertial system, optimal estimation, errors correction, observability measure, simulation

P. 42—52

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V. Ya. Raspopov, Head of department "Control Equipment", tgupu@yandex.ru, Tula State University

Gyrodyn as Learning Subject of "Control Systems of Movement and Navigation" Discipline of Higher Professional Education. Part 1. Application, Kinematic and Functioning

The main features of the power gyroscopic complexes of the stabilization and controlling of the spacecrafts as the objects of the research of the academic subject "The systems of the movement control and navigation" are considered in the article. The main definitions, terminology and examples of the gyrodynusage are given. The main modes of operation and the main kinetic schemes of the gyrodyns are described.
The gyrodyns' classification based on the quantity of the control axes and used operating members (two-degree-of-freedom and three-degree-of-freedom gyroscopes) is offered. The numerical values of the gyrodyn main parameters for the small spacecrafts are given. The advantages and disadvantages of the uniaxial and biaxial gyrodyns are mentioned. The necessity of the combination of two gyro units with the loose interlinkingis shown. The role of the precessional engines is shown. The forming of the stabilizing moments in the passive mode of operating and gyroscope controlling moments in the active operating mode are described in details. The forming of the stabilizing and controlling gyroscope moments is considered within the bounds of the precessional theory. The interconnection between the gyrodyn angular velocities and the spacecraft. The analysis of the conditions of the compensation of the disturbance torque with the gyroscopic torque is carried out. The conditions of the compensation for the uniaxial and biaxial gyrodyns are described separately. The references reflect the main questions of the usage, functioning and the kinematic of the gyrodyns. The article material could be used for the creation of the training courses in the academic subject "The systems of the movement control and navigation".
Keywords: gyrodyn, gyroscope, gyrostabilizer, spacecraft, damping, control, stabilization, work mode

P. 52—59

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E. S. Lobusov, Associate professor, evgeny.lobusov@yandex.ru, A. V. Fomichev, Associate Professor, Deputy Head of Department, a.v.fomichev@bmstu.ru, Bauman Moscow State Technical University

Forming of Strapdown Inertial Navigation System Algorithms and Main Control Modes for Small-Sized Spacecraft. Part 1

It is considered the forming of Strapdown Inertial Navigation System (SINS) which is the base of spacecraft control system. The main problem is accuracy one so it is necessary to use and implement integrated navigation systems. During outer space flight onboard devices measurements and external navigation aids can be introduced.
It is shown how to organize software algorithms for orientation system relying on so called kinematic principle. Different control modes may be easily realized within the scope of suggested structure. Here the kinematic loop mainly kinematic equations is the subject of investigation. So a specific attention is given to integration methods examination for kinematic equations of angular motion and ways of improving it.
The results (methods, models, software and algorithmic support) can be used when developing strapdown systems orientation and navigation of a new generation of small-sized spacecraft, as well as the development of new and modifying of existing software of small-sized spacecraft SINS.
Keywords: onboard sensors, strapdown inertial navigation system, a small-sized spacecraft, navigation and orientation control system, integration methods, correction processing scheme, the Kalman filter

P. 60—65

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