Abstracts of articles of the Journal "Mechatronics, Automation, Control" N. 2. Vol. 16. 2015

S. V. Tararykin, Professor, Rector, V. V. Apolonskiy, Postgraduate student, vlad-apolonskiy@yandex.ru, Ivanovo State Power University named after V. I. Lenin

Methods of Synthesis of Reduced Polynomial Controls Dynamic Systems

The problems of increasing of the noise immunity and robustness with reduction of the complexity of the automatic control systems with polynomial controllers "input/output" at the same time are solved based on reduction of the polynoms of their transfer functions. The possibilities are detected, the conditions are determined and the methods are developed for reduction of the polynomial controllers by forming definite allocation of the poles of the synthesizable systems taking into account features of the mathematical model of the object. Detailed analysis of the functioning of the systems on the borders of the "robust zones" and "risk zones" is carried out which is characterized with appearing of the positive and negative coefficients of the polynoms of the controllers. The spans of feasible changes of the parameters of the object are determined by the criterion of robust stability of the system. In contradistinction from other methods the introduced approach is based on modification of the classical method of modal control which includes a possibility of formation of the quality of transition processes at the stage of synthesis of a system. The examples of effective controlling of electromechanical objects with different complexity are given.
Keywords: automatic control system, noise immunity, robustness, robustness area, polynomial controller, geometric average square, the area of sustainability

P. 75—81

To the contents

N. V. Faldin, Professor, nvfaldin@yandex.ru, A. V. Morzhov, Associate professor, morzhov@mail.ru, Tula State University

Sensitivity of Tracking Error to the Variations of the Plant Parameters in Relay Self-Oscillations System

Self-oscillation control systems with a bistable relay element and smooth nonlinear plant are discussed. The method for evaluating the function of system tracking mode sensitivity to variations of the plant parameters is proposed. This method is based on the high-precision method of relay systems discrete linearization by useful signal.
Variations of the plant parameters lead to variations of the periodic movement. This has a significant impact on tracking mode sensitivity. Therefore it is necessary to get first the sensitivity functions for self-oscillation parameters (periodic trajectory, period). During the research of tracking mode of the relay self-oscillation control system the most interest is not an output signal, but its average component (also called useful component). In the system this component is modulated by the oscillations. The inhomogeneous linear differential equation with constant coefficients is obtained. The solution of this equation is sample function, which defines sensitivity of the useful component of relay system motion in tracking mode. Sampling period of this function is equal to the period of self-oscillating motions.
Relay self-oscillation systems are designed so, that the frequency of self-oscillations is significantly greater than the frequency of input signal. If we have sample function of output signal sensitivity, we can easily find sensitivity of tracking error.
The developed method of sensitivity functions definition can be used as for analysis, as for synthesis of relay self-oscillation systems.
Keywords: relay control system, nonlinear plant, self-oscillations, discrete linearization, sensitivity, tracking error

P. 81—88

To the contents

A. Yu. Voronin, Associate professor, iraven@yandex.ru, Institute of service, tourism and design (branch) of Federal state Autonomous educational institution of higher professional education "North-Caucasus Federal University"

Modified Frequency Search Method of Parameters for Distributed High-Precision Regulator

The article is devoted to the solution of the urgent tasks of control by objects with distributed parameters. The distributed objects (systems) is a physical processes which are related with a time and with a spatial coordinates. This article discusses the object with distributed parameters, for which needing to synthesize a control system. As the regulator uses a distributed highprecision regulator, which is a function of several variables related of a geometric parameters of the object. The coefficients of this regulator can be found by several methods, however, the modified frequency method of synthesis allows excluding from regulator uncertainty equal to infinity. This has a positive effect on the dynamical process of a closed-loop automatic control system, because as reserve of sustainability by module and phase, for a closed system, remain in the acceptable range for each of the selected modes (harmonics) of the Fourier series on spatial coordinates distribution of the control action.
Keywords: modified, frequency, method, distributed, high-precision, regulator

P. 89—95

To the contents

E. K. Lavrovsky, Senior Research Fellow, E. V. Pismennaya, Senior Researcher, P. A. Komarov, Scientific Researcher, Institute of mechanics of MSU

Walking Control of Lower Limbs Exoskeleton with Visco-Elastic Coupling with Human-Operator Body

This paper considers the dynamics of a passive exoskeleton (with additional load or not) with a flat, regular, single support human operator walking on a flat, horizontal surface. Exoskeleton has a similar structure and a person related to the operator by means of elastic straps at certain points of the body. We study the effectiveness of this method of dynamic human impact on this mechanism.
Identified damping effect when considering the viscoelastic bonds between human operators and exoskeletons, consisting in the introduction of the damping elements, and the correct selection of the parameters of the elastic and damping can significantly reduce vibrations and to obtain a reduction of energy costs for the operator. As a result of this increased comfort of use of this mechanism. The results of this study provide the prerequisites of building a more effective options for models of active exoskeletons, and other devices designed to move cargo.
Keywords: exoskeleton of lower limb, point of contact of the body and the machine, the quality of tracking the desired walking mode

P. 96—101

To the contents

Ju. V. Turygin, Professor, turygin@istu.ru, S. A. Platov, Postgraduate student, serge.platov@gmail.com, Kalashnikov Izhevsk State Technical University

Hot Spring End Winding Process Research Based on the Robotics Plasma Cutting Method

The article concentrates on the research of the hot coiled spring processing by means of plasma cutting. It covers the alternative solutions of the processing methods as well as the plasma cutting technology. Robotic system (Robotics) is represented as the basis for the technology solution in order to carry out the spring end grinding process by means of plasma cutting. The analysis of its operation activity for a period of two years resulted in the development of the methods to rectify the deficiencies found in the course of the robotics system lifetime. Spring end grinding process defects have been detected. It was developed the list of engineering solutions for the purpose of elimination of the defects. On the basis of the developed methods and engineering solutions along with the newly specified criteria for Robotic system control it was determined a list of operating system (OS) requirements. It was developed a new functional chart and control algorithms for Robotics OS. It has been developed and carried out the industrial practical testing of the new Operating System.
Keywords: robotic systems, industrial robot, control system, industrial controller, plasma cutting, springs

P. 102—105

To the contents

T. S. Bukanova, Senior lecturer, BukanovaTS@volgatech.net, M. T. Aliev, Associate professor, Volga State University of Technology

Microprocessor Motor Drive System Based on Two-Rotor Electric Machine with a Differential Control

The paper presents the structure of the drive managed on the basis of two-rotor electric machine with differential control. We consider the practical implementation of the principle of operation and performance of the microprocessor control unit for controlling the load speed by double electric machine with two rotors differentially interrelated.
Keywords: microprocessor system, electric machine, electric drive, double-rotor electric machine

P. 106—110

To the contents

A. R. Safin, Associate Professor, sarkazan@bk.ru, R. S. Misbakhov, Associate Professor, V. M. Gureev, Full Professor, Kazan State Power Engineering University

Development of a Rational Structure of Traction Electric Tram in the Simulation Environment of Electric Power Facilities Program MATLAB

We considered the development of a simulation model of tram traction drive with induction motors. Development of a simulation model is executed with the help of the program "Matlab" and SimPowerSystem application. The proposed model allows to calculate the energy performance traction for an electric tram.
SimPowerSystems, as part of Simulink, is considered one of the best packages for the simulation of electrical devices and systems. The purpose of the simulation model is to find out the rational structure of a traction drive with a minimal loss of electricity in a traction inverter and traction motor.
The problem of modeling is to analyze the energy losses in a traction inverter tram in a traction engine cooling system taking into account the different traffic conditions, element base of an inverter and control methods.
Application of this model will allow to assess parameters of the traction converter (type of semiconductor elements, circuits of ripple voltage reduction etc.), to compare different control algorithms depending on the load of the rolling stock, track profile, and speed.
Improvement and validation of this model is carried out together with colleagues from Traffic control systems department of the Technical University of Dresden, with the purpose of introduction of electric rolling motion simulator, based on MATLAB software package.
Keywords: traction, traction inverter, tram, simulation model, energy losses

P. 111—116

To the contents

Z. M. Khasanov, Professor, zimfirm@list.ru, O. Z. Khasanov, mathematician, system programmer, R. M. Guzairov, Head of Department Information Security, management of Information Technology, Ufa State Aviation Technical University

The Mathematical Model of the Motion of Multicoupling Electric Drives Systems for the Technological Processes Electric Arc Plasma Spraying

This paper shows a general approach to building of automation systems for production equipment of plasma electric arc spraying, based on algorithmic control of workpiece form elements and, the assignment of motion algorithms for precise mechanisms in multivariable electric drive systems (MEDS) taking into account a variability of forces and moments in MEDS mechanisms. The algorithms of adaptive control implementation and parameters computation for a special class of precise mechanisms in MEDS built on the basis of closed-chain mechanisms for divided motion of processing tools and workpieces in three-dimensional space are proposed.
One of speed increase variant by means of auxiliary time reduction of plasma torch mechanisms motion using programmed correction of control signals by acceleration and braking is described. The development of mathematical model of MEDS performing coordinated motion of plasma torch holder mechanisms and workpiece is considered. The technique of MEDS kinematic and dynamic parameters calculation during technology cycles of plasma coating is proposed. The requirements to mathematical modelling tools are considered.
Keywords: automation, multivariable dynamic motion, kinematics, Lagrange equations of type II, generalized coordinates and its derivatives, the holder the plasmatron

P. 116—122

To the contents

A. I. Andriyanov, Associate professor, ahaos@mail.ru, N. A. Krasnov, Postgraduate student, Bryansk State Technical University

Control System Nonlinear Dynamics Switching DC/DC Converters Voltage with Stabilization Current Limit

The article considers the nonlinear dynamics control system of pulsed voltage converter with a nonlinear external characteristic having parts stabilization of voltage and current. The proposed control system is constructed using the target oriented control to effectively control the dynamics of nonlinear discrete systems wide class. Using this approach will help in some cases abandon parametric synthesis for the given nonlinear dynamical properties of voltage converters. Provides maps and charts of dynamical mode voltage ripple in the space of two parameters of the system. The result of this approach is the reduction of non-project areas of dynamic modes of operation of the converter. The data obtained can be used as a stage of technical design and form the basis for further research related to the control of the nonlinear dynamics of switching converters.
Keywords: pulse converter, nonlinear dynamics, bifurcation, control system, buck-converter, the target-oriented control

P. 123—127

To the contents

I. F. Budagyan, D. of Sci., the professor, budif@yandex.ru, M. S. Kostin, the postgraduate student, mihailkos@mail.ru, Moscow State Institute of Radio Engineering, Electronics and Automation (MSTU MIREA)

Vibrodiagnostics Kinematic Schemes of the Devices Precise Mechanics by Method Radiosensory Ultrashort Pulse Phase Deviametry

In this paper the problem of vibrometric research kinematic elements constructions of mechatronic devices, generating in the process of exploitation own mechanical vibrations or modulated external acoustic perturbations of the environment, radiowave methods on the subject vibrometrologcical diagnostic is considered. The principles of radiosensory ultrashort pulse radiolocation are formulated. The advantages and peculiarities of the considered method are defined. The numerical methods of digital filtering of signals with application of one-dimensional windowed Fourier transform and process the data using cepstral analysis as one of the most effective when assessing acoustomechanical fluctuations are proposed. The implementation of the analytical model of test debug mode radiosensory system vibrometrological complex is presented.
Keywords: diagnostic, vibration resistance, radiowave vibrometric, radiosensory locator, ultrashort pulse, analytical model, the windowed Fourier transform, cepstral analysis, cross-correlation

P. 127—132

To the contents

I. V. Shcherban, Professor of the Department, shcheri@mail.ru, O. G. Shcherban, Associate professor, D. S. Konev, Graduate student, Southern Federal University, Rostov-on-Don

The Loosely Coupled Integration Method for the Satellite and Microelectromechanical Strapdown Inertial Navigation Systems of the Automotive Vehicle

The Loosely Coupled integration method of a satellite and microelectromechanical (MEMS) strapdown inertial navigation systems (SINS) for the automotive vehicle gas been developed. This method allows the continuous estimation of linear and angular parameters of a automotive vehicles in real time with a sufficient accuracy.
The realized method is universal for any of the inertial sensors lower class of accuracy and accordingly the cost. It has no problems with convergence and requires a fundamentally lower computational costs in comparison with algorithms, based on the stochastic optimal filters.
Thus it is possible to effectively integrate the rough and relatively inexpensive MEMS SINS with the satellite navigation system. So the possibility of mass use of integrated inertial-satellite navigation systems in automotive vehicles has been realized.
The practical application of the developed method for the integrated inertial-satellite navigation systems will greatly simplify the analysis of the emergency functioning of a automotive vehicles and conflict analysis in the case of several automotive vehicles.
The results of simulation modeling and pilot experience are given, which confirm the efficiency of the synthesized method.
Keywords: automotive vehicle, integrated inertial-satellite navigation system, loosely coupled system

P. 133—139

To the contents

A. N. Zabegaev, Postgraduate student, speench@gmail.com, Keldysh Institute of Applied Mathematics (Russian Academy of Sciences)

Adaptive Software Complex for Car Navigation System

This article presents the software complex structure of autonomous vehicle navigation system. Navigation algorithms are based on different linearizations of Kalman filter, including perturbation Kalman filter, extended Kalman filter, iterated extended Kalman filter. Navigation system is a multi-mode and can vary accuracy and system CPU load by switching between modes. Different modes correspond to different implementations of the Kalman filter, as well as different motion models. Various implementations of the Kalman filter are used to select estimation accuracy and current CPU load. Different motion models are used to allow system to react instantly to changes in the environment. All switching happens in real time and do not require additional CPU calculations. The system architecture is described using the Unified Modeling Language (UML) and can be implemented in most object-oriented programming languages.
Keywords: autonomous vehicle, Kalman filter, navigation system, system state estimation

P. 140—144

To the contents

Top of page