Pub Date : 2020-09-01DOI: 10.1109/RusAutoCon49822.2020.9208050
V. Dyadichev, S. Stoyanchenko, A. Dyadichev
The paper presents a suggested complex of mathematical models for searching for the traffic structure in flexible manufacturing systems. It shows that the usage of the elaborated models allows increasing significantly the efficiency of the manufacturing systems. This paper offers the methodology of searching for a rational AMS traffic structure. The basis of the developed methodology is the combined method, which combines imitating and analytical modelling. The effectiveness of the offered approach is shown by the example of traffic optimization in the automatized flexible assembly system. The methodology offered in the paper allows considering the influence of incidental factors on the AMS functioning process.
{"title":"Mathematical Model for Traffic Optimization in Flexible Manufacturing Systems","authors":"V. Dyadichev, S. Stoyanchenko, A. Dyadichev","doi":"10.1109/RusAutoCon49822.2020.9208050","DOIUrl":"https://doi.org/10.1109/RusAutoCon49822.2020.9208050","url":null,"abstract":"The paper presents a suggested complex of mathematical models for searching for the traffic structure in flexible manufacturing systems. It shows that the usage of the elaborated models allows increasing significantly the efficiency of the manufacturing systems. This paper offers the methodology of searching for a rational AMS traffic structure. The basis of the developed methodology is the combined method, which combines imitating and analytical modelling. The effectiveness of the offered approach is shown by the example of traffic optimization in the automatized flexible assembly system. The methodology offered in the paper allows considering the influence of incidental factors on the AMS functioning process.","PeriodicalId":101834,"journal":{"name":"2020 International Russian Automation Conference (RusAutoCon)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133494927","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/RusAutoCon49822.2020.9208052
A. Filimonov, N. Filimonov
the polyhedral methodology for solving problems of discrete terminal control by dynamic objects under resource constraints conditions is discussed. It is based on formalism of multidimensional optimization and three theoretical constructions like predictive extrapolation of controlled object’s movements, the immersion principle of the input optimization problem to a number of more simple computational problems algorithmically, and also the mechanism of extreme guidance. Due to polyhedral formalization, all the considered optimization problems have the polyhedral structure and are reduced to linear programming problems. As an example, the problem of advanced impulse control for stabilization of the lateral hovercraft’s movement is considered.
{"title":"The Polyhedral Methodology of Formalization of Discrete Terminal Control Processes with Resource Constraints","authors":"A. Filimonov, N. Filimonov","doi":"10.1109/RusAutoCon49822.2020.9208052","DOIUrl":"https://doi.org/10.1109/RusAutoCon49822.2020.9208052","url":null,"abstract":"the polyhedral methodology for solving problems of discrete terminal control by dynamic objects under resource constraints conditions is discussed. It is based on formalism of multidimensional optimization and three theoretical constructions like predictive extrapolation of controlled object’s movements, the immersion principle of the input optimization problem to a number of more simple computational problems algorithmically, and also the mechanism of extreme guidance. Due to polyhedral formalization, all the considered optimization problems have the polyhedral structure and are reduced to linear programming problems. As an example, the problem of advanced impulse control for stabilization of the lateral hovercraft’s movement is considered.","PeriodicalId":101834,"journal":{"name":"2020 International Russian Automation Conference (RusAutoCon)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130302564","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/RusAutoCon49822.2020.9208078
S. Zagolilo, A. Semenov, M. Semenova
The article presents a multimotor electric drive system of a roadheader. We made a computer model in the MatLab suite using a Simulink block library and the SimPowerSystems application. An AM-75 roadheader was chosen for the study. We provided a description of the circuit diagram of the primary electric equipment of the roadheader that includes motors of the boom-type implement, rotating flight conveyor, and the picker with two pallet handles. Additional parameters of asynchronous motors, such as active resistances and inductances of the stator and rotor winding, inductive coupling, reduced power, rated current, and structural and winding factors of motors were calculated for the modeling purposes using the Mathcad software. We developed a computer model of direct start of all the asynchronous motors with a production process-based interconnection. Modeling results are presented as time graphs of the primary motor parameters: angular frequency of revolution and electromagnetic torque. We obtained mains voltage and current graphs, as well as an active power consumption graph. The obtained results were qualitatively assessed by determining the relative error of the modeled parameters and the calculated data. In the process of evaluation and analysis of the modeling results, we identified insignificant errors in motor parameters. This indicates a faithful realization of the computer model and a possibility of using it for engineering calculations.
{"title":"Computer Modeling of a Multimotor Electric Drive System in the MatLab Suite","authors":"S. Zagolilo, A. Semenov, M. Semenova","doi":"10.1109/RusAutoCon49822.2020.9208078","DOIUrl":"https://doi.org/10.1109/RusAutoCon49822.2020.9208078","url":null,"abstract":"The article presents a multimotor electric drive system of a roadheader. We made a computer model in the MatLab suite using a Simulink block library and the SimPowerSystems application. An AM-75 roadheader was chosen for the study. We provided a description of the circuit diagram of the primary electric equipment of the roadheader that includes motors of the boom-type implement, rotating flight conveyor, and the picker with two pallet handles. Additional parameters of asynchronous motors, such as active resistances and inductances of the stator and rotor winding, inductive coupling, reduced power, rated current, and structural and winding factors of motors were calculated for the modeling purposes using the Mathcad software. We developed a computer model of direct start of all the asynchronous motors with a production process-based interconnection. Modeling results are presented as time graphs of the primary motor parameters: angular frequency of revolution and electromagnetic torque. We obtained mains voltage and current graphs, as well as an active power consumption graph. The obtained results were qualitatively assessed by determining the relative error of the modeled parameters and the calculated data. In the process of evaluation and analysis of the modeling results, we identified insignificant errors in motor parameters. This indicates a faithful realization of the computer model and a possibility of using it for engineering calculations.","PeriodicalId":101834,"journal":{"name":"2020 International Russian Automation Conference (RusAutoCon)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123116729","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/RusAutoCon49822.2020.9208129
A. Martyshkin, D. Trokoz, I. I. Salnikov
This study is devoted to the challenges of motion planning for mobile robots with smart machine vision systems. Motion planning for mobile robots in the environment with obstacles is a problem to deal with when creating robots suitable for operation in real-world conditions. The solutions found today are predominantly private, and are highly specialized, which prevents judging of how successful they are in solving the problem of effective motion planning. The purpose of this study: develop and investigate a motion planning algorithm for a mobile robot with a smart machine vision system. The research subject for this article is a motion planning algorithm for a mobile robot with a smart machine vision system. This study provides a review of domestic and foreign mobile robots that solve the motion planning problem in a known environment with unknown obstacles. The following navigation methods are considered for mobile robots: local, global, individual. In the course of work and research, a mobile robot prototype has been built, capable of recognizing obstacles of regular geometric shapes, as well as plan and correct the movement path. Environment objects are identified and classified as obstacles by means of digital image processing methods and algorithms. Distance to the obstacle and relative angle are calculated by photogrammetry methods, image quality is improved by linear contrast enhancement and optimal linear filtering using the Wiener-Hopf equation. Virtual tools, related to mobile robot motion algorithm testing, have been reviewed, which led us to selecting Webots software package for prototype testing. Conclusions have been drawn regarding the concluded research.
{"title":"Development and Investigation of a Motion Planning Algorithm for a Mobile Robot with a Smart Machine Vision System","authors":"A. Martyshkin, D. Trokoz, I. I. Salnikov","doi":"10.1109/RusAutoCon49822.2020.9208129","DOIUrl":"https://doi.org/10.1109/RusAutoCon49822.2020.9208129","url":null,"abstract":"This study is devoted to the challenges of motion planning for mobile robots with smart machine vision systems. Motion planning for mobile robots in the environment with obstacles is a problem to deal with when creating robots suitable for operation in real-world conditions. The solutions found today are predominantly private, and are highly specialized, which prevents judging of how successful they are in solving the problem of effective motion planning. The purpose of this study: develop and investigate a motion planning algorithm for a mobile robot with a smart machine vision system. The research subject for this article is a motion planning algorithm for a mobile robot with a smart machine vision system. This study provides a review of domestic and foreign mobile robots that solve the motion planning problem in a known environment with unknown obstacles. The following navigation methods are considered for mobile robots: local, global, individual. In the course of work and research, a mobile robot prototype has been built, capable of recognizing obstacles of regular geometric shapes, as well as plan and correct the movement path. Environment objects are identified and classified as obstacles by means of digital image processing methods and algorithms. Distance to the obstacle and relative angle are calculated by photogrammetry methods, image quality is improved by linear contrast enhancement and optimal linear filtering using the Wiener-Hopf equation. Virtual tools, related to mobile robot motion algorithm testing, have been reviewed, which led us to selecting Webots software package for prototype testing. Conclusions have been drawn regarding the concluded research.","PeriodicalId":101834,"journal":{"name":"2020 International Russian Automation Conference (RusAutoCon)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124522217","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/RusAutoCon49822.2020.9208118
Yu. N. Kazakov, A. Kornaev, R. Polyakov
The article discusses the prerequisites for the use of artificial neural networks with direct connection for diagnosing the state of rotary machines with liquid friction bearings. During the study, an experimental setup with a multi-sensor measuring system was developed. The measuring system is based on sensors that measure different types of data. An experiment was conducted in which various types of failures were modeled. Data was processed to provide their network. Various ways of presenting data were used. The effect of various types of measurements on the accuracy of networks was investigated. The principles of preparing data sets are presented. A study was conducted of the influence of the volume of the training sample on the accuracy of the artificial neural network. The possibilities of using multisensory measurements of various nature for the diagnosis of rotary machines are shown.
{"title":"Rotary Machines Diagnosis Systems Based on Feed Forward Neural Networks","authors":"Yu. N. Kazakov, A. Kornaev, R. Polyakov","doi":"10.1109/RusAutoCon49822.2020.9208118","DOIUrl":"https://doi.org/10.1109/RusAutoCon49822.2020.9208118","url":null,"abstract":"The article discusses the prerequisites for the use of artificial neural networks with direct connection for diagnosing the state of rotary machines with liquid friction bearings. During the study, an experimental setup with a multi-sensor measuring system was developed. The measuring system is based on sensors that measure different types of data. An experiment was conducted in which various types of failures were modeled. Data was processed to provide their network. Various ways of presenting data were used. The effect of various types of measurements on the accuracy of networks was investigated. The principles of preparing data sets are presented. A study was conducted of the influence of the volume of the training sample on the accuracy of the artificial neural network. The possibilities of using multisensory measurements of various nature for the diagnosis of rotary machines are shown.","PeriodicalId":101834,"journal":{"name":"2020 International Russian Automation Conference (RusAutoCon)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131668955","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/RusAutoCon49822.2020.9208055
S. Kurilin, V. Denisov, M. Dli
A complex solution to the problem of reliability of electrical equipment implies formulating and solving a number of scientific problems. In the scientific support of the efficient operation of asynchronous electric motors (AEM) there are two generalized scientific problems. Developments in the field of the strategies and criteria of efficient operation, termed Problem 1, are based on statistical information and mathematical simulation of operation states. Research in the field of the implementation of the adopted operation strategy, referred to as Problem 2, must be based on the latest information on the current health of each AEM and the risk of its further operation. The paper reflects the results of developing methods and means for simulating the AEM operation states for Problem 1. In the general case, An AEM is an inhomogeneous electromechanical system, whose inhomogeneity manifests itself during service aging. The paper states that the methods and means being developed for the simulation of AEM operation states must represent the current health of the object with due regard for its service aging. The tool of Kolmogorov equations used for the simulation enables one to represent a current health of the object. An example of practical simulation is given. The probability of AEM failure should be treated as the relative value of the maximum element of the current deviation matrix. For systems with service aging, the state probability bounds must be associated with the attainment of the limit state by the object and its removal from service.
{"title":"Simulating the Operation States of Inhomogeneous Electromechanical Systems","authors":"S. Kurilin, V. Denisov, M. Dli","doi":"10.1109/RusAutoCon49822.2020.9208055","DOIUrl":"https://doi.org/10.1109/RusAutoCon49822.2020.9208055","url":null,"abstract":"A complex solution to the problem of reliability of electrical equipment implies formulating and solving a number of scientific problems. In the scientific support of the efficient operation of asynchronous electric motors (AEM) there are two generalized scientific problems. Developments in the field of the strategies and criteria of efficient operation, termed Problem 1, are based on statistical information and mathematical simulation of operation states. Research in the field of the implementation of the adopted operation strategy, referred to as Problem 2, must be based on the latest information on the current health of each AEM and the risk of its further operation. The paper reflects the results of developing methods and means for simulating the AEM operation states for Problem 1. In the general case, An AEM is an inhomogeneous electromechanical system, whose inhomogeneity manifests itself during service aging. The paper states that the methods and means being developed for the simulation of AEM operation states must represent the current health of the object with due regard for its service aging. The tool of Kolmogorov equations used for the simulation enables one to represent a current health of the object. An example of practical simulation is given. The probability of AEM failure should be treated as the relative value of the maximum element of the current deviation matrix. For systems with service aging, the state probability bounds must be associated with the attainment of the limit state by the object and its removal from service.","PeriodicalId":101834,"journal":{"name":"2020 International Russian Automation Conference (RusAutoCon)","volume":" 100","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132011714","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/RusAutoCon49822.2020.9208170
D. Topolsky, I. Topolskaya, Y.G. Plaksina
This article proposes a new approach to software and hardware implementation of an automatic system for diagnosing the condition of an intelligent electric drive based on the normal behavior method. Diagnostic technology is based on taking into account deviations between a given and calculated mechanical torque in the structure of an intelligent electrical drive. Software analysis of these deviations in the control system allows you to diagnose undesirable phenomena in an electrical machine and drive equipment. The main technological parameters for calculating the mechanical torque are currents, voltages and speed. In addition, the design parameters of an intelligent electric drive are taken into account. According to the results of the study, a prototype of a system for diagnosing an intelligent electrical drive in real time was developed. The software implementation of the prototype diagnostic system is based on a universal dispatch and data collection system. This approach to the software implementation of the diagnostic system can significantly reduce its cost and expand the functionality of existing automatic control systems. The results of tuning and testing the diagnostic system are presented. The response of the control system to the deviation of the mechanical torque from the given torque of normal behavior is simulated.
{"title":"Real-time Diagnostics of an Intelligent Electrical Drive","authors":"D. Topolsky, I. Topolskaya, Y.G. Plaksina","doi":"10.1109/RusAutoCon49822.2020.9208170","DOIUrl":"https://doi.org/10.1109/RusAutoCon49822.2020.9208170","url":null,"abstract":"This article proposes a new approach to software and hardware implementation of an automatic system for diagnosing the condition of an intelligent electric drive based on the normal behavior method. Diagnostic technology is based on taking into account deviations between a given and calculated mechanical torque in the structure of an intelligent electrical drive. Software analysis of these deviations in the control system allows you to diagnose undesirable phenomena in an electrical machine and drive equipment. The main technological parameters for calculating the mechanical torque are currents, voltages and speed. In addition, the design parameters of an intelligent electric drive are taken into account. According to the results of the study, a prototype of a system for diagnosing an intelligent electrical drive in real time was developed. The software implementation of the prototype diagnostic system is based on a universal dispatch and data collection system. This approach to the software implementation of the diagnostic system can significantly reduce its cost and expand the functionality of existing automatic control systems. The results of tuning and testing the diagnostic system are presented. The response of the control system to the deviation of the mechanical torque from the given torque of normal behavior is simulated.","PeriodicalId":101834,"journal":{"name":"2020 International Russian Automation Conference (RusAutoCon)","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117281489","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/RusAutoCon49822.2020.9208067
S. V. Shalobanov, S. S. Shalobanov
The paper considers an algorithm for searching for defects of topological links between dynamic blocks: breaking one link between dynamic blocks. The use of well-known algorithms of this kind is complicated by the need to use models with trial deviations of the parameters, or the need to analyze the signs of signal transmissions. The disadvantage of the algorithm based on trial changes in the topological relationships of the model is that it uses the task of these changes in the model, which is a time-consuming task. The disadvantage of the method of analysis of transmission signs using a normalized diagnostic feature, as well as using a binary diagnostic feature, is that additional calculations of the transmission signs of the signals from the outputs of the blocks to the control points are necessary. Below, we consider an algorithm for searching for defects in the form of breaking links between dynamic blocks, based on the use of a topological sensitivity model of integral estimates of the object's output signals. The procedure for obtaining normalized diagnostic features and calculating a quantitative measure of the distinguishability of defects is determined.
{"title":"Diagnosing Continuous Dynamic Systems Using Topological Sensitivity Functions","authors":"S. V. Shalobanov, S. S. Shalobanov","doi":"10.1109/RusAutoCon49822.2020.9208067","DOIUrl":"https://doi.org/10.1109/RusAutoCon49822.2020.9208067","url":null,"abstract":"The paper considers an algorithm for searching for defects of topological links between dynamic blocks: breaking one link between dynamic blocks. The use of well-known algorithms of this kind is complicated by the need to use models with trial deviations of the parameters, or the need to analyze the signs of signal transmissions. The disadvantage of the algorithm based on trial changes in the topological relationships of the model is that it uses the task of these changes in the model, which is a time-consuming task. The disadvantage of the method of analysis of transmission signs using a normalized diagnostic feature, as well as using a binary diagnostic feature, is that additional calculations of the transmission signs of the signals from the outputs of the blocks to the control points are necessary. Below, we consider an algorithm for searching for defects in the form of breaking links between dynamic blocks, based on the use of a topological sensitivity model of integral estimates of the object's output signals. The procedure for obtaining normalized diagnostic features and calculating a quantitative measure of the distinguishability of defects is determined.","PeriodicalId":101834,"journal":{"name":"2020 International Russian Automation Conference (RusAutoCon)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116970347","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/RusAutoCon49822.2020.9208159
A. Lapin, N. E. Zubov
This study deals with the problem of stabilizing spatial motion of a maneuverable aircraft with three controls and nine state parameters. In the task it is required to provide specified dynamic properties of the controlled plant at minimal control actions. For numeric matrices describing one of flight modes of a typical maneuverable aircraft the parameterized set of controllers by state vector is synthesized basing on the generalized Bass – Gura formula. This formula allows analytically calculating modal control for multi-input objects and simplifies parameterization of this control. The task of row-by-row minimization of gain matrix quadratic norm at fixed poles values is solved analytically by choosing the values of supplementary parameters which do not change the closed-loop control system spectrum. A technique for parameterization of two rows of three is proposed. In parameterized rows the minima are obtained at the condition of forced zeroing the coefficients corresponding to linear velocity. Based on simulation results the poles are chosen at which along with optimal supplementary parameters one may synthesize a controller allowing for specified range of initial conditions to obtain the most rapid transient with required dynamics and minimal control actions.
{"title":"Minimization of Control Signals at Stabilizing Spatial Motion of a Maneuverable Aircraft","authors":"A. Lapin, N. E. Zubov","doi":"10.1109/RusAutoCon49822.2020.9208159","DOIUrl":"https://doi.org/10.1109/RusAutoCon49822.2020.9208159","url":null,"abstract":"This study deals with the problem of stabilizing spatial motion of a maneuverable aircraft with three controls and nine state parameters. In the task it is required to provide specified dynamic properties of the controlled plant at minimal control actions. For numeric matrices describing one of flight modes of a typical maneuverable aircraft the parameterized set of controllers by state vector is synthesized basing on the generalized Bass – Gura formula. This formula allows analytically calculating modal control for multi-input objects and simplifies parameterization of this control. The task of row-by-row minimization of gain matrix quadratic norm at fixed poles values is solved analytically by choosing the values of supplementary parameters which do not change the closed-loop control system spectrum. A technique for parameterization of two rows of three is proposed. In parameterized rows the minima are obtained at the condition of forced zeroing the coefficients corresponding to linear velocity. Based on simulation results the poles are chosen at which along with optimal supplementary parameters one may synthesize a controller allowing for specified range of initial conditions to obtain the most rapid transient with required dynamics and minimal control actions.","PeriodicalId":101834,"journal":{"name":"2020 International Russian Automation Conference (RusAutoCon)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116252021","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/RusAutoCon49822.2020.9208042
A. Gusev, K. Andreev, V. Nikiforov
This article covers a specific end-to-end design technology. This technology is based on constructing a mathematical model of a uniaxial gyroscopic stabiliser (UGS) by transforming a physical model of an object created in SolidWorks using standard Matlab tools. Mathematical modelling was carried out to verify the stability of the obtained model. The main stages of end-to-end design (CAD-design) of a dynamic system are formed using the example of a uniaxial gyroscopic stabiliser. Conclusions were drawn on the application of the proposed technology in the design of dynamic systems and the synthesis of control laws. Application of the proposed end-to-end design technology will reduce the number of errors and the design time of dynamic systems and the control law building. An application for the operating system was developed to automate the end-to-end design process.
{"title":"End-to-end Terminal Control Design Technology","authors":"A. Gusev, K. Andreev, V. Nikiforov","doi":"10.1109/RusAutoCon49822.2020.9208042","DOIUrl":"https://doi.org/10.1109/RusAutoCon49822.2020.9208042","url":null,"abstract":"This article covers a specific end-to-end design technology. This technology is based on constructing a mathematical model of a uniaxial gyroscopic stabiliser (UGS) by transforming a physical model of an object created in SolidWorks using standard Matlab tools. Mathematical modelling was carried out to verify the stability of the obtained model. The main stages of end-to-end design (CAD-design) of a dynamic system are formed using the example of a uniaxial gyroscopic stabiliser. Conclusions were drawn on the application of the proposed technology in the design of dynamic systems and the synthesis of control laws. Application of the proposed end-to-end design technology will reduce the number of errors and the design time of dynamic systems and the control law building. An application for the operating system was developed to automate the end-to-end design process.","PeriodicalId":101834,"journal":{"name":"2020 International Russian Automation Conference (RusAutoCon)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123571427","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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