Pub Date : 2021-09-05DOI: 10.1109/RusAutoCon52004.2021.9537504
K. Chernyshov
Issues are considered that arise when solving problems of identification of stochastic systems and related to the application of nonlinear measures of dependence of random values. An approach to the identification of nonlinear multi-input / multi-output systems is proposed, based on the use of a measure of multiple dependence of the input and output processes of the system under study, the multiple maximal correlation. In the case of single-dimensional input/output systems, this measure of dependence corresponds to the maximum correlation. The approach proposed combines a non-parametric estimation of non-linear transformations of the system input and output vector-valued variables and parametric estimation of the linear system part. Meanwhile, the optimal non-linear transformations are just the ones that provide the maximum of the non-linear multiple correlation between the input and output vector-valued variables.
{"title":"A Non-Linear MIMO System Identification Approach Based on the Multiple Maximal Correlation Technique","authors":"K. Chernyshov","doi":"10.1109/RusAutoCon52004.2021.9537504","DOIUrl":"https://doi.org/10.1109/RusAutoCon52004.2021.9537504","url":null,"abstract":"Issues are considered that arise when solving problems of identification of stochastic systems and related to the application of nonlinear measures of dependence of random values. An approach to the identification of nonlinear multi-input / multi-output systems is proposed, based on the use of a measure of multiple dependence of the input and output processes of the system under study, the multiple maximal correlation. In the case of single-dimensional input/output systems, this measure of dependence corresponds to the maximum correlation. The approach proposed combines a non-parametric estimation of non-linear transformations of the system input and output vector-valued variables and parametric estimation of the linear system part. Meanwhile, the optimal non-linear transformations are just the ones that provide the maximum of the non-linear multiple correlation between the input and output vector-valued variables.","PeriodicalId":106150,"journal":{"name":"2021 International Russian Automation Conference (RusAutoCon)","volume":"173 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124281031","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 : 2021-09-05DOI: 10.1109/RusAutoCon52004.2021.9537494
V. Mokshin, D. Yakupov, Zuhra Yakhina
Investigations related to splitting the initial graph into a given number of connected non-intersecting components have found wide practical application. Graph clustering, for example, is used in computer networks, transport, pattern recognition, and in many other areas. Decomposition methods of graph structures make a significant contribution to the performance of search algorithms. It is especially important in conditions of limitations on computing and time resources. And here we should pay special attention to the class of spectral clustering methods that combine elements of graph theory and linear algebra. In this article, we consider the main provisions of the theory of spectral clustering, such as methods of representing a graph in the form of a matrix, their normalization, options for using eigenvectors. The main approaches to normalized spectral clustering of graphs are described: the Shi-Malik (SM) and Ng-Jordan-Weiss (NJW) methods. Decomposition of any graph as a structure with its inherent topology meets the criteria of optimality in connectivity and balance of subgraphs with a small number of clusters. As the number of subdomains increases above a certain value, the probability of incoherent subgraphs appearing in the decomposition structure increases. To solve this problem, we propose an algorithm for the priority distribution of nodes based on the iterative transfer of nodes of isolated regions to the most priority subgraphs-neighbors. The existing methods of spectral decomposition solve different problems from different areas with different success, respectively, well-established methods in solving one problem may be of little use to others. This paper compares the methods of SM and NJW spectral clustering on two graph models of hydraulic networks, for which the criteria for assessing the quality of decomposition of graphs are determined. It is experimentally determined that for both networks the Shi and Malik method is significantly superior to the Ng, Jordan and Weiss method. That makes it more preferable for decomposition of the graph model into connected subdomains.
{"title":"Comparison of Spectral Clustering Methods for Graph Models of Pipeline Systems","authors":"V. Mokshin, D. Yakupov, Zuhra Yakhina","doi":"10.1109/RusAutoCon52004.2021.9537494","DOIUrl":"https://doi.org/10.1109/RusAutoCon52004.2021.9537494","url":null,"abstract":"Investigations related to splitting the initial graph into a given number of connected non-intersecting components have found wide practical application. Graph clustering, for example, is used in computer networks, transport, pattern recognition, and in many other areas. Decomposition methods of graph structures make a significant contribution to the performance of search algorithms. It is especially important in conditions of limitations on computing and time resources. And here we should pay special attention to the class of spectral clustering methods that combine elements of graph theory and linear algebra. In this article, we consider the main provisions of the theory of spectral clustering, such as methods of representing a graph in the form of a matrix, their normalization, options for using eigenvectors. The main approaches to normalized spectral clustering of graphs are described: the Shi-Malik (SM) and Ng-Jordan-Weiss (NJW) methods. Decomposition of any graph as a structure with its inherent topology meets the criteria of optimality in connectivity and balance of subgraphs with a small number of clusters. As the number of subdomains increases above a certain value, the probability of incoherent subgraphs appearing in the decomposition structure increases. To solve this problem, we propose an algorithm for the priority distribution of nodes based on the iterative transfer of nodes of isolated regions to the most priority subgraphs-neighbors. The existing methods of spectral decomposition solve different problems from different areas with different success, respectively, well-established methods in solving one problem may be of little use to others. This paper compares the methods of SM and NJW spectral clustering on two graph models of hydraulic networks, for which the criteria for assessing the quality of decomposition of graphs are determined. It is experimentally determined that for both networks the Shi and Malik method is significantly superior to the Ng, Jordan and Weiss method. That makes it more preferable for decomposition of the graph model into connected subdomains.","PeriodicalId":106150,"journal":{"name":"2021 International Russian Automation Conference (RusAutoCon)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115126527","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 : 2021-09-05DOI: 10.1109/RusAutoCon52004.2021.9537464
I. Bolodurina, D. Parfenov, L. Grishina
This article discusses the problem of increasing the efficiency of machine learning methods in identifying attacks in the VANET network by expanding the feature space using Feature Engineering methods. The main idea of this work is to generate new features of a dataset using pre-trained models such as support vector machines for classification and Kmeans for clustering. The analysis of the efficiency of the generated features was carried out when solving the problem of identifying attacks using such machine learning methods as KNN, Random Forest, XGB, CatBoost, LGBM. Computational experiments showed that when SVM-based features were included, most ensemble machine learning methods improved accuracy by an average of 0.137% while adding a cluster number based on Kmeans resulted in an average efficiency improvement of 0.493%. At the same time, for the studied machine learning methods, the performance decreased slightly.
{"title":"Investigation of Feature Engineering Methods for Identifying Attacks in the VANET","authors":"I. Bolodurina, D. Parfenov, L. Grishina","doi":"10.1109/RusAutoCon52004.2021.9537464","DOIUrl":"https://doi.org/10.1109/RusAutoCon52004.2021.9537464","url":null,"abstract":"This article discusses the problem of increasing the efficiency of machine learning methods in identifying attacks in the VANET network by expanding the feature space using Feature Engineering methods. The main idea of this work is to generate new features of a dataset using pre-trained models such as support vector machines for classification and Kmeans for clustering. The analysis of the efficiency of the generated features was carried out when solving the problem of identifying attacks using such machine learning methods as KNN, Random Forest, XGB, CatBoost, LGBM. Computational experiments showed that when SVM-based features were included, most ensemble machine learning methods improved accuracy by an average of 0.137% while adding a cluster number based on Kmeans resulted in an average efficiency improvement of 0.493%. At the same time, for the studied machine learning methods, the performance decreased slightly.","PeriodicalId":106150,"journal":{"name":"2021 International Russian Automation Conference (RusAutoCon)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116185440","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 : 2021-09-05DOI: 10.1109/RusAutoCon52004.2021.9537424
I. Khudonogov, E. Puzina, A. G. Tuigunovav
The article deals with topical issues related to the theoretical analysis of the mathematical model for drying the insulation of power oil-filled transformers windings of traction substations while using infrared (IR) radiation. The problem of determining the drying process time in special drying cabinets (chambers) using a continuous power supply, has always been one of the partly unresolved problems of using infrared radiation for transformer windings' paper insulation repair and restoration. The disadvantage of this method is that this drying technology is inferior in terms of quality and very energy-intensive which requires a long drying time.The dehumidification process can be accelerated using an oscillating (intermittent) IR energy supply, which will significantly reduce the drying power costs and increase the transformer reliability due to better drying of its insulation without overheating it, and will also lead to a decrease in the temperature and insulation heating rate without reducing the intensity of IR energy supply and water-yielding capacity. These features were used to create a mathematical model of the drying process, which are based on the energy balance differential equation that appropriately reproduces the kinetics of the insulation heating by thermal radiation.
{"title":"Analysis of Methods of Mathematical Modeling of the Process of Drying Insulation by Thermal Radiation","authors":"I. Khudonogov, E. Puzina, A. G. Tuigunovav","doi":"10.1109/RusAutoCon52004.2021.9537424","DOIUrl":"https://doi.org/10.1109/RusAutoCon52004.2021.9537424","url":null,"abstract":"The article deals with topical issues related to the theoretical analysis of the mathematical model for drying the insulation of power oil-filled transformers windings of traction substations while using infrared (IR) radiation. The problem of determining the drying process time in special drying cabinets (chambers) using a continuous power supply, has always been one of the partly unresolved problems of using infrared radiation for transformer windings' paper insulation repair and restoration. The disadvantage of this method is that this drying technology is inferior in terms of quality and very energy-intensive which requires a long drying time.The dehumidification process can be accelerated using an oscillating (intermittent) IR energy supply, which will significantly reduce the drying power costs and increase the transformer reliability due to better drying of its insulation without overheating it, and will also lead to a decrease in the temperature and insulation heating rate without reducing the intensity of IR energy supply and water-yielding capacity. These features were used to create a mathematical model of the drying process, which are based on the energy balance differential equation that appropriately reproduces the kinetics of the insulation heating by thermal radiation.","PeriodicalId":106150,"journal":{"name":"2021 International Russian Automation Conference (RusAutoCon)","volume":"180 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116318450","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 : 2021-09-05DOI: 10.1109/RusAutoCon52004.2021.9537352
N. I. Pikuleva, A. Khafizova, D. A. Gashigullin
In this article, the formulation of the problem of hardware implementation on a programmable logic integrated circuit (FPGA) driver for the VGA interface is considered. In the course of work, various methods and techniques of circuit design are used: graphical input of circuits, description of circuits in the language of description of electronic circuits - VHDL [1], use of ready-made circuit blocks - IP-cores, low-level programming. Problems of interaction with peripheral devices (buttons, sliders, rotation angle sensor - encoder) are solved in hardware. The tasks of displaying text and graphic information on the display via a VGA interface are being solved. The hardware controller is implemented to control the device using the VHDL language, the command system is selected. Estimates of hardware costs and test results of the developed device are presented.
{"title":"Hardware Graphics Driver Based on FPGA","authors":"N. I. Pikuleva, A. Khafizova, D. A. Gashigullin","doi":"10.1109/RusAutoCon52004.2021.9537352","DOIUrl":"https://doi.org/10.1109/RusAutoCon52004.2021.9537352","url":null,"abstract":"In this article, the formulation of the problem of hardware implementation on a programmable logic integrated circuit (FPGA) driver for the VGA interface is considered. In the course of work, various methods and techniques of circuit design are used: graphical input of circuits, description of circuits in the language of description of electronic circuits - VHDL [1], use of ready-made circuit blocks - IP-cores, low-level programming. Problems of interaction with peripheral devices (buttons, sliders, rotation angle sensor - encoder) are solved in hardware. The tasks of displaying text and graphic information on the display via a VGA interface are being solved. The hardware controller is implemented to control the device using the VHDL language, the command system is selected. Estimates of hardware costs and test results of the developed device are presented.","PeriodicalId":106150,"journal":{"name":"2021 International Russian Automation Conference (RusAutoCon)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130051308","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 : 2021-09-05DOI: 10.1109/RusAutoCon52004.2021.9537411
A. Voevoda, D. Romannikov
The method of synthesis of the neural controllers using, that is based on the reinforcement learning approaches, is proposed in the paper. The proposed method should be applied to multichannel objects with several control inputs and a single output. Such objects are complex objects from the controller synthesis point of view and the application of the known classical methods particularly of the polynomial synthesis method might not give results. On the other hand, the synthesis of controllers with neural networks allows to regulate such types of objects. An example of the application of the proposed method to the object with two inputs and one output is shown in the paper.
{"title":"An Example of Synthesis on the Neural Networks for the Linear Objects with Multiple Inputs","authors":"A. Voevoda, D. Romannikov","doi":"10.1109/RusAutoCon52004.2021.9537411","DOIUrl":"https://doi.org/10.1109/RusAutoCon52004.2021.9537411","url":null,"abstract":"The method of synthesis of the neural controllers using, that is based on the reinforcement learning approaches, is proposed in the paper. The proposed method should be applied to multichannel objects with several control inputs and a single output. Such objects are complex objects from the controller synthesis point of view and the application of the known classical methods particularly of the polynomial synthesis method might not give results. On the other hand, the synthesis of controllers with neural networks allows to regulate such types of objects. An example of the application of the proposed method to the object with two inputs and one output is shown in the paper.","PeriodicalId":106150,"journal":{"name":"2021 International Russian Automation Conference (RusAutoCon)","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133007200","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 : 2021-09-05DOI: 10.1109/RusAutoCon52004.2021.9537493
S. Vasyukov, Alexander Macovey, Alexander Tronnikov
In modern cars, the transmission of control signals between electronic units, sensors and actuators occurs via dedicated wire lines. The advantage of this method of signal transmission is good noise immunity, the disadvantage is the need for branched electrical wiring, the length of which increases as the vehicle control system becomes more complex. In recent years, it has been proposed to use the power wiring of a car instead of dedicated lines. This method of signal transmission is called In-Vehicle Power Line Communication (VPLC). Despite the successes of theoretical studies, it was not possible to implement high-speed VPLC in production vehicles due to the high cost of modems using orthogonal frequency division multiplexing (OFDM). On the other hand, there is a need for inexpensive low-speed communication between devices that can be installed on a vehicle after its sale. In particular, between the electronic units of the car alarm. At a relatively low speed (up to 10 kbps), direct digital signal transmission can be used. The coded digital signal is transmitted through the wiring in the form of a sequence of short pulses. The operation of the signal receiver is significantly affected by impulse noise from standard electronic units. Properties of such pulse noices are well known. But optional equipment (car compressors, vacuum cleaners, inverters ...) can also be a source of impulse noise. The effect of interference from optional equipment on direct digital signal transmission has hardly been studied. The paper proposes a classification of noise, provides experimental data and statistical analysis of impulse noise from electronic units of cars and optional equipment. A coding algorithm is proposed that ensures the reception of a control signal under conditions of joint action of interference.
{"title":"Impulsive Noise from the Optional Equipment on In-Vehicle Power Lines","authors":"S. Vasyukov, Alexander Macovey, Alexander Tronnikov","doi":"10.1109/RusAutoCon52004.2021.9537493","DOIUrl":"https://doi.org/10.1109/RusAutoCon52004.2021.9537493","url":null,"abstract":"In modern cars, the transmission of control signals between electronic units, sensors and actuators occurs via dedicated wire lines. The advantage of this method of signal transmission is good noise immunity, the disadvantage is the need for branched electrical wiring, the length of which increases as the vehicle control system becomes more complex. In recent years, it has been proposed to use the power wiring of a car instead of dedicated lines. This method of signal transmission is called In-Vehicle Power Line Communication (VPLC). Despite the successes of theoretical studies, it was not possible to implement high-speed VPLC in production vehicles due to the high cost of modems using orthogonal frequency division multiplexing (OFDM). On the other hand, there is a need for inexpensive low-speed communication between devices that can be installed on a vehicle after its sale. In particular, between the electronic units of the car alarm. At a relatively low speed (up to 10 kbps), direct digital signal transmission can be used. The coded digital signal is transmitted through the wiring in the form of a sequence of short pulses. The operation of the signal receiver is significantly affected by impulse noise from standard electronic units. Properties of such pulse noices are well known. But optional equipment (car compressors, vacuum cleaners, inverters ...) can also be a source of impulse noise. The effect of interference from optional equipment on direct digital signal transmission has hardly been studied. The paper proposes a classification of noise, provides experimental data and statistical analysis of impulse noise from electronic units of cars and optional equipment. A coding algorithm is proposed that ensures the reception of a control signal under conditions of joint action of interference.","PeriodicalId":106150,"journal":{"name":"2021 International Russian Automation Conference (RusAutoCon)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130401086","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 : 2021-09-05DOI: 10.1109/RusAutoCon52004.2021.9537317
E. Rzaev, A. Romanov
This article analyzes new promising topological solutions for the on-chip communication subsystem for network-on-chip (NoCs). A study of Paley graphs as a subclass of circulant graphs is given. The main parameters (diameter, average path length, graph density, number of edges and degrees of vertices) of modifications of Paley graphs are studied using the direct product of Paley graphs with Paley graphs and ring graph. Other types of products of graphs are considered, namely strong, tensor and lexicographic. Due to the more preferable characteristics, the direct product of the graphs was chosen as the most suitable among the considered ones. A comparative analysis of obtained graphs is provided.
{"title":"The New Promising Network-on-Chip Topologies Development Using Product Operation","authors":"E. Rzaev, A. Romanov","doi":"10.1109/RusAutoCon52004.2021.9537317","DOIUrl":"https://doi.org/10.1109/RusAutoCon52004.2021.9537317","url":null,"abstract":"This article analyzes new promising topological solutions for the on-chip communication subsystem for network-on-chip (NoCs). A study of Paley graphs as a subclass of circulant graphs is given. The main parameters (diameter, average path length, graph density, number of edges and degrees of vertices) of modifications of Paley graphs are studied using the direct product of Paley graphs with Paley graphs and ring graph. Other types of products of graphs are considered, namely strong, tensor and lexicographic. Due to the more preferable characteristics, the direct product of the graphs was chosen as the most suitable among the considered ones. A comparative analysis of obtained graphs is provided.","PeriodicalId":106150,"journal":{"name":"2021 International Russian Automation Conference (RusAutoCon)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127903956","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 : 2021-09-05DOI: 10.1109/RusAutoCon52004.2021.9537423
E. R. Zakharov, V. O. Zakharova, A. Vlasov
The theoretical basis made it possible to implement software for automated secure biometric verification and personal identification, which can be used by information security systems (including access control and management systems). The work is devoted to solving an urgent problem - the development of methods and algorithms for generating a key for a storage device based on biometric parameters. Biometric cryptosystems take advantage of biometrics to improve the security of encryption keys. The ability not to store a key that is derived from biometric data is a direct advantage of the method of generating cryptographic keys from biometric data of users over other existing encryption methods.
{"title":"Methods and Algorithms for Generating a Storage Key Based on Biometric Parameters","authors":"E. R. Zakharov, V. O. Zakharova, A. Vlasov","doi":"10.1109/RusAutoCon52004.2021.9537423","DOIUrl":"https://doi.org/10.1109/RusAutoCon52004.2021.9537423","url":null,"abstract":"The theoretical basis made it possible to implement software for automated secure biometric verification and personal identification, which can be used by information security systems (including access control and management systems). The work is devoted to solving an urgent problem - the development of methods and algorithms for generating a key for a storage device based on biometric parameters. Biometric cryptosystems take advantage of biometrics to improve the security of encryption keys. The ability not to store a key that is derived from biometric data is a direct advantage of the method of generating cryptographic keys from biometric data of users over other existing encryption methods.","PeriodicalId":106150,"journal":{"name":"2021 International Russian Automation Conference (RusAutoCon)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127935144","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 : 2021-09-05DOI: 10.1109/RusAutoCon52004.2021.9537480
D. Krasnov, A. Utkin
On the example of an electromechanical system with a one-link manipulator, tracking a given angular position of the manipulator is considered under the following conditions: the output (adjustable) variable is not measured, the sensors are located only on the drive; external and parametric disturbances act on the mechanical subsystem. Discontinuous control law is formed in terms of the canonical input-output system, written with respect to the tracking error. To implement the control law under conditions of incomplete information, a double-circuit observer with piecewise linear corrective actions has been developed. In the first loop, via the observer constructed as a replica of the electrical subsystem, an unmeasured controlled variable is reconstructed, which, together with the reference action, is the output of the second loop. The second observer is constructed as a replica of the canonical input-output system and reconstructs the mixed variables. These are functions of state variables, external influences and their derivatives, according to which feedback is formed. A procedure for adjusting the parameters of observers that provide estimation with a given accuracy for a given time has been developed. When a double-loop observer is implemented in a tracking system, it is not required to further expand the state space due to generators of external influences, it is enough to know the areas of their change. As a result, in a closed system without re-tuning the regulator, various operating scenarios are supported when external factors change within acceptable limits.
{"title":"Position Сontrol of a One-Link Manipulator without Measuring the Controlled Variable","authors":"D. Krasnov, A. Utkin","doi":"10.1109/RusAutoCon52004.2021.9537480","DOIUrl":"https://doi.org/10.1109/RusAutoCon52004.2021.9537480","url":null,"abstract":"On the example of an electromechanical system with a one-link manipulator, tracking a given angular position of the manipulator is considered under the following conditions: the output (adjustable) variable is not measured, the sensors are located only on the drive; external and parametric disturbances act on the mechanical subsystem. Discontinuous control law is formed in terms of the canonical input-output system, written with respect to the tracking error. To implement the control law under conditions of incomplete information, a double-circuit observer with piecewise linear corrective actions has been developed. In the first loop, via the observer constructed as a replica of the electrical subsystem, an unmeasured controlled variable is reconstructed, which, together with the reference action, is the output of the second loop. The second observer is constructed as a replica of the canonical input-output system and reconstructs the mixed variables. These are functions of state variables, external influences and their derivatives, according to which feedback is formed. A procedure for adjusting the parameters of observers that provide estimation with a given accuracy for a given time has been developed. When a double-loop observer is implemented in a tracking system, it is not required to further expand the state space due to generators of external influences, it is enough to know the areas of their change. As a result, in a closed system without re-tuning the regulator, various operating scenarios are supported when external factors change within acceptable limits.","PeriodicalId":106150,"journal":{"name":"2021 International Russian Automation Conference (RusAutoCon)","volume":"44 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125555400","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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