Pub Date : 1900-01-01DOI: 10.36652/0869-4931-2022-76-12-555-559
The problem of formation of a quadrocopter control, which ensures the trajectory safety of its movement within the boundaries of urban development, is considered. To test the control, a simulation model is used, which includes a mathematical model of a quadrocopter, an algorithm for forming an urban environment, an algorithm of a measuring system operation based on a complex of laser range finders. The control is formed on the basis of this system measurements, taking into account the given levels of safety, each of which corresponds to a given distance interval of the quadrocopter from an obstacle, and taking into account its angular position. The simulation results show the fundamental applicability of the considered approach to the formation of a quadrocopter control that ensures trajectory safety. Keywords unmanned aerial vehicle, quadrocopter, laser range finder, trajectory safety, urban profile, obstacle avoidance, obstacle detection
{"title":"Quadrocopter control with trajectory safety by using information from a measuring system based on laser range finders","authors":"","doi":"10.36652/0869-4931-2022-76-12-555-559","DOIUrl":"https://doi.org/10.36652/0869-4931-2022-76-12-555-559","url":null,"abstract":"The problem of formation of a quadrocopter control, which ensures the trajectory safety of its movement within the boundaries of urban development, is considered. To test the control, a simulation model is used, which includes a mathematical model of a quadrocopter, an algorithm for forming an urban environment, an algorithm of a measuring system operation based on a complex of laser range finders. The control is formed on the basis of this system measurements, taking into account the given levels of safety, each of which corresponds to a given distance interval of the quadrocopter from an obstacle, and taking into account its angular position. The simulation results show the fundamental applicability of the considered approach to the formation of a quadrocopter control that ensures trajectory safety.\u0000\u0000Keywords\u0000unmanned aerial vehicle, quadrocopter, laser range finder, trajectory safety, urban profile, obstacle avoidance, obstacle detection","PeriodicalId":309803,"journal":{"name":"Automation. Modern Techologies","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123761182","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 : 1900-01-01DOI: 10.36652/0869-4931-2021-75-3-117-120
A five-lamp exhaust unit and a semi-automatic stamping machine for the production of germicidal ultraviolet lamps are described. Studies have shown that the introduction of this equipment makes it possible to increase the efficiency of the production of bactericidal ultraviolet lamps. These lamps ensure the fulfillment of sanitary and epidemiological requirements for water and air in rooms, multiple reducing the concentration of microorganisms in the air environment. It leads to the relevance of this topic, especially in the context of the COVID-2019 coronavirus pandemic. Keywords assembly; exhaust unit; electrode; filling; amalgam; tapping; stamping, machine
{"title":"Exhaust unit and stamping machine","authors":"","doi":"10.36652/0869-4931-2021-75-3-117-120","DOIUrl":"https://doi.org/10.36652/0869-4931-2021-75-3-117-120","url":null,"abstract":"A five-lamp exhaust unit and a semi-automatic stamping machine for the production of germicidal ultraviolet lamps are described. Studies have shown that the introduction of this equipment makes it possible to increase the efficiency of the production of bactericidal ultraviolet lamps. These lamps ensure the fulfillment of sanitary and epidemiological requirements for water and air in rooms, multiple reducing the concentration of microorganisms in the air environment. It leads to the relevance of this topic, especially in the context of the COVID-2019 coronavirus pandemic.\u0000\u0000Keywords\u0000assembly; exhaust unit; electrode; filling; amalgam; tapping; stamping, machine","PeriodicalId":309803,"journal":{"name":"Automation. Modern Techologies","volume":"131 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122834960","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 : 1900-01-01DOI: 10.36652/0869-4931-2022-76-9-403-407
A dynamic model of the airship is developed. The problem of controlling the airship spatial movement during take off and cruising flight is solved. Based on the method of analytical design of aggregated adjuster (ADAA) method, a vector control is synthesized that ensures the convergence of the motion to the desired manifolds. An analysis of the stability of a closed control system was carried out. The efficiency of the algorithm by mathematical modeling is proven. Keywords airship, takeoff, cruising, ADAA, manifolds, stability
{"title":"Airship spatial motion control based on the analytical design of aggregated adjuster method","authors":"","doi":"10.36652/0869-4931-2022-76-9-403-407","DOIUrl":"https://doi.org/10.36652/0869-4931-2022-76-9-403-407","url":null,"abstract":"A dynamic model of the airship is developed. The problem of controlling the airship spatial movement during take off and cruising flight is solved. Based on the method of analytical design of aggregated adjuster (ADAA) method, a vector control is synthesized that ensures the convergence of the motion to the desired manifolds. An analysis of the stability of a closed control system was carried out. The efficiency of the algorithm by mathematical modeling is proven.\u0000\u0000Keywords\u0000airship, takeoff, cruising, ADAA, manifolds, stability","PeriodicalId":309803,"journal":{"name":"Automation. Modern Techologies","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126923724","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 : 1900-01-01DOI: 10.36652/0869-4931-2020-74-3-123-129
The analysis of physical principles, which can be successfully uses for development a new generation of orientation and navigation systems, as well as errors limiting the prospects for improving these systems, is presented. Monitoring and control of motion in near-Earth space by the gravitational potential, by the geomagnetic field, on the base of the atomic interferometer, by the global pulsar navigation grid and using other methods are considered. New methods based on the results of research in the field of observational astrophysical, laser and atomic interferometry, and the optics of moving media are considered.
{"title":"Promising directions for the development of aircraft orientation and navigation systems","authors":"","doi":"10.36652/0869-4931-2020-74-3-123-129","DOIUrl":"https://doi.org/10.36652/0869-4931-2020-74-3-123-129","url":null,"abstract":"The analysis of physical principles, which can be successfully uses for development a new generation of orientation and navigation systems, as well as errors limiting the prospects for improving these systems, is presented. Monitoring and control of motion in near-Earth space by the gravitational potential, by the geomagnetic field, on the base of the atomic interferometer, by the global pulsar navigation grid and using other methods are considered. New methods based on the results of research in the field of observational astrophysical, laser and atomic interferometry, and the optics of moving media are considered.","PeriodicalId":309803,"journal":{"name":"Automation. Modern Techologies","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127030907","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 : 1900-01-01DOI: 10.36652/0869-4931-2022-76-3-99-102
The design of a pneumatic jet displacement converter into a pneumatic signal is developed. The converter consists of two main parts — a housing with a tangential compressed air supply and a central insert, which form a converging annular nozzle. Using the theory of planning an experiment, mathematical models that describe the regularities of changing the coordinates of characteristic points of its typical characteristics from the main parameters of the flow path of an annular nozzle are obtained. Keywords jet converter, annular nozzle, compressed air, movement control, air pressure, vacuum
{"title":"Jet vortex converter of the displacement into pneumatic signal","authors":"","doi":"10.36652/0869-4931-2022-76-3-99-102","DOIUrl":"https://doi.org/10.36652/0869-4931-2022-76-3-99-102","url":null,"abstract":"The design of a pneumatic jet displacement converter into a pneumatic signal is developed. The converter consists of two main parts — a housing with a tangential compressed air supply and a central insert, which form a converging annular nozzle. Using the theory of planning an experiment, mathematical models that describe the regularities of changing the coordinates of characteristic points of its typical characteristics from the main parameters of the flow path of an annular nozzle are obtained.\u0000\u0000Keywords\u0000jet converter, annular nozzle, compressed air, movement control, air pressure, vacuum","PeriodicalId":309803,"journal":{"name":"Automation. Modern Techologies","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124393363","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 : 1900-01-01DOI: 10.36652/0869-4931-2023-77-5-199-206
The results of designing and setting up fuzzy logic adjusters for controlling the steam temperature in the CCTI-100 gas-tube boiler at Berezniki Soda Plant JSC are presented. The setting of the adjusters is made by a method based on the use of a geometric progression. The quality of management is evaluated on the grounds of direct and indirect indicators system. Comparison of their values with the corresponding quality indicators for a conventional PID adjuster showed a significant advantage of fuzzy regulation. Keywords theory of automatic control, fuzzy logic, PID adjuster, fuzzy adjuster, simulation, regulation quality indicators
{"title":"Improving the quality of the steam temperature regulation in the TsKTI-100 boiler thanks to use of fuzzy adjuster","authors":"","doi":"10.36652/0869-4931-2023-77-5-199-206","DOIUrl":"https://doi.org/10.36652/0869-4931-2023-77-5-199-206","url":null,"abstract":"The results of designing and setting up fuzzy logic adjusters for controlling the steam temperature in the CCTI-100 gas-tube boiler at Berezniki Soda Plant JSC are presented. The setting of the adjusters is made by a method based on the use of a geometric progression. The quality of management is evaluated on the grounds of direct and indirect indicators system. Comparison of their values with the corresponding quality indicators for a conventional PID adjuster showed a significant advantage of fuzzy regulation.\u0000\u0000Keywords\u0000theory of automatic control, fuzzy logic, PID adjuster, fuzzy adjuster, simulation, regulation quality indicators","PeriodicalId":309803,"journal":{"name":"Automation. Modern Techologies","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127530117","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 : 1900-01-01DOI: 10.36652/0869-4931-2020-74-7-329-334
A modified strong tracking unscented Kalman filter for nonlinear dynamical systems is proposed. A matrix of the suboptimal scaling factor is introduced into the prediction covariance to ensure evaluation stability and smoothness at appearance of the process model uncertainty. It is shown that the use of a fuzzy algorithm to adjust the softening coefficient in real time allows to avoid the loss of accuracy in the segments in which the process model is defined. As a result of modeling the SINS correction task, it was found that the proposed fuzzy filter has good evaluation smoothness and high accuracy. Keywords SINS; suboptimal scaling factor; softening coefficient; fuzzy Takagi — Sugeno model
{"title":"Development of an algorithm for tuning a suboptimal scaling factor in the SINS filtering problem","authors":"","doi":"10.36652/0869-4931-2020-74-7-329-334","DOIUrl":"https://doi.org/10.36652/0869-4931-2020-74-7-329-334","url":null,"abstract":"A modified strong tracking unscented Kalman filter for nonlinear dynamical systems is proposed. A matrix of the suboptimal scaling factor is introduced into the prediction covariance to ensure evaluation stability and smoothness at appearance of the process model uncertainty. It is shown that the use of a fuzzy algorithm to adjust the softening coefficient in real time allows to avoid the loss of accuracy in the segments in which the process model is defined. As a result of modeling the SINS correction task, it was found that the proposed fuzzy filter has good evaluation smoothness and high accuracy.\u0000\u0000Keywords\u0000SINS; suboptimal scaling factor; softening coefficient; fuzzy Takagi — Sugeno model","PeriodicalId":309803,"journal":{"name":"Automation. Modern Techologies","volume":"2012 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127389492","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 : 1900-01-01DOI: 10.36652/0869-4931-2020-74-5-219-224
The questions of the adaptive algorithms synthesis for identifying dynamic systems based on the principle of regularity are considered. Estimates of the error in setting the initial data for various model structures, which allow, without making a direct decision, to estimate the error of the desired solution from above and choose the optimal value of the regularization parameter, are obtained. Based on methods for solving incorrectly posed problems, regular recurrent iterative computational schemes for solving the parametric identification problem are obtained. Keywords control object; control system; parametric identification; dynamic filtering; regularization; regularization parameter
{"title":"The adaptive identification algorithms of dynamical systems based on the principle of regularity","authors":"","doi":"10.36652/0869-4931-2020-74-5-219-224","DOIUrl":"https://doi.org/10.36652/0869-4931-2020-74-5-219-224","url":null,"abstract":"The questions of the adaptive algorithms synthesis for identifying dynamic systems based on the principle of regularity are considered. Estimates of the error in setting the initial data for various model structures, which allow, without making a direct decision, to estimate the error of the desired solution from above and choose the optimal value of the regularization parameter, are obtained. Based on methods for solving incorrectly posed problems, regular recurrent iterative computational schemes for solving the parametric identification problem are obtained.\u0000\u0000Keywords\u0000control object; control system; parametric identification; dynamic filtering; regularization; regularization parameter","PeriodicalId":309803,"journal":{"name":"Automation. Modern Techologies","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129195489","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 : 1900-01-01DOI: 10.36652/0869-4931-2022-76-8-364-374
The problem of determining the degree of controllability of a linear non-stationary system (LNS) is considered and a scalar method of hierarchical controllability study for the integration of a highly dynamic guidance system for an autonomous landing of spacecraft is proposed. A new criterion of the controllability degree (DOC) for the problem of optimal control with minimization of energy consumption by calculating the singular values and the condition number of the Gramian controllability matrix is developed. The proposed DOC criterion allows to measure the degree of controllability of the system and each state variable. In addition, the normalization and modification method has been applied in calculating the degree of controllab ility. Mathematical modeling of the spacecraft guidance process during descent in the Martian atmosphere according to the tracing scheme of the program trajectory using the control algorithm with active disturbance compensation (ADRC) and PID is presented. Based on the results of the simulation, it is possible to evaluate and compare the optimality of various reference trajectories using the DOC criterion. The DOC criterion can function as an indicator to investigate the effect of trajectory parameters on the landing process from a controllability point of view. Keywords criterion of controllability degree, linear unsteady system, spacecraft, atmospheric descent
{"title":"Method for hierarchical study of spacecraft descent controllability in the Martian atmosphere","authors":"","doi":"10.36652/0869-4931-2022-76-8-364-374","DOIUrl":"https://doi.org/10.36652/0869-4931-2022-76-8-364-374","url":null,"abstract":"The problem of determining the degree of controllability of a linear non-stationary system (LNS) is considered and a scalar method of hierarchical controllability study for the integration of a highly dynamic guidance system for an autonomous landing of spacecraft is proposed. A new criterion of the controllability degree (DOC) for the problem of optimal control with minimization of energy consumption by calculating the singular values and the condition number of the Gramian controllability matrix is developed. The proposed DOC criterion allows to measure the degree of controllability of the system and each state variable. In addition, the normalization and modification method has been applied in calculating the degree of controllab ility. Mathematical modeling of the spacecraft guidance process during descent in the Martian atmosphere according to the tracing scheme of the program trajectory using the control algorithm with active disturbance compensation (ADRC) and PID is presented. Based on the results of the simulation, it is possible to evaluate and compare the optimality of various reference trajectories using the DOC criterion. The DOC criterion can function as an indicator to investigate the effect of trajectory parameters on the landing process from a controllability point of view.\u0000\u0000Keywords\u0000criterion of controllability degree, linear unsteady system, spacecraft, atmospheric descent","PeriodicalId":309803,"journal":{"name":"Automation. Modern Techologies","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132406750","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 : 1900-01-01DOI: 10.36652/0869-4931-2023-77-1-39-42
The article is devoted to the study of the reliability of protection B-type automatic switches for residential premises. Particular attention is paid to protection against short circuits. The most widely used B-type automatic switches: B8, B16, B25, calculated for a current 3... 5 A, but having a greater sensitivity to short circuits, were nvestigated. Keywords automatic switch, short circuit, electrical network, protection and control function, current, wire crosssectional area
{"title":"Investigation of the reliability automatic switches B-type","authors":"","doi":"10.36652/0869-4931-2023-77-1-39-42","DOIUrl":"https://doi.org/10.36652/0869-4931-2023-77-1-39-42","url":null,"abstract":"The article is devoted to the study of the reliability of protection B-type automatic switches for residential premises. Particular attention is paid to protection against short circuits. The most widely used B-type automatic switches: B8, B16, B25, calculated for a current 3... 5 A, but having a greater sensitivity to short circuits, were nvestigated.\u0000\u0000 \u0000\u0000Keywords\u0000automatic switch, short circuit, electrical network, protection and control function, current, wire crosssectional area","PeriodicalId":309803,"journal":{"name":"Automation. Modern Techologies","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130377134","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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