The work is devoted to solving the problem of finding the minimum composition of a team of specialists and general ground handling facilities (equipment), as well as distribution in the process of preparing the required group of aircrafts for use within a given time. To justify the minimum composition of the team and the necessary equipment, it is necessary to solve the problem of forming a job schedule for a group of aircrafts, a distinctive feature of which is to take into account a number of restrictions, caused by the interaction of specialists and equipment, as well as the order and incompatibility in time of some jobs. This, in turn, requires consideration of a huge number of options for organizing the work performed on each aircraft, and scheduling options for servicing several aircrafts by one specialist. The problem of substantiating the minimum composition of specialists and equipment is based on the use of combinatorial optimization methods, i.e. the construction of possible solutions, the number of which is reduced by using the branch-and-cut method. The article proposes a mixed integer linear programming model with binary variables to find the optimal solution and a software implementation that does not require large computational resources. It is given and analyzed in detail an example of finding the optimal team of specialists who prepare a group of six aircrafts, each of which performs five types of work. The reasonable solution time to find the schedule for a given team made it possible to consider all possible options for the composition of the team (tens of thousands of options) and justify such an option in which the number of specialists in the team would be minimal, but they would ensure the preparation of the aircraft within a given time. When solving a problem, an exact schedule is found for each considered variant of the team composition. Further development of this approach is based on discrete time models; preliminary studies show the possibility of finding the optimal schedule for preparing a group of 30 aircraft for up to 5 seconds.
{"title":"Optimal Resource Management оn Preparing a Group of Similar Aircrafts for Operation","authors":"Yu. I. Buryak, A. O. Makhorin","doi":"10.17587/mau.25.436-444","DOIUrl":"https://doi.org/10.17587/mau.25.436-444","url":null,"abstract":"The work is devoted to solving the problem of finding the minimum composition of a team of specialists and general ground handling facilities (equipment), as well as distribution in the process of preparing the required group of aircrafts for use within a given time. To justify the minimum composition of the team and the necessary equipment, it is necessary to solve the problem of forming a job schedule for a group of aircrafts, a distinctive feature of which is to take into account a number of restrictions, caused by the interaction of specialists and equipment, as well as the order and incompatibility in time of some jobs. This, in turn, requires consideration of a huge number of options for organizing the work performed on each aircraft, and scheduling options for servicing several aircrafts by one specialist. The problem of substantiating the minimum composition of specialists and equipment is based on the use of combinatorial optimization methods, i.e. the construction of possible solutions, the number of which is reduced by using the branch-and-cut method. The article proposes a mixed integer linear programming model with binary variables to find the optimal solution and a software implementation that does not require large computational resources. It is given and analyzed in detail an example of finding the optimal team of specialists who prepare a group of six aircrafts, each of which performs five types of work. The reasonable solution time to find the schedule for a given team made it possible to consider all possible options for the composition of the team (tens of thousands of options) and justify such an option in which the number of specialists in the team would be minimal, but they would ensure the preparation of the aircraft within a given time. When solving a problem, an exact schedule is found for each considered variant of the team composition. Further development of this approach is based on discrete time models; preliminary studies show the possibility of finding the optimal schedule for preparing a group of 30 aircraft for up to 5 seconds.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"52 30","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141923645","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}
The paper considers the problems of synthesizing positional control of dynamic systems (DS) in situations with a high level of uncertainty caused both by disturbances acting on the DS and interference in information channels. Uncertainty results from the action of various external disturbing factors, uncontrolled changes in the object properties, and equipment failures and malfunctions. A peculiar feature of the considered problems is that they are single events. In these information conditions, the synthesis of positional control of dynamic systems is considered based on the minimax approach worst-case design. Therefore, the mathematical model of processes is characterized by disturbances and measurement errors known with a precision up to sets, and the DS state vector is known with a precision up to membership in the information set as a result of solving the estimation problem. The proposed approach combines control concepts under information deficiency proposed by N. N. Krasovsky, A. B. Kurzhansky, and V. M. Kuntsevich with A. A. Krasovsky’s concepts of building selforganizing systems. The "principle of a guaranteed result" was chosen to synthesize DS control. A key distinction between the guaranteed and stochastic approach is the use of uncertainty sets of disturbances, interference, and the system state vector in DS control. The first part of the article solves the problem of estimating the state vector and, as a result, constructs an information set, to which the system state vector is guaranteed to belong. The second part of the article solves the control problem taking into account control restrictions, when the system operation quality is assessed by the belonging of the object’s state vector to a given set, which may depend on time. The tasks of stabilization, tracking, and terminal control can be set here. The control problem is also solved based on the guaranteed approach when specifying the requirements for the system in the form of a quadratic functional. The paper also considers the use of the Lyapunov function for control synthesis. The solution of estimation and control problems is reduced to extremal problems with linear and quadratic objective functions under restrictions in the form of systems of linear inequalities. The paper provides their examples.
本文探讨了在由作用于动态系统（DS）的干扰和信息通道干扰造成的高度不确定性情况下对动态系统（DS）进行综合定位控制的问题。不确定性来自各种外部干扰因素的作用、物体属性的不可控变化以及设备故障和失灵。所考虑问题的一个特点是它们都是单一事件。在这些信息条件下，动态系统位置控制的综合考虑基于最小法最坏情况设计。因此，过程的数学模型以干扰和测量误差为特征，测量误差的精度可达集，而 DS 状态向量的精度可达信息集中的成员，这是解决估计问题的结果。所提出的方法将 N. N. Krasovsky、A. B. Kurzhansky 和 V. M. Kuntsevich 提出的信息不足下的控制概念与 A. A. Krasovsky 提出的建立自组织系统的概念相结合。选择 "保证结果原则 "来综合 DS 控制。保证方法与随机方法的一个关键区别是，在 DS 控制中使用了扰动、干扰和系统状态向量的不确定性集。文章的第一部分解决了估计状态矢量的问题，并由此构建了一个信息集，保证系统状态矢量属于该信息集。文章的第二部分在考虑控制限制的情况下解决了控制问题，此时系统运行质量的评估取决于对象的状态矢量是否属于一个给定的集合，而该集合可能取决于时间。这里可以设置稳定、跟踪和终端控制等任务。在以二次函数的形式指定对系统的要求时，控制问题也是基于保证方法解决的。本文还考虑了利用 Lyapunov 函数进行控制合成。在线性不等式系统形式的限制下，估计和控制问题的求解被简化为具有线性和二次目标函数的极值问题。本文提供了相关示例。
{"title":"Algorithms for Controlling Dynamic Systems under Uncertainty. Part 2","authors":"V. I. Shiryaev","doi":"10.17587/mau.25.391-400","DOIUrl":"https://doi.org/10.17587/mau.25.391-400","url":null,"abstract":"The paper considers the problems of synthesizing positional control of dynamic systems (DS) in situations with a high level of uncertainty caused both by disturbances acting on the DS and interference in information channels. Uncertainty results from the action of various external disturbing factors, uncontrolled changes in the object properties, and equipment failures and malfunctions. A peculiar feature of the considered problems is that they are single events. In these information conditions, the synthesis of positional control of dynamic systems is considered based on the minimax approach worst-case design. Therefore, the mathematical model of processes is characterized by disturbances and measurement errors known with a precision up to sets, and the DS state vector is known with a precision up to membership in the information set as a result of solving the estimation problem. The proposed approach combines control concepts under information deficiency proposed by N. N. Krasovsky, A. B. Kurzhansky, and V. M. Kuntsevich with A. A. Krasovsky’s concepts of building selforganizing systems. The \"principle of a guaranteed result\" was chosen to synthesize DS control. A key distinction between the guaranteed and stochastic approach is the use of uncertainty sets of disturbances, interference, and the system state vector in DS control. The first part of the article solves the problem of estimating the state vector and, as a result, constructs an information set, to which the system state vector is guaranteed to belong. The second part of the article solves the control problem taking into account control restrictions, when the system operation quality is assessed by the belonging of the object’s state vector to a given set, which may depend on time. The tasks of stabilization, tracking, and terminal control can be set here. The control problem is also solved based on the guaranteed approach when specifying the requirements for the system in the form of a quadratic functional. The paper also considers the use of the Lyapunov function for control synthesis. The solution of estimation and control problems is reduced to extremal problems with linear and quadratic objective functions under restrictions in the form of systems of linear inequalities. The paper provides their examples.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"29 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141923370","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}
A. D. Obukhov, A. Nazarova, A. A. Volkov, K. I. Patutin, Yu. V. Nikitnikov, K. A. Maslov
The article discusses the development of a mobile training system for musculoskeletal rehabilitation. Analysis of existing research shows that the use of mobile devices allows for monitoring and evaluating the quality of exercises performed during outpatient musculoskeletal rehabilitation. The main directions for implementing mobile training systems were identified, and the task of organizing musculoskeletal rehabilitation using mobile devices was set. To address this task, an architecture for a mobile training system was developed, and necessary software tools were analyzed. A model for processing information about exercises in musculoskeletal rehabilitation was developed, including formalizing the processes of exercise assessment and transforming raw data from the inertial navigation system of the mobile device to calculate speed and trajectory of movement. An information processing algorithm was presented, including a list of necessary operations to eliminate significant drawbacks of mobile sensors (high error rate, noise, and error accumulation). Experimental studies were conducted to confirm the effectiveness of the algorithm. The functioning algorithm of the mobile training system, including its main stages for organizing the musculoskeletal rehabilitation process, was implemented. The algorithms for processing information from the mobile training system were tested, demonstrating their applicability for monitoring exercises. The scientific novelty of the research lies in the development of architecture, models, and information processing algorithms in the mobile training system for musculoskeletal rehabilitation, taking into account the technical characteristics of mobile devices. The theoretical results obtained (architecture, model, and algorithms) were used for the software implementation of the mobile training system for musculoskeletal rehabilitation on the Android operating system. The practical value of the conducted research lies in organizing the process of outpatient musculoskeletal rehabilitation using mobile devices and developing data processing algorithms, which have ensured sufficient accuracy in measuring actions performed.
{"title":"Architecture, Models and Algorithms for Information Processing of a Mobile Training System for Musculoskeletal Rehabilitation","authors":"A. D. Obukhov, A. Nazarova, A. A. Volkov, K. I. Patutin, Yu. V. Nikitnikov, K. A. Maslov","doi":"10.17587/mau.25.415-424","DOIUrl":"https://doi.org/10.17587/mau.25.415-424","url":null,"abstract":"The article discusses the development of a mobile training system for musculoskeletal rehabilitation. Analysis of existing research shows that the use of mobile devices allows for monitoring and evaluating the quality of exercises performed during outpatient musculoskeletal rehabilitation. The main directions for implementing mobile training systems were identified, and the task of organizing musculoskeletal rehabilitation using mobile devices was set. To address this task, an architecture for a mobile training system was developed, and necessary software tools were analyzed. A model for processing information about exercises in musculoskeletal rehabilitation was developed, including formalizing the processes of exercise assessment and transforming raw data from the inertial navigation system of the mobile device to calculate speed and trajectory of movement. An information processing algorithm was presented, including a list of necessary operations to eliminate significant drawbacks of mobile sensors (high error rate, noise, and error accumulation). Experimental studies were conducted to confirm the effectiveness of the algorithm. The functioning algorithm of the mobile training system, including its main stages for organizing the musculoskeletal rehabilitation process, was implemented. The algorithms for processing information from the mobile training system were tested, demonstrating their applicability for monitoring exercises. The scientific novelty of the research lies in the development of architecture, models, and information processing algorithms in the mobile training system for musculoskeletal rehabilitation, taking into account the technical characteristics of mobile devices. The theoretical results obtained (architecture, model, and algorithms) were used for the software implementation of the mobile training system for musculoskeletal rehabilitation on the Android operating system. The practical value of the conducted research lies in organizing the process of outpatient musculoskeletal rehabilitation using mobile devices and developing data processing algorithms, which have ensured sufficient accuracy in measuring actions performed.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"1 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141921985","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}
The expediency of forming and storing in the knowledge representation model of an autonomous robot contradictory information about the laws of transformation of various situations in a problem environment (PE) that occur as a result of the actions performed by the robot is substantiated. This need is due to the fact that a priori it is not possible in practice to construct and assign to an autonomous robot a detailed formal description of a model of a problem environment. The robot is actually forced to function in a priori underdetermined problem environments. This, in turn, leads to the fact that under identical conditions, according to a given model of the problem environment, but taking into account its actual characteristics, various actions performed by the robot can lead to the required result to achieve a given goal. Consequently, in real operating conditions, an autonomous robot may encounter the emergence of "contradictory" information when, under identical conditions, according to a given PS model, a formed plan of goal-directed activity, which was previously effective, requires significant adjustments to achieve a given goal. Such an adjustment to the formed behavior plan is usually associated with the robot studying the patterns of purposeful transformation of situations in the actual problem environment and replenishing procedural knowledge. Thus, the use of contradictory data associated with the incompleteness of a priori specified knowledge provides an autonomous robot with the opportunity to expand information about the patterns of an a priori underdetermined problem environment and, on this basis, increase functionality. To solve this problem, the article proposes a structure of typical elements for representing "contradictory" knowledge, including various elementary acts of behavior, the development of which allows an autonomous robot to obtain a given result by performing various actions in similar operating conditions, taking into account their individual characteristics that are not reflected in the model describing the current problematic environment situations. Cognitive tools have been developed to provide an autonomous robot with the ability to organize an effective combination of procedures for planning goal-directed behavior based on a given model of knowledge representation and self-learning procedures in a priori underdetermined conditions of an unstable problem environment. In general, the considered cognitive tools for planning the expedient activity of an autonomous robot allow to expand its functionality and adapt on this basis to complex a priori underdetermined operating conditions.
{"title":"Planning Goal-Directed Activities by an Autonomous Robot Based on Contradictory Information under Conditions of Uncertainty","authors":"V. Melekhin, M. Khachumov","doi":"10.17587/mau.25.407-414","DOIUrl":"https://doi.org/10.17587/mau.25.407-414","url":null,"abstract":"The expediency of forming and storing in the knowledge representation model of an autonomous robot contradictory information about the laws of transformation of various situations in a problem environment (PE) that occur as a result of the actions performed by the robot is substantiated. This need is due to the fact that a priori it is not possible in practice to construct and assign to an autonomous robot a detailed formal description of a model of a problem environment. The robot is actually forced to function in a priori underdetermined problem environments. This, in turn, leads to the fact that under identical conditions, according to a given model of the problem environment, but taking into account its actual characteristics, various actions performed by the robot can lead to the required result to achieve a given goal. Consequently, in real operating conditions, an autonomous robot may encounter the emergence of \"contradictory\" information when, under identical conditions, according to a given PS model, a formed plan of goal-directed activity, which was previously effective, requires significant adjustments to achieve a given goal. Such an adjustment to the formed behavior plan is usually associated with the robot studying the patterns of purposeful transformation of situations in the actual problem environment and replenishing procedural knowledge. Thus, the use of contradictory data associated with the incompleteness of a priori specified knowledge provides an autonomous robot with the opportunity to expand information about the patterns of an a priori underdetermined problem environment and, on this basis, increase functionality. To solve this problem, the article proposes a structure of typical elements for representing \"contradictory\" knowledge, including various elementary acts of behavior, the development of which allows an autonomous robot to obtain a given result by performing various actions in similar operating conditions, taking into account their individual characteristics that are not reflected in the model describing the current problematic environment situations. Cognitive tools have been developed to provide an autonomous robot with the ability to organize an effective combination of procedures for planning goal-directed behavior based on a given model of knowledge representation and self-learning procedures in a priori underdetermined conditions of an unstable problem environment. In general, the considered cognitive tools for planning the expedient activity of an autonomous robot allow to expand its functionality and adapt on this basis to complex a priori underdetermined operating conditions.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"41 12","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141922771","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}
The work examines the problem of controlling an amphibious aircraft (AA) in steady-state planing mode under the influence of wind-wave disturbances. An analysis of modern approaches and methods for the synthesis of aircraft control systems was carried out. A brief overview of existing scientific works devoted to the control of AA in various modes of movement is presented. The necessity of developing an autopilot to control the longitudinal movement of an AA is substantiated. A review is made of the characteristics of the state of the water surface and their influence on the operation of an AA on water. An analysis of the influence of external disturbances on the planing stability of AA is presented, on the basis of which the use of the integral adaptation method on invariant manifolds is justified for the synthesis procedure of a vector nonlinear controller of the control system of an AA in planing mode under the influence of wind-wave disturbances. The approach uses the synergetic principle of "expansion-compression" of the phase space, on the basis of which an extended model of synergetic synthesis is first constructed, taking into account estimates of the action of disturbing influences, and then, when applying the synthesis procedure, a phased compression of the phase space is carried out by introducing invariant manifolds, at the intersection of which the fulfillment of a given technological task is guaranteed, and invariance to the action of wind-wave disturbances is also ensured. The results of the study are confirmed by computer modeling of a synthesized closed-loop control system for the aircraft; in particular, it is shown that the closed-loop system guarantees the maintenance of the required flight speed and altitude, as well as maintaining the trim angle in the required range of values.
该研究探讨了在风浪扰动影响下控制稳态平飞模式水陆两栖飞机（AA）的问题。对飞机控制系统合成的现代方法和手段进行了分析。简要概述了专门研究各种运动模式下 AA 控制的现有科学著作。论证了开发自动驾驶仪以控制 AA 纵向运动的必要性。回顾了水面状态的特征及其对水上自动驾驶仪运行的影响。分析了外部扰动对机载导航仪刨向稳定性的影响，在此基础上，证明了在风浪扰动影响下，在不变量流形上使用积分适应方法来合成刨向模式下机载导航仪控制系统的矢量非线性控制器是合理的。该方法采用了相空间 "扩展-压缩 "的协同原理，在此基础上，首先构建了协同合成的扩展模型，并考虑了对干扰影响作用的估计，然后，在应用合成程序时，通过引入不变流形对相空间进行分阶段压缩。研究结果通过对飞机的合成闭环控制系统进行计算机建模得到了证实；特别是，研究结果表明，闭环系统可以保证保持所需的飞行速度和高度，并将微调角保持在所需的数值范围内。
{"title":"Synergetic Synthesis of an Amphibious Aircraft Autopilot for the Problem of Steady-State Planing under Conditions of Wind-Wave Disturbances","authors":"G. Е. Veselov, I. A. Popov","doi":"10.17587/mau.25.425-435","DOIUrl":"https://doi.org/10.17587/mau.25.425-435","url":null,"abstract":"The work examines the problem of controlling an amphibious aircraft (AA) in steady-state planing mode under the influence of wind-wave disturbances. An analysis of modern approaches and methods for the synthesis of aircraft control systems was carried out. A brief overview of existing scientific works devoted to the control of AA in various modes of movement is presented. The necessity of developing an autopilot to control the longitudinal movement of an AA is substantiated. A review is made of the characteristics of the state of the water surface and their influence on the operation of an AA on water. An analysis of the influence of external disturbances on the planing stability of AA is presented, on the basis of which the use of the integral adaptation method on invariant manifolds is justified for the synthesis procedure of a vector nonlinear controller of the control system of an AA in planing mode under the influence of wind-wave disturbances. The approach uses the synergetic principle of \"expansion-compression\" of the phase space, on the basis of which an extended model of synergetic synthesis is first constructed, taking into account estimates of the action of disturbing influences, and then, when applying the synthesis procedure, a phased compression of the phase space is carried out by introducing invariant manifolds, at the intersection of which the fulfillment of a given technological task is guaranteed, and invariance to the action of wind-wave disturbances is also ensured. The results of the study are confirmed by computer modeling of a synthesized closed-loop control system for the aircraft; in particular, it is shown that the closed-loop system guarantees the maintenance of the required flight speed and altitude, as well as maintaining the trim angle in the required range of values.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"39 9","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141924419","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}
It is shown that in order to ensure accident-free operation of production facilities it is necessary to increase the degree of adequacy of the results of the analysis of technological parameters in control and diagnostic systems. However, in these systems, when changing the dynamics of technological parameters, the sampling interval of analyzed signals does not change despite the need for such a procedure. Because of this in practice there are cases when the adequacy of the results of solved problems is not ensured. In rail transport, control and diagnostic systems are used for rolling stock, that diagnose malfunctions in wheel-motor units, bearing defects, lack and insufficiency of lubrication, misalignments of bearing mounting, defects of fastening, imbalance of rotating parts, defects of gearbox. Also diagnosed are looseness of the feed and brake lines, malfunctions of the brake valve, malfunctions of the brake cylinders, malfunctions of the compressor. The inspection results are first of all displayed on the driver’s monitor. In these systems, due to the delay in the monitoring result, sometimes the appropriate measures are delayed. For example, due to the specifics of rail transport, when analyzing the vibration signals received from the same sensors, the control results change when the train speed changes. This causes additional error, which can often lead to the violation of the adequacy of the control results. To eliminate this shortcoming, first of all, it is necessary to proportionally change the sampling interval of the analyzed signals when changing the speed of the rolling stock. In vibration diagnostics, the adequacy of the obtained results depends to a great extent on the accurate determination of the sampling interval. It is shown that the technology and principle of construction of analog-to-digital converters with adaptive determination of the sampling interval by taking into account the dynamics of the operation of controlled objects allows to avoid the control error caused by the error of sampling interval selection.
{"title":"Principle of Construction of Analog-to-Digital Converters with Adaptive Determination of Sampling Interval of Analyzed Signals","authors":"T. A. Aliev, A. I. Mammadova","doi":"10.17587/mau.25.401-406","DOIUrl":"https://doi.org/10.17587/mau.25.401-406","url":null,"abstract":"It is shown that in order to ensure accident-free operation of production facilities it is necessary to increase the degree of adequacy of the results of the analysis of technological parameters in control and diagnostic systems. However, in these systems, when changing the dynamics of technological parameters, the sampling interval of analyzed signals does not change despite the need for such a procedure. Because of this in practice there are cases when the adequacy of the results of solved problems is not ensured. In rail transport, control and diagnostic systems are used for rolling stock, that diagnose malfunctions in wheel-motor units, bearing defects, lack and insufficiency of lubrication, misalignments of bearing mounting, defects of fastening, imbalance of rotating parts, defects of gearbox. Also diagnosed are looseness of the feed and brake lines, malfunctions of the brake valve, malfunctions of the brake cylinders, malfunctions of the compressor. The inspection results are first of all displayed on the driver’s monitor. In these systems, due to the delay in the monitoring result, sometimes the appropriate measures are delayed. For example, due to the specifics of rail transport, when analyzing the vibration signals received from the same sensors, the control results change when the train speed changes. This causes additional error, which can often lead to the violation of the adequacy of the control results. To eliminate this shortcoming, first of all, it is necessary to proportionally change the sampling interval of the analyzed signals when changing the speed of the rolling stock. In vibration diagnostics, the adequacy of the obtained results depends to a great extent on the accurate determination of the sampling interval. It is shown that the technology and principle of construction of analog-to-digital converters with adaptive determination of the sampling interval by taking into account the dynamics of the operation of controlled objects allows to avoid the control error caused by the error of sampling interval selection.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"74 20","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141922340","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}
A new approach to the processing of satellite navigation measurements for the stable positioning of unmanned vehicles moving along program trajectories under conditions of interference is proposed. Modern methods of processing noisy satellite measurements mainly use various modifications of the least squares method, providing stability and the required positioning accuracy, as a rule, for stationary objects. At the same time, application of stochastic filtration theory methods that take into account both the dynamics of the object’s movement, and the presence of object disturbances and measurement noise are the most effective methods to assess the state of highly dynamic unmanned vehicles operating under conditions of uncertain disturbances. In this regard, the proposed approach to the positioning of unmanned vehicles is based on the application of nonlinear stochastic filtering methods, in particular, the robust nonlinear filtration method considered in the article that ensures the stability of the positioning process. At the same time, it is proposed to use digital path model to increase the accuracy of positioning an unmanned vehicle. This model is formed on the basis of high-precision geodetic measurements and providing the ability of approximation with the required accuracy of the program trajectory of the unmanned vehicle by a set of orthodromic trajectory intervals, which have an analytical relationship of the spatial coordinates of the object. This, in turn, ensures high positioning accuracy and a sharp reduction in computing costs. In general, the fusion of digital path model information and robust stochastic filtering algorithms for processing noisy satellite measurements has ensured both the stability of the process of estimating the current coordinates of an unmanned vehicle and a sharp reduction in computational costs compared with known methods of processing satellite measurement. The efficiency of the proposed method is shown by a numerical example.
{"title":"Robust Positioning of Unmanned Vehicles with the Application of Satellite Measurements and Digital Path Model Data","authors":"S. V. Sokolov, A. L. Okhotnikov","doi":"10.17587/mau.25.372-379","DOIUrl":"https://doi.org/10.17587/mau.25.372-379","url":null,"abstract":"A new approach to the processing of satellite navigation measurements for the stable positioning of unmanned vehicles moving along program trajectories under conditions of interference is proposed. Modern methods of processing noisy satellite measurements mainly use various modifications of the least squares method, providing stability and the required positioning accuracy, as a rule, for stationary objects. At the same time, application of stochastic filtration theory methods that take into account both the dynamics of the object’s movement, and the presence of object disturbances and measurement noise are the most effective methods to assess the state of highly dynamic unmanned vehicles operating under conditions of uncertain disturbances. In this regard, the proposed approach to the positioning of unmanned vehicles is based on the application of nonlinear stochastic filtering methods, in particular, the robust nonlinear filtration method considered in the article that ensures the stability of the positioning process. At the same time, it is proposed to use digital path model to increase the accuracy of positioning an unmanned vehicle. This model is formed on the basis of high-precision geodetic measurements and providing the ability of approximation with the required accuracy of the program trajectory of the unmanned vehicle by a set of orthodromic trajectory intervals, which have an analytical relationship of the spatial coordinates of the object. This, in turn, ensures high positioning accuracy and a sharp reduction in computing costs. In general, the fusion of digital path model information and robust stochastic filtering algorithms for processing noisy satellite measurements has ensured both the stability of the process of estimating the current coordinates of an unmanned vehicle and a sharp reduction in computational costs compared with known methods of processing satellite measurement. The efficiency of the proposed method is shown by a numerical example.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":" 48","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141825727","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}
The modern theory of automatic control is faced with the problem of complexity of synthesis of regulators for nonlinear control objects in conditions of incomplete information. The existing methods and approaches can no longer satisfy the needs of developers of automatic control systems for complex dynamic objects. In many cases, control objects are essentially nonlinear, nonstationary and require the use of digital control with specified quality indicators. In this case, obtaining an accurate mathematical model is not always possible. We propose an approach to solving this problem using regulators based on artificial neural networks. They can be effectively applied in the case when there is no adequate verified and sufficiently accurate mathematical model of the control object, but experimental data can be obtained. The advantage of such regulators is their ability to learn and adapt to the object based on the obtained data. In addition, there are no theoretical stability guarantees for closed-loop neural network control systems, which significantly reduces the possibility of their application in critical or hazardous facilities. To solve this problem, the paper proposes a method for synthesizing a neural controller that guarantees the stability of a closed loop. Systems with the most frequently encountered in practice nonlinearities (saturation type limiters, rigid mechanical stop type limiters, etc.) are considered as control objects. This paper proposes theoretical approaches to the solution of these problems, and also carries out a comparative analysis with experimental studies to assess the effectiveness of the proposed methods.
{"title":"The Method of Synthesis of a Stable Closed-Loop Object Control System with Limiters","authors":"D. Khapkin, S. Feofilov","doi":"10.17587/mau.25.345-353","DOIUrl":"https://doi.org/10.17587/mau.25.345-353","url":null,"abstract":"The modern theory of automatic control is faced with the problem of complexity of synthesis of regulators for nonlinear control objects in conditions of incomplete information. The existing methods and approaches can no longer satisfy the needs of developers of automatic control systems for complex dynamic objects. In many cases, control objects are essentially nonlinear, nonstationary and require the use of digital control with specified quality indicators. In this case, obtaining an accurate mathematical model is not always possible. We propose an approach to solving this problem using regulators based on artificial neural networks. They can be effectively applied in the case when there is no adequate verified and sufficiently accurate mathematical model of the control object, but experimental data can be obtained. The advantage of such regulators is their ability to learn and adapt to the object based on the obtained data. In addition, there are no theoretical stability guarantees for closed-loop neural network control systems, which significantly reduces the possibility of their application in critical or hazardous facilities. To solve this problem, the paper proposes a method for synthesizing a neural controller that guarantees the stability of a closed loop. Systems with the most frequently encountered in practice nonlinearities (saturation type limiters, rigid mechanical stop type limiters, etc.) are considered as control objects. This paper proposes theoretical approaches to the solution of these problems, and also carries out a comparative analysis with experimental studies to assess the effectiveness of the proposed methods.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":" 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141824559","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}
The possibility of synthesizing terminal control in the form of feedback by a nonlinear first-order object with parameters depending on the state of the object and additive control action is investigated. The use of a linear-quadratic regulator for this purpose is not possible due to the essentially nonlinear nature of the object’s dynamics. The SDRE method is used to construct the control law. It is theoretically proved that the constructed nonlinear SDRE controller ensures the transfer of an object from an arbitrary initial state to a small neighborhood of a given state in a predetermined finite time. The terminal error of regulation tends to zero when the penalty coefficient of the terminal term of the quality criterion is increased. A similar reduction in error is also achieved regardless of the value of the penalty factor by increasing the control time. The terminal properties of the regulator are demonstrated by the example of controlling the shutdown of an electric drive with a DC motor of sequential excitation, which is widely used in industrial robot drives. This electric motor belongs to devices with nonlinear dynamic characteristics. Calculations show that the regulator stops the electric drive in a short designated time with a favorable course of the transient shutdown process. The feedback of the control law helps to overcome the disturbing effect of possible uncontrolled loads on the shaft
{"title":"Terminal Control of a Single Nonlinear Object by the SDRE Method","authors":"V. G. Kozyrev","doi":"10.17587/mau.25.335-344","DOIUrl":"https://doi.org/10.17587/mau.25.335-344","url":null,"abstract":"The possibility of synthesizing terminal control in the form of feedback by a nonlinear first-order object with parameters depending on the state of the object and additive control action is investigated. The use of a linear-quadratic regulator for this purpose is not possible due to the essentially nonlinear nature of the object’s dynamics. The SDRE method is used to construct the control law. It is theoretically proved that the constructed nonlinear SDRE controller ensures the transfer of an object from an arbitrary initial state to a small neighborhood of a given state in a predetermined finite time. The terminal error of regulation tends to zero when the penalty coefficient of the terminal term of the quality criterion is increased. A similar reduction in error is also achieved regardless of the value of the penalty factor by increasing the control time. The terminal properties of the regulator are demonstrated by the example of controlling the shutdown of an electric drive with a DC motor of sequential excitation, which is widely used in industrial robot drives. This electric motor belongs to devices with nonlinear dynamic characteristics. Calculations show that the regulator stops the electric drive in a short designated time with a favorable course of the transient shutdown process. The feedback of the control law helps to overcome the disturbing effect of possible uncontrolled loads on the shaft","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":" 90","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141827361","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}
One of the actual problems of modern cosmic dynamics is the development of systems for controlling the angular orientation of spacecrafts with respect to their centers of mass. To solve this problem, magnetic control systems based on the interaction of their executive devices with the Earth’s magnetic field are widely and effectively used. An important class of problems for controlling the angular spacecraft orientation is that of problems of monoaxial stabilization. This paper considers a satellite whose center of mass moves in a circular equatorial low Earth orbit. It is assumed that it is equipped with a controlled electrostatic charge distributed over a certain volume and a controlled magnetic moment. The rotational motion of a satellite with respect to its center of mass in the orbital frame is studied. The problem of monoaxial stabilization of a satellite in an arbitrary equilibrium position is solved. The electrodynamic control method is used which is based on the simultaneous application of a magnetic moment and the moment of Lorentz forces. Each of these moments is selected as a sum of damping, restoring and compensating components. To improve the characteristics of transient processes (damping unwanted oscillations and increasing the speed of convergence to program motion), PID controller of a special type is constructed. The stability analysis of the closed-loop system is carried out on the basis of the Lyapunov direct method. An original construction of the Lyapunov—Krasovskii functional is proposed, with the help of which the conditions on the control parameters are determined that guarantee the asymptotic stability of the program motion. The results of numerical simulation are presented confirming the obtained theoretical conclusions and demonstrating the advantage of the developed approach compared to the use of previously constructed controllers. It is shown that due to the appropriate choice of control parameters, the characteristics of transient processes can be significantly improved
{"title":"Monoaxial Electrodynamic Stabilization of a Spacecraft Using PID Controller","authors":"A. Y. Aleksandrov, S. B. Ruzin","doi":"10.17587/mau.25.380-387","DOIUrl":"https://doi.org/10.17587/mau.25.380-387","url":null,"abstract":"One of the actual problems of modern cosmic dynamics is the development of systems for controlling the angular orientation of spacecrafts with respect to their centers of mass. To solve this problem, magnetic control systems based on the interaction of their executive devices with the Earth’s magnetic field are widely and effectively used. An important class of problems for controlling the angular spacecraft orientation is that of problems of monoaxial stabilization. This paper considers a satellite whose center of mass moves in a circular equatorial low Earth orbit. It is assumed that it is equipped with a controlled electrostatic charge distributed over a certain volume and a controlled magnetic moment. The rotational motion of a satellite with respect to its center of mass in the orbital frame is studied. The problem of monoaxial stabilization of a satellite in an arbitrary equilibrium position is solved. The electrodynamic control method is used which is based on the simultaneous application of a magnetic moment and the moment of Lorentz forces. Each of these moments is selected as a sum of damping, restoring and compensating components. To improve the characteristics of transient processes (damping unwanted oscillations and increasing the speed of convergence to program motion), PID controller of a special type is constructed. The stability analysis of the closed-loop system is carried out on the basis of the Lyapunov direct method. An original construction of the Lyapunov—Krasovskii functional is proposed, with the help of which the conditions on the control parameters are determined that guarantee the asymptotic stability of the program motion. The results of numerical simulation are presented confirming the obtained theoretical conclusions and demonstrating the advantage of the developed approach compared to the use of previously constructed controllers. It is shown that due to the appropriate choice of control parameters, the characteristics of transient processes can be significantly improved","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":" 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141825717","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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