E. Palchevsky, V. Antonov, L. E. Kromina, L. Rodionova, A. Fakhrullina
The concept of "Digital Transformation 2030", which defines the national goals and strategic objectives of the development of the Russian Federation for the period up to 2030, specifies specialized goals and objectives that are an important message for the introduction of intelligent information management technologies in the electric power industry. The main challenges for the transition to digital transformation are the increase in the rate of growth of tariffs for the end consumer, the increasing wear and tear of the network infrastructure, the presence of excessive network construction and the increase in requirements for the quality of energy consumption. The determining factor in the possibility of developing an effective energy policy is the forecasting of electricity consumption using artificial intelligence methods. One of the methods for implementing the above is the development of an artificial neural network (ANN) to obtain an early forecast of the amount of required (consumed) electricity. The obtained predictive values open up the possibility not only to build a competent energy policy by increasing the energy efficiency of an energy company, but also to carry out specialized energy-saving measures in order to optimize the organization’s budget. The solution to this problem is presented in the form of an artificial neural network (ANN) of the second generation. The main advantages of this ANN are its versatility, fast and accurate learning, as well as the absence of the need for a large amount of initial da-ta for a qualitative forecast. The ANN itself is based on the classical neuron and the error back-propagation method with their further modification. The coefficients of learning rate and sensitivity have been added to the error backpropagation method, and the coefficient of response to anomalies in the time series has been introduced into the neuron. This made it possible to significantly improve the learning rate of the artificial neural network and improve the accuracy of predictive results. The results presented by this study can be taken as a guideline for energy companies when making decisions within the framework of energy policy, including when carrying out energy saving measures, which will be especially useful in the current economic realities.
{"title":"Intelligent Forecasting of Electricity Consumption in Managing Energy Enterprises in Order to Carry out Energy-Saving Measures","authors":"E. Palchevsky, V. Antonov, L. E. Kromina, L. Rodionova, A. Fakhrullina","doi":"10.17587/mau.24.307-316","DOIUrl":"https://doi.org/10.17587/mau.24.307-316","url":null,"abstract":"The concept of \"Digital Transformation 2030\", which defines the national goals and strategic objectives of the development of the Russian Federation for the period up to 2030, specifies specialized goals and objectives that are an important message for the introduction of intelligent information management technologies in the electric power industry. The main challenges for the transition to digital transformation are the increase in the rate of growth of tariffs for the end consumer, the increasing wear and tear of the network infrastructure, the presence of excessive network construction and the increase in requirements for the quality of energy consumption. The determining factor in the possibility of developing an effective energy policy is the forecasting of electricity consumption using artificial intelligence methods. One of the methods for implementing the above is the development of an artificial neural network (ANN) to obtain an early forecast of the amount of required (consumed) electricity. The obtained predictive values open up the possibility not only to build a competent energy policy by increasing the energy efficiency of an energy company, but also to carry out specialized energy-saving measures in order to optimize the organization’s budget. The solution to this problem is presented in the form of an artificial neural network (ANN) of the second generation. The main advantages of this ANN are its versatility, fast and accurate learning, as well as the absence of the need for a large amount of initial da-ta for a qualitative forecast. The ANN itself is based on the classical neuron and the error back-propagation method with their further modification. The coefficients of learning rate and sensitivity have been added to the error backpropagation method, and the coefficient of response to anomalies in the time series has been introduced into the neuron. This made it possible to significantly improve the learning rate of the artificial neural network and improve the accuracy of predictive results. The results presented by this study can be taken as a guideline for energy companies when making decisions within the framework of energy policy, including when carrying out energy saving measures, which will be especially useful in the current economic realities.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"41 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77314091","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 problem of interval observer design for nonlinear dynamic systems described by discrete-time models under external disturbances, measurement noise, and parametric uncertainties. The problem is to design the observer with fewer dimensions than that of the original system; such an observer must generate upper and lower bounds of admissible values of the prescribed nonlinear function of the original system state vector. To solve the problem, special mathematical tool is used. The advantage of this tool is that it allows studying the systems described by models with non-smoo th nonlinearities. To construct interval observer, the reduced-order model of the original system insensitive or having minimal sensitivity to the disturbances is designed. The designing procedure is based on two algorithms: the first one is intended to design the model of minimal sensitivity; the second one is used to reduce the dimension of the model. The rules are formulated to ensure stability based on the prescribed set of the desirable eigenvalues and feedback. The interval observer consists of two subsystems: the first one generates the lower bound, the second one the upper bound. The relations describing both subsystems are given. To construct such an observer in the nonlinear case, the terms of positive and negative influence of variables describing the model are introduced. These terms allow finding out how the upper and lower bounds of these variables will appear in the interval observer. The conditions under which the observer can be designed are given. The theoretical results are illustrated by an example of three tank system. Simulation results based on the package Matlab show the effectiveness of the developed theory.
{"title":"Interval Observer Design for Discrete-Time Nonlinear Dynamic Systems","authors":"A. Zhirabok, A. Zuev, A. E. Shumsky, E. Bobko","doi":"10.17587/mau.24.283-291","DOIUrl":"https://doi.org/10.17587/mau.24.283-291","url":null,"abstract":"The paper considers the problem of interval observer design for nonlinear dynamic systems described by discrete-time models under external disturbances, measurement noise, and parametric uncertainties. The problem is to design the observer with fewer dimensions than that of the original system; such an observer must generate upper and lower bounds of admissible values of the prescribed nonlinear function of the original system state vector. To solve the problem, special mathematical tool is used. The advantage of this tool is that it allows studying the systems described by models with non-smoo th nonlinearities. To construct interval observer, the reduced-order model of the original system insensitive or having minimal sensitivity to the disturbances is designed. The designing procedure is based on two algorithms: the first one is intended to design the model of minimal sensitivity; the second one is used to reduce the dimension of the model. The rules are formulated to ensure stability based on the prescribed set of the desirable eigenvalues and feedback. The interval observer consists of two subsystems: the first one generates the lower bound, the second one the upper bound. The relations describing both subsystems are given. To construct such an observer in the nonlinear case, the terms of positive and negative influence of variables describing the model are introduced. These terms allow finding out how the upper and lower bounds of these variables will appear in the interval observer. The conditions under which the observer can be designed are given. The theoretical results are illustrated by an example of three tank system. Simulation results based on the package Matlab show the effectiveness of the developed theory.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"16 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80108961","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}
Study of dynamics of complex networked systems is one of the relevant problems. Networked systems can be in various states, ranging from complete synchronization, when all systems in the network are coherent, to complete desynchronization, i.e. complete incoherence in the functioning of systems. Synchronization phenomenon has already been well studied, namely, the mathematical definitions of synchronization are introduced, algorithms of studying synchronization are proposed, and synchronization conditions of various types of networked systems are established. Whereas a few works are devoted to the study of desynchronization nowadays. This paper introduces output desynchronization notion for networks of nonlinear systems. The definitions about Yakubovich oscillatority are considered and the link between oscillatority and desynchronization in networks of excitable nonlinear systems is established. Excitable systems are stable; therefore, they do not generate oscillations. Adding couplings between such systems can lead to occurrence of oscillations. The conditions about oscillatority in diffusively coupled networks of FitzHugh-Nagumo systems, which are the simplest neuron models, are derived. Firstly, the case of the simplest network of two coupled systems is considered, and afterwards, obtained result is generalized for the case of several systems. Laplace matrix spectrum plays crucial role in dynamics of such networks. The condition that connects the parameters of the uncoupled system in the network and the eigenvalues of the Laplace matrix, is obtained which determines whether the network is oscillatory or not. The number of systems that generate oscillations in such a network depends on the number of eigenvalues of the Laplace matrix that satisfy the obtained conditions. Obtained analytical results are confirmed by simulation. The results of simulation of complete desynchronization in the network, when all systems begin to oscillate, as well as a chimera-like state, in which only a part of the systems oscillates, while the other part are rest, are presented.
{"title":"Desynchronization and Oscillatority in Excitable FitzHugh-Nagumo Networks","authors":"S. Plotnikov","doi":"10.17587/mau.24.292-299","DOIUrl":"https://doi.org/10.17587/mau.24.292-299","url":null,"abstract":"Study of dynamics of complex networked systems is one of the relevant problems. Networked systems can be in various states, ranging from complete synchronization, when all systems in the network are coherent, to complete desynchronization, i.e. complete incoherence in the functioning of systems. Synchronization phenomenon has already been well studied, namely, the mathematical definitions of synchronization are introduced, algorithms of studying synchronization are proposed, and synchronization conditions of various types of networked systems are established. Whereas a few works are devoted to the study of desynchronization nowadays. This paper introduces output desynchronization notion for networks of nonlinear systems. The definitions about Yakubovich oscillatority are considered and the link between oscillatority and desynchronization in networks of excitable nonlinear systems is established. Excitable systems are stable; therefore, they do not generate oscillations. Adding couplings between such systems can lead to occurrence of oscillations. The conditions about oscillatority in diffusively coupled networks of FitzHugh-Nagumo systems, which are the simplest neuron models, are derived. Firstly, the case of the simplest network of two coupled systems is considered, and afterwards, obtained result is generalized for the case of several systems. Laplace matrix spectrum plays crucial role in dynamics of such networks. The condition that connects the parameters of the uncoupled system in the network and the eigenvalues of the Laplace matrix, is obtained which determines whether the network is oscillatory or not. The number of systems that generate oscillations in such a network depends on the number of eigenvalues of the Laplace matrix that satisfy the obtained conditions. Obtained analytical results are confirmed by simulation. The results of simulation of complete desynchronization in the network, when all systems begin to oscillate, as well as a chimera-like state, in which only a part of the systems oscillates, while the other part are rest, are presented.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83808986","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}
In this paper, we consider the problem of determining the hand with which the subject intends to make a movement according to the signals of the electroencephalogram. The relevance of the task is due to the wide spread of brain-computer interfaces, where electroencephalography is one of the main non-invasive methods for obtaining signals from the brain. To solve the problem, temporal and frequency features are selected from the segments of signals preceding the movement, which are fed to the input of the classification machine learning model. In contrast to the standard supervised learning setup, it is assumed that there is no predefined training data set and the training samples for the model are received one after another. Thus, a situation is simulated in which the model must work with a new subject and adjust to them in real time. The traditional method for training linear models in such a paradigm is stochastic gradient descent. Previously, it was shown that the "Stripe" algorithm developed by Yakubovich for a certain problem has a higher convergence rate than stochastic gradient descent. However, this is achieved by performing algorithm step on each feature of the sample. Thus, that version of "Stripe" is not suitable for working with high-dimensional data. This article discusses another version of "Stripe" that does not have this drawback. It is shown that the proposed algorithm has a higher rate of one learning step compared to traditional linear models based on stochastic gradient descent on the BCI competition II dataset.
{"title":"Application of the \"Stripe\" Algorithm for Online Decoding of the EEG Patterns","authors":"M. Lipkovich, A. R. Sagatdinov","doi":"10.17587/mau.24.300-306","DOIUrl":"https://doi.org/10.17587/mau.24.300-306","url":null,"abstract":"In this paper, we consider the problem of determining the hand with which the subject intends to make a movement according to the signals of the electroencephalogram. The relevance of the task is due to the wide spread of brain-computer interfaces, where electroencephalography is one of the main non-invasive methods for obtaining signals from the brain. To solve the problem, temporal and frequency features are selected from the segments of signals preceding the movement, which are fed to the input of the classification machine learning model. In contrast to the standard supervised learning setup, it is assumed that there is no predefined training data set and the training samples for the model are received one after another. Thus, a situation is simulated in which the model must work with a new subject and adjust to them in real time. The traditional method for training linear models in such a paradigm is stochastic gradient descent. Previously, it was shown that the \"Stripe\" algorithm developed by Yakubovich for a certain problem has a higher convergence rate than stochastic gradient descent. However, this is achieved by performing algorithm step on each feature of the sample. Thus, that version of \"Stripe\" is not suitable for working with high-dimensional data. This article discusses another version of \"Stripe\" that does not have this drawback. It is shown that the proposed algorithm has a higher rate of one learning step compared to traditional linear models based on stochastic gradient descent on the BCI competition II dataset.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88617488","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}
Robots are increasingly required to work in close cooperation with humans and other robots, performing common tasks jointly, in collaboration. High-level decision making by an autonomous agent with such interactions require specific means of responding to the situation. This paper describes the implementation of the control system for a collaborative robot, based on the emotion-need architecture that provides reliable and interpretable interaction means of the robot with other agents. The robot is an autonomous device whose behavior is aimed at satisfying its current needs. The communication between the operator and the robot is based on signal communication: the operator’s signal ("command") activates an element of the emotion-need scheme — a gateway that implements the emotional feedback. Since the gateway connects the sensors and behavioral procedures, its activation starts the corresponding procedure, as if the sensory system had registered a real stimulus. The external signal of such indirect control can be represented in acoustic form or as the operator’s posture. The needs of the robot are aimed at both its physical survival (danger avoidance) and maintenance of the social connections (accompanying friendly agents). The robot recognizes external commands and activates the gateway associated with the highest priority action. The activity also gradually fades, which allows actions to be performed for some time even in the absence of an appropriate internal stimulus. The resulting robot is able to perform the simplest patrol tasks together with a human, acting in a predictable and understandable (interpretable) way for the human.
{"title":"Signal Communication for Collaborative Robot Behavior Control","authors":"V. Karpov, M. Rovbo, P. Sorokoumov","doi":"10.17587/mau.24.260-268","DOIUrl":"https://doi.org/10.17587/mau.24.260-268","url":null,"abstract":"Robots are increasingly required to work in close cooperation with humans and other robots, performing common tasks jointly, in collaboration. High-level decision making by an autonomous agent with such interactions require specific means of responding to the situation. This paper describes the implementation of the control system for a collaborative robot, based on the emotion-need architecture that provides reliable and interpretable interaction means of the robot with other agents. The robot is an autonomous device whose behavior is aimed at satisfying its current needs. The communication between the operator and the robot is based on signal communication: the operator’s signal (\"command\") activates an element of the emotion-need scheme — a gateway that implements the emotional feedback. Since the gateway connects the sensors and behavioral procedures, its activation starts the corresponding procedure, as if the sensory system had registered a real stimulus. The external signal of such indirect control can be represented in acoustic form or as the operator’s posture. The needs of the robot are aimed at both its physical survival (danger avoidance) and maintenance of the social connections (accompanying friendly agents). The robot recognizes external commands and activates the gateway associated with the highest priority action. The activity also gradually fades, which allows actions to be performed for some time even in the absence of an appropriate internal stimulus. The resulting robot is able to perform the simplest patrol tasks together with a human, acting in a predictable and understandable (interpretable) way for the human.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"31 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89611826","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 nonlinear control system of the aircraft propulsion system at take-off with the derated thrust at a running start stage on the runway (R) is considered. The mathematical model of rise of an object taking into account the different perturbing influences, such as starting mass, status of a surface of the runway, wind perturbation, real value of the engine’s thrust is analyzed. The settlement trajectory of running start based on of a priori the set model parameters of an object and the environment is defined. For the solution of a task of thrust control, at a deviation of model parameters of an object and the environment from rated values, the nonlinear control law draft is under construction. In work, the scheme of synthesis of a thrust control system, which is implemented based on a method of linearization of nonlinear model by feedback on an output, is offered. This method comes down to creation of nonlinear differentiable conversion of initial coordinates. With use of an assumptions the robust nonlinear control law providing forming a controlt signal with engine’s thrust for deviation compensation between rated and real running start trajectories in the absence of complete a priori information about take-off parameters was constructed. Conditions of respect for technical stability of running start of the aircraft, taking into account restrictions on the maximum value of draft of the propulsion system and the maximum length of running start on the runway were investigated. And the criterion of the emergency termination of take-off of the aircraft, when resources of the propulsion system do not allow to compensate the having mismatch between settlement and real trajectories of running start is offered. The received criterion allows to form a signal for take-off stopping and passing to the mode of the emergency termination of running start on the runway.
{"title":"Control System of the Aircraft’s Propulsion Device at Take-off with the Derated Thrust","authors":"V. Busurin, P. S. Kudryavtsev, M. Simonov","doi":"10.17587/mau.24.269-278","DOIUrl":"https://doi.org/10.17587/mau.24.269-278","url":null,"abstract":"The nonlinear control system of the aircraft propulsion system at take-off with the derated thrust at a running start stage on the runway (R) is considered. The mathematical model of rise of an object taking into account the different perturbing influences, such as starting mass, status of a surface of the runway, wind perturbation, real value of the engine’s thrust is analyzed. The settlement trajectory of running start based on of a priori the set model parameters of an object and the environment is defined. For the solution of a task of thrust control, at a deviation of model parameters of an object and the environment from rated values, the nonlinear control law draft is under construction. In work, the scheme of synthesis of a thrust control system, which is implemented based on a method of linearization of nonlinear model by feedback on an output, is offered. This method comes down to creation of nonlinear differentiable conversion of initial coordinates. With use of an assumptions the robust nonlinear control law providing forming a controlt signal with engine’s thrust for deviation compensation between rated and real running start trajectories in the absence of complete a priori information about take-off parameters was constructed. Conditions of respect for technical stability of running start of the aircraft, taking into account restrictions on the maximum value of draft of the propulsion system and the maximum length of running start on the runway were investigated. And the criterion of the emergency termination of take-off of the aircraft, when resources of the propulsion system do not allow to compensate the having mismatch between settlement and real trajectories of running start is offered. The received criterion allows to form a signal for take-off stopping and passing to the mode of the emergency termination of running start on the runway.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"110 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85224310","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}
T. Aliev, G. A. Guluev, A. Rzayev, N. E. Rzayeva, F. Pashayev, R. Gadimov
The creation of technology for the analysis of wattmeter charts to control the main equipment of oil fields has always been of both theoretical and great practical interest. Numerous experiments have shown that the wattmeter chart of their electric motor is a highly noisy signal, and a significant part of the diagnostic information is contained in the estimates of the noise variance and the cross-correlation function between the noise and the useful signal. The lack of technologies for their analysis made it difficult and still makes it difficult to use the wattmeter chart to control the indicated equipment. The paper proposes a technology for controlling the onset of malfunctions and early diagnostics of the technical condition of sucker rod pumping units (SRPU), electric submersible pumps (ESPs), modular cluster pump stations (MCPS) of oil fields. It is shown that during operation, the wattmeter chart of the electric motors of these objects reflects information about the beginning of the latent period of change in their technical condition, which can be used as informative attributes in their diagnosis. A technology is proposed for determining the estimate of the cross-correlation function RXε(μ) between the useful signal X(iΔt) and the noise ε(iΔt) of the wattmeter chart and the technology for generating a set of reference wattmeter charts, in which the obtained informative attributes coincide with the informative attributes of the wattmeter charts of typical malfunctions. It is proposed to solve the problem of identifying faults in the equipment under consideration by the informative attributes of current and reference wattmeter charts of electric motors using correlation extremal systems. It is shown that using the proposed technology it is also possible to control the onset of similar malfunctions of SRPU by analyzing the dynamometer chart. The results of experiments showing the effectiveness and expediency of creating these control systems based on CES are presented.
{"title":"Correlational Extremal System for Controlling the Beginning of Faults in Oil Field Equipment by Analyzing their Wattmeter and Dynamometer Charts","authors":"T. Aliev, G. A. Guluev, A. Rzayev, N. E. Rzayeva, F. Pashayev, R. Gadimov","doi":"10.17587/mau.24.249-259","DOIUrl":"https://doi.org/10.17587/mau.24.249-259","url":null,"abstract":"The creation of technology for the analysis of wattmeter charts to control the main equipment of oil fields has always been of both theoretical and great practical interest. Numerous experiments have shown that the wattmeter chart of their electric motor is a highly noisy signal, and a significant part of the diagnostic information is contained in the estimates of the noise variance and the cross-correlation function between the noise and the useful signal. The lack of technologies for their analysis made it difficult and still makes it difficult to use the wattmeter chart to control the indicated equipment. The paper proposes a technology for controlling the onset of malfunctions and early diagnostics of the technical condition of sucker rod pumping units (SRPU), electric submersible pumps (ESPs), modular cluster pump stations (MCPS) of oil fields. It is shown that during operation, the wattmeter chart of the electric motors of these objects reflects information about the beginning of the latent period of change in their technical condition, which can be used as informative attributes in their diagnosis. A technology is proposed for determining the estimate of the cross-correlation function RXε(μ) between the useful signal X(iΔt) and the noise ε(iΔt) of the wattmeter chart and the technology for generating a set of reference wattmeter charts, in which the obtained informative attributes coincide with the informative attributes of the wattmeter charts of typical malfunctions. It is proposed to solve the problem of identifying faults in the equipment under consideration by the informative attributes of current and reference wattmeter charts of electric motors using correlation extremal systems. It is shown that using the proposed technology it is also possible to control the onset of similar malfunctions of SRPU by analyzing the dynamometer chart. The results of experiments showing the effectiveness and expediency of creating these control systems based on CES are presented.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86539564","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}
This article considers an algorithm for the synthesis of dynamic output controller, where the eigenvalues of a closed control system should be located in a given region (D-region) of the complex plane. The main direction of the research is to synthesize dynamic controllers of minimal order when there is no complete controllability at the output. For this purpose, a brief excursion into the external Grassmann algebra is made with the purpose of determining the external product of vectors, on the basis of which the operation of the bialternate product of matrices is explained. The use of the bialternate product of matrices made it possible to introduce the functions of matrix root-clustering of complex eigenvalues located in separate transformable D-regions. For the usual product of matrices, the functions of matrix root-clustering of real eigenvalues located in separate transformable D-domains are introduced. The functions of matrix root-clustering are transforming, respectively, complex or real points of a given bounded or unbounded D-region of the complex plane into a left half-plane. The article considers the main D-domains most widely used in practice (disk, cone, stability margin), presents their matrix root-clustering and functions of matrix root-clustering of real and complex modes. An algorithm for parametric optimization of dynamic output feedback controller over D-domains has been developed. Practical examples of synthesis are considered. For a fourth-order object (a two-mass weakly damped system with two integrators and parametric uncertainty), a secondorder dynamic controller providing robust quality has been synthesized.
{"title":"Synthesis of Dynamic Output Feedback Controller Using Functions of Matrix Root-Clustering in D-Regions","authors":"V. I. Krasnoschechenko","doi":"10.17587/mau.24.227-239","DOIUrl":"https://doi.org/10.17587/mau.24.227-239","url":null,"abstract":"This article considers an algorithm for the synthesis of dynamic output controller, where the eigenvalues of a closed control system should be located in a given region (D-region) of the complex plane. The main direction of the research is to synthesize dynamic controllers of minimal order when there is no complete controllability at the output. For this purpose, a brief excursion into the external Grassmann algebra is made with the purpose of determining the external product of vectors, on the basis of which the operation of the bialternate product of matrices is explained. The use of the bialternate product of matrices made it possible to introduce the functions of matrix root-clustering of complex eigenvalues located in separate transformable D-regions. For the usual product of matrices, the functions of matrix root-clustering of real eigenvalues located in separate transformable D-domains are introduced. The functions of matrix root-clustering are transforming, respectively, complex or real points of a given bounded or unbounded D-region of the complex plane into a left half-plane. The article considers the main D-domains most widely used in practice (disk, cone, stability margin), presents their matrix root-clustering and functions of matrix root-clustering of real and complex modes. An algorithm for parametric optimization of dynamic output feedback controller over D-domains has been developed. Practical examples of synthesis are considered. For a fourth-order object (a two-mass weakly damped system with two integrators and parametric uncertainty), a secondorder dynamic controller providing robust quality has been synthesized.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"63 16","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72412608","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}
In automatic control systems (ASR), industrial processes of various types with a delay with a limit on the amount of overregulation, a PID controller with a real differentiating link (hereinafter referred to as the PID controller) is widely used. As is known, a sign of the presence of a large delay in the object of regulation is the ratio τob/Tob ≥ 1, where τob is the value of the delay time and Tob is maximum time constant of the object of control. In the presence of a large delay and limitation in the ASR, the parametric synthesis of the PID controller by well-known frequency methods becomes difficult, which leads to interest in the development of numerical searchless algorithms for parametric optimization based on the use of sensitivity functions to determine the gradient of the optimality criterion. In this paper, an APO algorithm is formed that calculates, based on the minimum of the integral quadratic criterion, the values of the adjustable parameters of the PID controller in the specified ASR. In order to ensure that there is no re-regulation of the resulting transient process, the authors of this article propose to introduce a restriction on the regulatory effect into the automatic system at the optimization stage, which, in turn, is taken into account by adding a penalty function to the integral criterion. The proposed algorithm is based on the method of conjugate Polak—Polyak-Ribier gradients with its known advantages. The components of the gradient vector of the optimization criterion are calculated using such sensitivity functions that allow you to obtain all the components of this vector without trial search variations of the configurable parameters. To calculate the value of the optimization step, the authors implemented an appropriate algorithm based on a gradient procedure using the sensitivity function of the output coordinate of the ASR to the step value. The convergence of the generated APO algorithm was verified using a numerical procedure based on the zone of attraction of record values of the optimization criterion, which is determined by a positive-definite Hesse matrix of the integral quadratic criterion based on the difference between the averaged and the tested transients.
{"title":"Parametric Optimization of the PID Controller with Restriction Based on the Method of Conjugate Polak—Polyak—Ribier Gradients","authors":"V. Kulikov, N. Kutsyi, E. A. Osipova","doi":"10.17587/mau.24.240-248","DOIUrl":"https://doi.org/10.17587/mau.24.240-248","url":null,"abstract":"In automatic control systems (ASR), industrial processes of various types with a delay with a limit on the amount of overregulation, a PID controller with a real differentiating link (hereinafter referred to as the PID controller) is widely used. As is known, a sign of the presence of a large delay in the object of regulation is the ratio τob/Tob ≥ 1, where τob is the value of the delay time and Tob is maximum time constant of the object of control. In the presence of a large delay and limitation in the ASR, the parametric synthesis of the PID controller by well-known frequency methods becomes difficult, which leads to interest in the development of numerical searchless algorithms for parametric optimization based on the use of sensitivity functions to determine the gradient of the optimality criterion. In this paper, an APO algorithm is formed that calculates, based on the minimum of the integral quadratic criterion, the values of the adjustable parameters of the PID controller in the specified ASR. In order to ensure that there is no re-regulation of the resulting transient process, the authors of this article propose to introduce a restriction on the regulatory effect into the automatic system at the optimization stage, which, in turn, is taken into account by adding a penalty function to the integral criterion. The proposed algorithm is based on the method of conjugate Polak—Polyak-Ribier gradients with its known advantages. The components of the gradient vector of the optimization criterion are calculated using such sensitivity functions that allow you to obtain all the components of this vector without trial search variations of the configurable parameters. To calculate the value of the optimization step, the authors implemented an appropriate algorithm based on a gradient procedure using the sensitivity function of the output coordinate of the ASR to the step value. The convergence of the generated APO algorithm was verified using a numerical procedure based on the zone of attraction of record values of the optimization criterion, which is determined by a positive-definite Hesse matrix of the integral quadratic criterion based on the difference between the averaged and the tested transients.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"81 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83986622","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}
Nowadays there are many non-functioning spacecraft in orbit that have run out of fuel, or have failed due to breakdown. Therefore, the concept of a serviced space and the development of space manipulation robot for extending the spacecraft service life are becoming expedient. Space manipulation robot will be able to perform a variety of tasks, from inspecting malfunctions of a serviced spacecraft, to performing repairs and refueling the target vehicle. The article proposes a strategy and algorithms for the guidance and motion control of a space manipulation robot at the stage of rendezvous with a non-cooperative spacecraft to perform maintenance tasks. The purpose of the article is to synthesize the control of the translational and rotational motion of the space manipulation robot for its convergence with the target satellite at a given distance. The control system is presented in the form of a hierarchical two-level "guidance-stabilization" system. At the guidance level, a transition quaternion of the associated coordinate system to the required position is formed, as well as thrust engine control, which ensures the translational motion of the space manipulation robot at the required velocity. At the stabilization level, a control is formed that superpose the associated coordinate system of the space manipulation robot with the direction to the served satellite. The article proposes a scheme and a mathematical model of the propulsion system, angular and translational motion of the service satellite. The modeling of the developed guidance and motion control algorithms in the SIMULINK environment has been carried out.
{"title":"Algorithmization of Guidance and Motion Control of a Space Manipulation Robot in the Service Tasks of a Non-Operative Spacecraft","authors":"N. Kozlova, A. Fomichev","doi":"10.17587/mau.24.216-224","DOIUrl":"https://doi.org/10.17587/mau.24.216-224","url":null,"abstract":"Nowadays there are many non-functioning spacecraft in orbit that have run out of fuel, or have failed due to breakdown. Therefore, the concept of a serviced space and the development of space manipulation robot for extending the spacecraft service life are becoming expedient. Space manipulation robot will be able to perform a variety of tasks, from inspecting malfunctions of a serviced spacecraft, to performing repairs and refueling the target vehicle. The article proposes a strategy and algorithms for the guidance and motion control of a space manipulation robot at the stage of rendezvous with a non-cooperative spacecraft to perform maintenance tasks. The purpose of the article is to synthesize the control of the translational and rotational motion of the space manipulation robot for its convergence with the target satellite at a given distance. The control system is presented in the form of a hierarchical two-level \"guidance-stabilization\" system. At the guidance level, a transition quaternion of the associated coordinate system to the required position is formed, as well as thrust engine control, which ensures the translational motion of the space manipulation robot at the required velocity. At the stabilization level, a control is formed that superpose the associated coordinate system of the space manipulation robot with the direction to the served satellite. The article proposes a scheme and a mathematical model of the propulsion system, angular and translational motion of the service satellite. The modeling of the developed guidance and motion control algorithms in the SIMULINK environment has been carried out.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"55 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-04-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84751949","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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