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Structural Spectral Methods for Solving Continuous Lyapunov Equations 求解连续 Lyapunov 方程的结构谱方法
IF 0.7 4区 计算机科学 Q3 Engineering
Automation and Remote Control
Pub Date : 2024-03-21 DOI: 10.1134/s0005117923120081
I. B. Yadykin, I. A. Galyaev

Abstract

For linear multivariable continuous stationary stable control systems with a simple spectrum, presented in the form of a canonical diagonal form, controllability and observability forms, a method was developed and analytical formulas for spectral decompositions of gramians in the form of various Xiao matrices were obtained. A method and algorithm for calculating generalized Xiao matrices in the form of the Hadamard product for multiply connected continuous linear systems with many inputs and many outputs have been developed. This allows us to calculate the elements of the corresponding controllability and observability gramians in the form of products of the corresponding elements of the multiplier matrices and a matrix that is the sum of all possible products of the numerator matrices of the matrix transfer function of the system. New results are obtained in the form of spectral and singular decompositions of the inverse gramians of controllability and observability. This makes it possible to obtain invariant decompositions of energy functionals and formulate new criteria for the stability of linear systems taking into account the nonlinear effects of mode interaction.

摘要 对于以对角线形式、可控性和可观测性形式呈现的具有简单谱的线性多变量连续静止稳定控制系统，开发了一种方法，并获得了以各种肖矩阵形式存在的格兰谱分解的解析公式。对于有多个输入和多个输出的多连接连续线性系统，开发了一种以哈达玛乘积形式计算广义肖矩阵的方法和算法。这样，我们就能以乘数矩阵相应元素与一个矩阵的乘积形式计算相应的可控性和可观测性矩阵的元素，该矩阵是系统矩阵传递函数分母矩阵所有可能乘积的总和。通过对可控性和可观测性的逆格兰的谱分解和奇异分解，可以获得新的结果。这样就有可能获得能量函数的不变分解，并在考虑模式相互作用的非线性效应的情况下，制定线性系统稳定性的新标准。
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引用次数: 0
Comparison of Distribution Procedures in Blended Finance 混合融资的分配程序比较
IF 0.7 4区 计算机科学 Q3 Engineering
Automation and Remote Control
Pub Date : 2024-03-21 DOI: 10.1134/s0005117923120056
A. V. Shchepkin

Abstract

This paper is devoted to the blended (joint) finance mechanism of a megaproject consisting of several projects. One part of the megaproject budget comes from the megaproject manager and the other part from project contractors. When distributing this budget, the megaproject manager considers information about the amount of the contractor’s internal funds allocated to project implementation. Project contractors seek to get more funds from the megaproject manager; in turn, the megaproject manager is interested in attracting more funds from project contractors. To achieve this goal, the megaproject manager applies different procedures to distribute the budget. Project contractors use the information reported to the megaproject manager to increase the funds allocated to them. Straight and reverse priority distribution procedures in the blended finance mechanism are analyzed. A distribution procedure is determined that stimulates project contractors to allocate more of their internal funds to the project in a Nash equilibrium.

摘要 本文专门讨论由多个项目组成的特大项目的混合（联合）融资机制。巨型项目预算的一部分来自巨型项目经理，另一部分来自项目承包商。在分配预算时，特大项目经理会考虑承包商内部用于项目实施的资金数额。项目承包商希望从大项目经理那里获得更多资金；反过来，大项目经理也希望从项目承包商那里吸引更多资金。为了实现这一目标，特大项目经理采用不同的程序来分配预算。项目承包商利用向大项目经理报告的信息来增加分配给他们的资金。对混合融资机制中的正向和反向优先分配程序进行了分析。在纳什均衡状态下，确定的分配程序可刺激项目承包商将更多的内部资金分配给项目。
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引用次数: 0
Models and Methods for Checking the Attainability of Goals and Feasibility of Plans in Large-Scale Systems Using the Example of Goals and Plans for Elimination of the Consequences of Flood 以消除洪水后果的目标和计划为例，检查大规模系统中目标可实现性和计划可行性的模型和方法
IF 0.7 4区 计算机科学 Q3 Engineering
Automation and Remote Control
Pub Date : 2024-03-21 DOI: 10.1134/s000511792312007x
A. D. Tsvirkun, A. F. Rezchikov, V. A. Kushnikov, O. I. Dranko, A. S. Bogomolov, A. D. Selyutin

Abstract

Models and methods have been developed to verify the achievability of goals and the feasibility of plans implemented when managing large-scale systems in their development. An algorithm for analyzing the achievability of a set of goals and plans implemented when managing these systems is proposed and justified. Statements and hypotheses that make it possible to machine-check the feasibility of plans have been generated. A model example is given that confirms the possibility of checking the feasibility of plans for eliminating the consequences of a flood using the developed models and methods. In managing large-scale systems development, it is advisable to use control loops that check the achievability of set goals and the feasibility of plans over a selected time interval. In the absence of this verification, the chosen trajectory of development of a large-scale system at specific points in time may turn out to be unrealizable, which will lead to disruption of the work being carried out, as well as to significant costs of the human, financial, technical and other types of resources for the implementation of obviously impracticable plans.

摘要 已开发出一些模型和方法，用于验证大型系统在开发过程中的管理目标的可实现性和计划的可行性。提出并论证了一种算法，用于分析管理这些系统时实施的一系列目标和计划的可实现性。此外，还提出了能够对计划的可行性进行机器检查的声明和假设。还给出了一个模型示例，证实了使用所开发的模型和方法检查消除洪水后果的计划的可行性。在管理大规模系统开发时，最好使用控制回路，在选定的时间间隔内检查既定目标的可实现性和计划的可行性。如果不进行这种检查，在特定时间点选择的大型系统发展轨迹可能无法实现，这将导致正在进行的工作中断，并为实施明显不可行的计划而耗费大量人力、财力、技术和其他类型的资源。
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引用次数: 0
An Interval Observer-Based Method to Diagnose Discrete-Time Systems 基于区间观测器的离散时间系统诊断方法
IF 0.7 4区 计算机科学 Q3 Engineering
Automation and Remote Control
Pub Date : 2024-03-21 DOI: 10.1134/s0005117923120093
A. N. Zhirabok, A. V. Zuev

Abstract

This paper proposes a method for diagnosing linear dynamic systems described by discrete-time models with exogenous disturbances based on interval observers. Formulas are derived to construct an interval observer producing two values of the residual as follows: if zero is between these values, then the system has no faults to be detected by the observer. The case where zero does not belong to the interval between these values is qualified as the occurrence of a fault. The theoretical results are illustrated by an example.

摘要 本文提出了一种基于区间观测器诊断由具有外生干扰的离散时间模型描述的线性动态系统的方法。本文推导了一个区间观测器的构造公式，该观测器可产生如下两个残差值：如果零位于这两个值之间，则系统没有故障，观测器无法检测到故障。如果零值不属于这两个值之间的区间，则视为发生故障。下面通过一个例子来说明理论结果。
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引用次数: 0
Interval Observers for Continuous-Time Systems with Parametric Uncertainties 具有参数不确定性的连续时间系统的区间观测器
IF 0.7 4区 计算机科学 Q3 Engineering
Automation and Remote Control
Pub Date : 2024-03-05 DOI: 10.1134/s0005117923110085
A. N. Zhirabok, A. V. Zuev, V. F. Filaretov, A. E. Shumsky, Kim Chkhun Ir

Abstract

In this paper, interval observers are designed for linear dynamic systems described by continuous-time models with exogenous disturbances, measurement noises, and parametric uncertainties. Jordan canonical form-based relations are presented for an interval observer that estimates the set of admissible values of a given linear function of the system state vector. The theoretical results are illustrated by a practical example.

摘要 本文针对具有外生干扰、测量噪声和参数不确定性的连续时间模型所描述的线性动态系统设计了区间观测器。本文提出了基于乔丹规范形式关系的区间观测器，该观测器可估计系统状态向量的给定线性函数的可接受值集。通过一个实际例子对理论结果进行了说明。
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引用次数: 0
Exponentially Stable Adaptive Control. Part III. Time-Varying Plants 指数稳定自适应控制。第三部分：时变植物时变植物
IF 0.7 4区 计算机科学 Q3 Engineering
Automation and Remote Control
Pub Date : 2024-03-05 DOI: 10.1134/s0005117923110048
A. I. Glushchenko, K. A. Lastochkin

Abstract

A state-feedback adaptive control system is proposed for a class of linear systems in the controllable canonical form with time-varying unknown parameters described by known nonstationary exosystems with unknown initial conditions. The solution ensures global exponential stability of the closed-loop system in case a regressor is finitely exciting, and also does not require a priori information about the sign of the high-frequency gain (control direction). The obtained theoretical results are validated via mathematical modeling.

摘要 针对一类具有时变未知参数的可控典型线性系统，提出了一种状态反馈自适应控制系统，该系统由具有未知初始条件的已知非稳态外系统描述。在调节器有限激励的情况下，该解决方案可确保闭环系统的全局指数稳定性，而且不需要关于高频增益（控制方向）符号的先验信息。所获得的理论结果通过数学建模得到了验证。
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引用次数: 0
Terminal Control of Center of Mass Motion and Propellant Consumption in Liquid-Propellant Rocket Carriers 液体推进剂火箭运载器质量中心运动和推进剂消耗的终端控制
IF 0.7 4区 计算机科学 Q3 Engineering
Automation and Remote Control
Pub Date : 2024-02-25 DOI: 10.1134/s0005117923100041
V. P. Ivanov, V. K. Zavadskiy, A. A. Muranov, A. I. Chadaev, E. B. Kablova, L. G. Klenovaya, I. E. Tropova

Abstract

We dedicate this work to the memory of Academician B.N. Petrov. It develops the principles of terminal control of rocket carriers formulated by him. Next-generation rocket carriers implement the principle of interconnected, coordinated terminal control of the center of mass motion and propellant consumption. In this article we consider the problem of synthesizing such control and the main principles of its implementation.

摘要 我们将这部作品献给B.N. 彼得罗夫院士。它发展了他制定的火箭运载器终端控制原理。下一代火箭运载火箭采用质心运动和推进剂消耗相互联系、协调的末端控制原理。在这篇文章中，我们考虑了这种控制的综合问题及其实施的主要原则。
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引用次数: 0
Parametrization of Optimal Anisotropic Controllers 最佳各向异性控制器的参数化
IF 0.7 4区 计算机科学 Q3 Engineering
Automation and Remote Control
Pub Date : 2024-02-25 DOI: 10.1134/s0005117923100077
A. Yu. Kustov

Abstract

This paper provides a parametrization of optimal anisotropic controllers for linear discrete time invariant systems. The controllers to be designed are limited by causal dynamic output-feedback control laws. The obtained solution depends on several adjustable parameters that determine the specific type of controller, and is of the form of a system of the Riccati equations relating to a ({{mathcal{H}}_{2}})-optimal controller for a system formed by a series connection of the original system and the worst-case generating filter corresponding to the maximum value of the mean anisotropy of the external disturbance.

摘要 本文提供了线性离散时间不变系统的最优各向异性控制器的参数化。要设计的控制器受因果动态输出反馈控制规律的限制。所得到的解取决于几个可调参数，这些参数决定了控制器的具体类型，其形式为一个里卡提方程组，该方程组与一个由原始系统和与外部扰动平均各向异性最大值相对应的最坏情况生成滤波器串联形成的系统的 ({{mathcal{H}}_{2}}) - 最佳控制器有关。
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引用次数: 0
Information Support for Aircraft Crew in Takeoff and Landing Modes 为飞机起飞和着陆模式下的机组人员提供信息支持
IF 0.7 4区 计算机科学 Q3 Engineering
Automation and Remote Control
Pub Date : 2024-02-25 DOI: 10.1134/s0005117923100107
A. M. Shevchenko, B. V. Pavlov, G. N. Nachinkina

Abstract

Methods for assessing the current state and forecasting critical events are developed in order to reduce the stress load on the pilot of an aircraft. These methods are based on the energy approach to flight control. Algorithms for forecasting the possibility of safe takeoff in the presence of high-rise obstacles on the trajectory are obtained. Forecast correction algorithms are introduced. Algorithms for calculating the braking distance depending on the runway condition are found in the modes of landing or emergency braking at takeoff. Some ways to correct forecasts considering the sequence and operation time of all braking devices are proposed. Model tests are carried out for the algorithms in the entire range of operating conditions.

摘要 为减少飞机驾驶员的压力负荷，开发了评估当前状态和预测关键事件的方法。这些方法基于飞行控制的能量方法。获得了在轨迹上存在高楼障碍物的情况下安全起飞可能性的预测算法。介绍了预测修正算法。在着陆或起飞时紧急制动的模式下，找到了根据跑道状况计算制动距离的算法。考虑到所有制动装置的顺序和运行时间，提出了一些修正预测的方法。在整个运行条件范围内对算法进行了模型试验。
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引用次数: 0
Control of a Free-Flying Space Manipulation Robot with a Payload 控制带有效载荷的自由飞行太空操纵机器人
IF 0.7 4区 计算机科学 Q3 Engineering
Automation and Remote Control
Pub Date : 2024-02-25 DOI: 10.1134/s0005117923100090
V. Yu. Rutkovskii, V. M. Glumov

Abstract

The control modes of a free-flying space manipulation robot during the transportation and installation of a building element on a large space structure are considered. It is proposed to save the working fluid of the gas-jet engines of the robot body when moving along the trajectory by using the mobility of a manipulator with electromechanical drives for the angular stabilization of the mechanical “robot–transported element” system. Conditions ensuring the stable motion of the manipulator in the working area when installing the element on the assembled structure are obtained. A stability domain is determined to select the initial configuration of the manipulator before installing the element and its admissible change during installation. The control algorithms are designed based on the principle of dynamic feedback systems.

摘要 考虑了自由飞行空间操纵机器人在大型空间结构上运输和安装建筑构件时的控制模式。建议利用带有机电驱动装置的机械手的机动性来稳定 "机械手-运输构件 "机械系统的角度，从而节省机械手本体喷气发动机沿轨迹运动时的工作流体。在将元件安装到装配结构上时，可获得确保机械手在工作区域内稳定运动的条件。确定了一个稳定域，以选择安装元件前机械手的初始配置及其在安装过程中可允许的变化。控制算法是根据动态反馈系统原理设计的。
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引用次数: 0
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