Mekhatronika, Avtomatizatsiya, Upravlenie最新文献

{"title":"Simulation of a Coaxial Unmanned Martian Helicopter Motion in Virtual Environment Systems","authors":"E. Strashnov, M. V. Mikhaylyuk","doi":"10.17587/mau.25.266-275","DOIUrl":"https://doi.org/10.17587/mau.25.266-275","url":null,"abstract":"","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141000827","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}

{"title":"Neural Network Sliding Control for Three-Axis Gimbal Orientation with Camera on an Unmanned Vehicle","authors":"A. Korikov, V. Tran","doi":"10.17587/mau.25.239-250","DOIUrl":"https://doi.org/10.17587/mau.25.239-250","url":null,"abstract":"","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141005003","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}

{"title":"Intelligent Autonomous Robot Model for Selective Surface Cleaning","authors":"D. A. Bushuev, A. G. Bazhanov, V. A. Porhalo, L. Mballa Mballa, A. I. Yunda","doi":"10.17587/mau.25.231-238","DOIUrl":"https://doi.org/10.17587/mau.25.231-238","url":null,"abstract":"","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141004412","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}

{"title":"An Intelligent System for Identifying Track Hauls Requiring Out-of-Turn Control of the Railroad Bed","authors":"T. A. Aliev, T. A. Babayev, N. Musaeva, R. Gadimov, A. I. Mammadova","doi":"10.17587/mau.25.223-230","DOIUrl":"https://doi.org/10.17587/mau.25.223-230","url":null,"abstract":"","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141006854","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}

{"title":"Methodology for Ensuring the Viability for a Complex Object Based on Managing its Structural Dynamics","authors":"I. Т. Kimyaev, B. V. Sokolov","doi":"10.17587/mau.25.167-176","DOIUrl":"https://doi.org/10.17587/mau.25.167-176","url":null,"abstract":"   The article examines a conceptual model that forms the basis of the authors’ proposed approach to solving the problem of creating integrated information-management systems (IMS) for making managerial decisions, embedded within the structure of vertically integrated Business Entity (BE) to maintain their viability. Viability is understood as the ability of an BE to maintain key technological and business indicators within safe ranges throughout its life cycle (LC), while being subject to the influence of destructive internal and external factors. The problem of synthesizing a generalized structure of an IMS is proposed to solve using a system-cybernetic approach, which considers this problem as the managing its structural dynamics. Managing structural dynamics enables maintaining a regulated level of viability of the vertically integrated BE at all the key stages of its life cycle. The proposed structure of model-algorithmic support (MAS) implements the methods for complexity management. This methodology proposes the approach that justifies the evolutionary redistribution of roles between managerial teams of the vertically integrated BE and functionally equivalent information-management systems. The results of implementing the structure of an IMS, as an example are provided, which arises through the transformation of its original multi-structural state into a qualitatively different state. Multi-structural states are characterized by the use of various control methods, such as \"Automatic Multi-Factor\", \"Automatic Optimal\" \"Manual on site\" etc. In the synthesis of the IMS structure, the methods for system modeling technologies based on simulation-statistical and fuzzy-possibilistic approaches were used.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140717489","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}

{"title":"Design of Optimal Control Systems in the Frequency Domain by the Functional of the Generalized Work","authors":"V. I. Lovchakov","doi":"10.17587/mau.25.177-188","DOIUrl":"https://doi.org/10.17587/mau.25.177-188","url":null,"abstract":"   The paper considers the problem of analytical design of optimal controllers (ADOC) for one-dimensional linear stationary objects according to the functional of generalized work (FGW) A. A. Krasovsky. The use of FGW in comparison with the quadratic performance functional greatly simplifies the calculation of the optimal controller — the calculation of its matrix of coefficients mainly consists in solving the linear matrix Lyapunov equation, which, in contrast to the nonlinear matrix Riccati equation, fundamentally reduces the amount of calculations. In addition, the use of FGW provides the best stability margins of the designed system in terms of amplitude and phase. This work is devoted to the development of a method for solving the ADOC problem A. A. Krasovsky in the frequency (complex) domain, which reduces the determination of the transfer function coefficients of the optimal controller for an object of order n to the solution of the corresponding system of n linear algebraic equations. In this regard, the proposed method for solving the ADOC problem by A. A. Krasovsky differs by a much smaller amount of calculations in comparison with the standard method, in which the Lyapunov equation is solved with the desired matrix of dimensions n * n. The proposed method for the synthesis of optimal control systems, which has an analytical nature, became the basis for solving the inverse problem ADOC A. A. Krasovsky, which consists in determining the values of the weight coefficients of the FGW, which provide the given primary quality indicators of the synthesized control system. Using its relations, a relatively simple method for calculating the FGW coefficients based on the given values of the error coefficients for the designed dynamic system has been developed.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140719670","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}

{"title":"Leveraging Digital Twin in Automated High-Tech Production Management","authors":"S. P. Kovalyov","doi":"10.17587/mau.25.211-220","DOIUrl":"https://doi.org/10.17587/mau.25.211-220","url":null,"abstract":"   The paper discusses industrial production management in an Industry 4.0 enterprise based on digital twins of manufacturing process and products. The principles of applying digital twins in the production cycle are defined. We present an example structure of an integrated automated production management system that includes the digital twins and a number of other systems. The functions of digital twins in such a system are indicated. The order of formation and development of digital twins in the course of the enterprise design and construction is considered. At the initial stage of collecting requirements and drawing up technical specifications for the enterprise design, we propose to create an approximate simulation model of the production cycle, which allows the feasibility assessment of key requirements. At the subsequent stages of the enterprise life cycle, the simulation model is enriched up to a full-fledged digital twin and augmented with other components of the management system. We show that the digital twin development can be performed at a high level of formal rigor and automation utilizing the mathematical device of category theory. For this purpose, the novel construction called flexible multicomma category is introduced, representing all possible enterprise architecture variants from a given viewpoint in the sense of the ISO/IEC/IEEE 42010 standard. A flexible multicomma is defined by a signature composed of functors that represent the architecture components from the selected viewpoint. We prove that a multicomma of any fixed shape derived from the signature is embedded into the flexible multicomma.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140718493","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}

{"title":"On the Formation and Accuracy of the Implementation of the Program Modes of Movement of Mobile Robots with Walking Propulsion Devices","authors":"E. Briskin, L. Smirnaya","doi":"10.17587/mau.25.195-200","DOIUrl":"https://doi.org/10.17587/mau.25.195-200","url":null,"abstract":"   Various kinematic schemes of walking propulsion devices of mobile robots are considered. Among them there are cyclical mechanisms with a different number of links, zoomorphic, insectomorphic, orthogonal and others. Propulsion devices may differ from each other in the number of drives. Examples of walking machines and laboratory samples with such propulsion devices are given. The importance and significance of the tasks of ensuring the accuracy of positioning the foot of the propulsion device as the working body of the walking mechanism, due to the need to place it on the supporting surface at a given point when moving the propulsion device, are substantiated. It is also necessary to overcome obstacles identified by the information-measuring system and having certain dimensions and located in certain places on the support surface. Such a movement should be accompanied by a minimum of the height of the foot lift, which ensures a minimum of energy consumption. Additionally, the necessity of ensuring the required speed of the foot of the propulsion devices walking mechanism in the phase of its interaction with the support surface is justified, which is explained by maintaining the same speeds of the support feet in the relative heading movement in the phase of the implementation of the traction force. Even with a slight difference in the speeds of the support stops, the traction force is developed only by the propulsion device, whose foot moves at maximum speed. The remaining propulsion devices operate in braking mode. Compensation is possible only due to the rigidity of the static characteristics of the engine and the viscous-elastic-plastic properties of the soil. In this case, an increased load is imposed on the drive motors and therefore energy efficiency is reduced. The problem of assessing the accuracy of positioning is solved by known methods by introducing the transfer functions of the stepping mechanism. The transfer functions link the movement of the output element of the motor of the corresponding drive and the working body of the walking mechanism — the foot. To solve the problem of estimating the accuracy of the walking mechanism by the speed of the foot, new transfer functions are introduced, which are components of the new matrix. Their characteristic feature is the dependence on the speeds of the output elements of the executive motors. The equation of motion providing optimality in positioning accuracy and speed is obtained.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140716766","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}

{"title":"Sliding Mode Control Based on Jaya Algorithm of Phase Shift for Two-Rotor Vibration Unit","authors":"H. D. Long, N. A. Dudarenko","doi":"10.17587/mau.25.189-194","DOIUrl":"https://doi.org/10.17587/mau.25.189-194","url":null,"abstract":"   In this paper, a sliding mode control based on the Jaya algorithm o f phase shift for a two-rotor vibration unit is presented. A two-rotor vibration unit is a highly nonlinear system that has many applications in practical systems. The control problem for this model is to design controllers to ensure phase shift according to the desired value and synchronize the speed of the two rotors. To solve this problem, the authors use the PI controllers for synchronizing the speed of the two rotors and the sliding mode controller for the phase shift. PI control is an effective method to design controllers for practical systems. Besides, Sliding Mode Control (SMC) is one of the most effective methods for designing robust controllers for nonlinear systems affected by external disturbances. However, defining the coefficients of PI controllers and sliding mode controllers is the challenge for researchers. In this study, the Jaya algorithm is used to find the coefficients of these controllers that guarantee the desired phase shift of two rotors, the synchronizing speed of two rotors, and the limitation of control laws. The simulation results are illustrated to show the effectiveness of the proposed method.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140717750","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}

{"title":"Comparative Analysis of the Characteristics of Asynchro- nous Drives with Vector Control and Direct Torque Control","authors":"S. V. Romadov, O. V. Goryachev","doi":"10.17587/mau.25.201-210","DOIUrl":"https://doi.org/10.17587/mau.25.201-210","url":null,"abstract":"   Active development of electric drive theory in recent decades has led to the emergence of various methods for asynchronous three-phase motors control, promoted by leading drive development companies, the competition between which inevitably gives rise to false preconceptions about the real capabilities and characteristics of these methods. Additionally, literary sources often bypass positional drives, focusing on speed control, and the same can be said about the preference for synchronous drives over asynchronous ones. This study solves the problem of a comprehensive comparison of the characteristics of classical vector control based drives and direct torque control schemes at the levels of theoretical description and computer simulation. To solve this problem mathematical descriptions and functional diagrams of asynchronous motors with indicated control systems are given and analyzed and models of considered systems are developed in the Simulink environment of the Matlab program, considering flexibility of mechanical transmission and various resistance moments and allowing to form a quantitative assessment of considered characteristics. The results of numerical modeling are presented on example of a specific induction motor with a squirrel-cage rotor DMChTs 80-2-8OM2 for each system variant in several operating modes, which are of interest for various options of such drives practical application and identifying considered control methods individual features. Advantages and disadvantages formulated as a result, as well as recommendations for the use of the compared drive systems, are quite universal and can be used in design of various drives with both asynchro-nous and synchronous motors.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140716752","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}