Analytical Approach to the Design of Joint Motion Control of the Egratic System " Skipper-Ship"

2021 ◽  
Vol 22 (9) ◽  
pp. 459-467
Author(s):  
V. O. Tyrva ◽  
A. V. Saushev
Keyword(s):  
State Space ◽  
Motion Control ◽  
Human Machine Interface ◽  
The State ◽  
Discrete Control ◽  
Joint Control ◽  
Joint Motion ◽  
Control Signals ◽  
Machine Interface ◽  
Target Designation

The article deals with the problem of designing a joint control of the movement of a water transport object — the ergatic system " ship-to-ship" . Joint motion control is presented in mathematical form on the basis of the model of actions and responses of the human operator and the machine, adopted in engineering psychology for the " human-machine" systems. The model is formalized by composing mathematical models of the plane motion of the ship and the movements of the controls of the propellers (propellers) and rudders of the ship. For the ship’s human-machine interface, it is proposed to use a new type of apparatus, with the help of which the control actions on the control body from the boatmaster and the control automaton of the ergatic system are combined.For the mathematical description of virtual signals of discrete control in solving problems of target designation and planning, a method for constructing a set of incomplete representations of elementary movements in the state space of the " skipper-ship" system is proposed. The numerical estimates of pairwise different representations of elementary movements and discrete control signals that implement transitions from one elementary movement to another by influencing the propellers and rudders of the ship using the ship’s human-machine interface controls are obtained.In order to unify the anthropomorphic control of ship movement at the target designation and planning levels, it is proposed to use templates from several discrete control signals, based on the experience of navigation and solving mathematical programming problems. The solution of the practical problem of optimal anthropomorphic control of the vessel movement from the mooring wall to the lock chamber is obtained, which provides for the implementation of a sequence of ten discrete control signals and two control templates. A method is proposed for estimating the influence of signal, parametric, and coordinate uncertainties on the position of the image point in the state space of the " su-driver-ship" system relative to the nominal trajectory of the program motion. The regions of interval representations of uncertainties in the subspace of the ship’s " time-position-speed" states are obtained. The procedure for correcting the a priori description of nominal anthropomorphic control is considered on the basis of control patterns and analysis of rectangles of uncertainty in the subspace of states of the " skipper-ship" system.

scholarly journals Joint control actions on electromechanical devices in ergatic systems

2019 ◽  
Vol 135 ◽  
pp. 01006 ◽  
Author(s):  
Alexandr Saushev ◽  
Vladimir Tyrva ◽  
Lev Kovtun
Keyword(s):  
Mathematical Models ◽  
Human Machine Interface ◽  
Discrete Control ◽  
Human Operator ◽  
Joint Control ◽  
Control Actions ◽  
Machine Interface ◽  
Electromechanical Devices ◽  
Machine Systems ◽  
Control Body

The problem of implementing joint control actions on electromechanical devices (EMD) in human-machine systems through the control body of a human-machine interface is considered. Based on the theory of optimal control, control functions between the human operator, the program control automaton, and the corrective control automaton are synthesized. Peculiarities of the technical implementation of the control actions on the EMD of the ergatic system using the new type of joint control devices have been identified, through the control body of which information interaction between the human operator and the system automa-ton is carried out. Based on the model of actions and responses of the human operator and machine, which is adopted in engineering psychology, mathematical models of their joint control of the object have been developed. Mathematical models of machine responses are constructed using the hypothesis of complete certainty in the form of a normal system of ordinary differen-tial equations. As a result of combining action and response models for the human-machine system, a finite set of incomplete representations of the elementary motions of the image point in the state space is obtained, on which the programmed motion of the object is built in the form of a sequence of elementary motions. Virtual discrete control signals Corresponding to specific positions of the control bodies of the joint control apparatuses of the human-machine interface of the system are determined, through which consecutive transitions from one elementary movement to another are carried out. The conclusions on the effectiveness of the use of joint control in transport ergatic human-machine systems are formulated. It is shown that in this case, the advantages of control partners are used and combined to the greatest extent.

scholarly journals PROTOTYPE GROUNDING DETECTOR PADA GROUND CLUSTER DENGAN SISTEM INTERLOCKPADALBS (LOAD BREAK SWITCH) BERBASIS ARDUINO MEGA 2560 DENGAN TAMPILAN HMI (HUMAN MACHINE INTERFACE)

2018 ◽  
Vol 19 (4) ◽  
pp. 15
Author(s):  
Bambang Handoko Pasaribu ◽  
Iman Setiono
Keyword(s):  
Social Economic ◽  
Electrical Energy ◽  
Human Machine Interface ◽  
The State ◽  
Voltage Sensor ◽  
Starting Point ◽  
Machine Interface ◽  
Work Accidents ◽  
Three Phases

Electricity has become a daily necessity in the community both social, economic and business. Therefore electricity is needed every day and it is the reliability of PLN. To fulfill such reliability While the reliability of electrical energy should be followed by inspection on the equipment used. PLN field employees themselves who every day always do inspection on the network of all the repeaters, so that field officers always know the state of the network in the field. If the network looks bad or requires maintenance it will be scheduled to do the job. Before the holding of the work it will be done in the first outage area is to operate the switching tool didaerah area. The switching tools are ABSW and LBS. After all the swithing tools are operated the workers always do the grounding first on the three phases by using ground clusters at the starting point to the end of the work where if transmitted so called PMS ground. This is done as a safety because the LBS switching tool is closed so that workers are not sure if the network has been extinguished and as a safety if LBS failed to work or failure. But here the worker himself sometimes still not sure whether the ground cluster is already installed properly or not. And as a safeguard against the occurrence of any maneuvering done by employees from the office Rayon. Therefore the author wants to make a prototype to detect whether grounding is installed properly or not in every phase. The prototype uses Arduino mega as its micron and uses a voltage sensor to find out the value of the voltage. If the ground claster is installed and work fails on LBS then the OCR relay will work and PMT will trip. With the prototype is expected to improve security in the work and minimize the occurrence of work accidents. This prototype has a 0% chance of a crash if the ground cluster is properly installed. Keywords: Arduino Mega, Ground Detector, OCR relay, Voltage Sensor. 

scholarly journals Secured Communication Among HMI and Controller using RC-4 Algorithmand Raspberry Pi

2015 ◽  
Vol 15 (3) ◽  
pp. 526
Author(s):  
Albert Sagala ◽  
Deni Parlindungan Lumbantoruan ◽  
Epelin Manurung ◽  
Iroma Situmorang ◽  
Adi Gunawan
Keyword(s):  
Control System ◽  
Human Machine Interface ◽  
The State ◽  
Raspberry Pi ◽  
The Internet ◽  
Encryption And Decryption ◽  
Machine Interface ◽  
In The Beginning ◽  
Secured Communication

In the beginning the implementation of a plant with SCADA technology, the network is formed isolated from the outside network (LAN or Internet). So it can be ascertained that the communication that occurs on the SCADA network is safe from the threat of crackers. In fact, SCADA network allows it to be connected to the Internet, so that the data of the plant can be monitored via the Internet, so the information about the state of the plant can be monitored in realtime and can be taken quickly if it is known there are anomalies on the control system. In the research we designed a method of encryption and decryption against the lines of communication between the HMI (Human Machine Interface) and the Controller on an industrial minipant contained in Lab CSRC IT Del. Raspberry Pi is used as a gateway between the HMI and the Controller. While Algorithm RC 4 are used as the algorithm for encrypting data between the HMI and the Controller. In the results, we can use the Rapsberry Pi to secure the communication between the HMI and Controller.

Designing the human machine interface in the ATIS domain

1990 ◽  
Author(s):  
B. Bly ◽  
P. J. Price ◽  
S. Park ◽  
S. Tepper ◽  
E. Jackson ◽  
...  
Keyword(s):  
Human Machine Interface ◽  
Machine Interface
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