scholarly journals АЛГОРИТМЫ УПРАВЛЕНИЯ УГЛОВЫМ ДВИЖЕНИЕМ КОРОМЫСЛА С ВИНТОВЫМИ ЭЛЕКТРОПРИВОДАМИ

2020 ◽  
pp. 44-59
Author(s):  
Анатолий Степанович Кулик ◽  
Константин Юрьевич Дергачев ◽  
Сергей Николаевич Пасичник ◽  
Юрий Александрович Немшилов
Keyword(s):  
Automatic Control ◽  
State Space ◽  
Mathematical Description ◽  
Transfer Functions ◽  
Control Object ◽  
The State ◽  
Angular Motion ◽  
Synthesis Process ◽  
Electric Actuator ◽  
Functional Features

The subject of study in the article is the process of forming algorithms for controlling the angular motion of the rocker with a screw electric actuator. The purpose is to develop approaches to the formation of algorithms for controlling the angular motion of the rocker with a screw electric actuator as the automatic control object. Tasks: to specify the synthesis process of the state control algorithm for a linear mathematical description of the automatic control object in the state space according to the minimum criterion of the integral from the weighted error module. To form the block diagram of the automatic control system by the state. To improve the approach to the development of algorithms for controlling automatic control objects by output for mathematical description in the frequency domain. To illustrate the features of the approach on the specific example of automatic control object represented by transfer functions in terms of references and disturbances. To develop the simulation scheme in Simulink and study the reactions to stepwise references and disturbances. To develop the approach to the formation of control algorithms for the diagnosis of the rocker as the automatic control object. To describe the procedure and means of deep diagnosis of emergency situations of the automatic control object. To develop means of recovery the automatic control object. The methods used are the state space method, transfer function method, integral optimality criteria, methods of diagnosing, and recovering. The following results were obtained: approaches to the formation of algorithms for controlling the angular motion of the rocker with a screw electric actuator using linear mathematical descriptions in time and frequency domains were formed. Conclusions. The scientific novelty lies in the formation of approaches to the development of algorithms for controlling the angular position of the rocker with a screw electric actuator which differs from the known accounting the structural and functional features of the automatic control object.

scholarly journals Algorithms for control of longitudinal motion of a two-wheel experimental sample

2021 ◽  
pp. 16-30
Author(s):  
Anatoly Kulik ◽  
Konstantin Dergachev ◽  
Sergey Pasichnik ◽  
Yuri Nemshilov ◽  
Evgeny Filippovich
Keyword(s):  
Control System ◽  
Automatic Control ◽  
State Space ◽  
Mathematical Description ◽  
Control Object ◽  
The State ◽  
Control Algorithms ◽  
Longitudinal Motion ◽  
Experimental Sample ◽  
Short Period

The subject of study is the process of forming algorithms for controlling the angular and translational movements of a two-wheeled experimental sample (TWES). The aim is to develop approaches to the formation of control algorithms for the translational and angular movements of a non-stationary automatic control object. Tasks: to concretize the process of synthesis of a control algorithm by state according to the criterion of the minimum integral of the weighted error modulus for a linear mathematical description of an automatic control object in the state space. Form a block diagram of an automatic control system by the state. Improve the approach to the synthesis of output control algorithms for mathematical description in the frequency domain of short-period and long-period motions of TWES. Illustrate the peculiarity of the approach using a specific example of a TWES under control and disturbing influences. Develop a simulation scheme in the Simulink environment and investigate responses to external step influences. Develop an approach to the formation of control algorithms by the diagnosis of TWES as an object of automatic control. Describe the procedure and means of deep diagnostics of emergencies of TWES. Develop algorithms for restoring the operability of the automatic rational control system. Used methods are a method of state space, the method of relative functions, the method of transfer functions, the method of optimization by integral criterion, the method of synthesis by logarithmic asymptotic frequency characteristics, methods of diagnosing and restoring operability. The following Results: three approaches were formed to the formation of control algorithms of the angular and translational movements of the TWES using linear mathematical descriptions in the time and frequency domains. Conclusions. The scientific novelty lies in the formation of approaches to the combined control of angular and translational movements, considering the structural and parametric features of the mathematical descriptions of TWES.

scholarly journals УПРАВЛЕНЧЕСКИЕ МОДЕЛИ УГЛОВОГО ДВИЖЕНИЯ КОРОМЫСЛА С ВИНТОВЫМИ ЭЛЕКТРОПРИВОДАМИ

2020 ◽  
pp. 4-14
Author(s):  
Анатолий Степанович Кулик ◽  
Евгений Валерьевич Филиппович ◽  
Константин Юрьевич Дергачев ◽  
Сергей Николаевич Пасичник ◽  
Юрий Александрович Немшилов
Keyword(s):  
Angular Velocity ◽  
Automatic Control ◽  
State Space ◽  
Mathematical Description ◽  
Angular Position ◽  
Control Object ◽  
Angular Motion ◽  
Lagrangian Formalism ◽  
Frequency Domains ◽  
Analysis And Synthesis

The subject of study in the article is the forming models' process for the angular motion of the rocker with screw electric actuators. The purpose is to develop the approach to the simplest models formation for the angular motion of the rocker with screw electric actuators as the automatic control object. Tasks: to form the physical model of rocker with screw electric actuators. Using the Lagrangian formalism develop the non-linear mathematical description of the angular motion process of a rocker with screw electric actuators. To obtain the linearized mathematical description of the automatic control object in form of state space in the cases when one sensor (angular position) and two sensors (angular position and angular velocity of the rocker) are used. To obtain the description of the automatic control object in the frequency domain using Laplace transforms. To form graphic models of the automatic control object using structural diagrams in the time and frequency domains. To analyze the functional properties of the automatic control object: stability, controllability, observability, structural and signal diagnosability in the cases when one sensor (angular position) and two sensors (angular position and angular velocity of the rocker) are used. To formulate the conditions for using mathematical descriptions as mathematical models of the automatic control object. The methods used are the Lagrange method, analytical linearization, state space, Laplace transform, Lypunov, Kalman criteria, diagnosability. The following results were obtained: the approach to the formation of the simplest models for the angular motion of a rocker with screw electric actuators as an object of automatic control for solving specific problems of analysis and synthesis was formed. Conclusions. The scientific novelty lies in the formation of the approach to the formation of the simplest control models for the angular motion of the rocker with screw electric actuators which differs from the known completeness of accounting for the acting forces and moments.

scholarly journals Motions models of a two-wheeled experimental sample

2021 ◽  
pp. 40-49
Author(s):  
Anatoliy Kulik ◽  
Konstantin Dergachov ◽  
Sergey Pasichnik ◽  
Sergey Yashyn
Keyword(s):  
Automatic Control ◽  
State Space ◽  
Experimental Model ◽  
Functional Properties ◽  
Angular Position ◽  
The Body ◽  
Angular Motion ◽  
Physical Models ◽  
Experimental Sample ◽  
Electric Drives

The subject of study is the physical processes of translational and angular motion of a two-wheeled experimental sample. The goal is to develop physical, mathematical, and graphic models of the translational and angular motions of a two-wheeled experimental sample as an object of automatic control. The objectives: to form physical models of a two-wheeled experimental sample; to develop a nonlinear mathematical description of the processes of translational and angular sample`s motions using the Lagrange approach; to obtain a linearized mathematical sample`s description as an object of automatic control in the state space and frequency domain; to generate graphic models in the form of structural diagrams in the time and frequency domains; to analyze the functional properties of an object of automatic control: stability, controllability, observability, structural and signal diagnosability concerning violations of the functional properties of electric drives and sensors of the angular position of the body and wheels. The methods of the study: the Lagrange method, Taylor series, state-space method, Laplace transformations, Lyapunov, Kalman criteria, and diagnosability criterion. The results: physical models of a two-wheeled experimental sample have been obtained in the form of a kinematic diagram of the mechanical part and the electric circuit of an electric drive; mathematical descriptions of translational and angular motions have been developed in nonlinear and linearized forms; structural diagrams have been developed; functional characteristics of a two-wheeled experimental model as an object of automatic control have been analyzed to solve problems of control algorithms synthesis. Conclusions. The scientific novelty lies in obtaining new models that describe the translational and angular motion of a two-wheeled experimental model as an object of automatic control. The obtained models differ from the known ones by considering the dynamic properties of sensors and electric drives, as well as the relationship of movements.

Quadrocopter Control by Network Operator Method Based on Multi-Point Stabilization

2020 ◽  
Vol 21 (7) ◽  
pp. 428-438
Author(s):  
A. I. Diveev ◽  
E. Yu. Shmalko ◽  
O. Hussein
Keyword(s):  
Optimal Control ◽  
Control System ◽  
State Space ◽  
Operator Method ◽  
The State ◽  
Angular Motion ◽  
Stabilization System ◽  
Network Operator ◽  
System Synthesis ◽  
Phase Constraints

The paper presents a solution to the problem of optimal control of a quadrocopter under phase constraints by the numerical method of a network operator based on multi-point stabilization. According to this approach, the task of control system synthesis is initially solved. As a result, the quadrocopter is stabilized with respect to a certain point in the state space. At the second stage, a sequence of stabilization points is searched in the state space such that switching the stabilization points at fixed times ensures the movement of the quadrocopter from the initial state to the terminal state with an optimal value of the quality criterion taking into account phase constraints. To solve the problem of stabilization system synthesis, the network operator method is used. The method is numerical and, unlike the well-known analytical methods, allows to synthesize a control system automatically without a specific analysis of the right parts of the model. The method allows to find the structure and parameters of a mathematical expression in the encoded form using the genetic algorithm. The network operator code is an integer upper-triangular matrix. At the stage of solving the synthesis problem, the mathematical model of quadrocopter motion is decomposed into angular and spatial motions in order to separate control components for angular and spatial motions, respectively. The synthesized stabilization system consists of two subsystems connected in series for spatial and angular motion. As controls for spatial motion, moments around the axes and the total thrust of all quadcopter propellers were used. And the inputs for the angular motion stabilization system are the desired angles of inclination of the quadrocopter. The stabilization problem is considered as a general synthesis task for a control system. Using the network operator method, one control function is searched that provides stabilization of the object at a given point in the considered state space from the set of initial conditions. At the stage of the search for equilibrium points, the evolutionary particle swarm algorithm is used. A numerical example of solving the problem of optimal control of a quadrocopter with four phase constraints is given.

Transient Flow Simulation in Natural Gas Pipelines Using the State Space Model

2010 ◽  
Author(s):  
M. Behbahani-Nejad ◽  
A. Ghanbarzadeh ◽  
R. Alamian
Keyword(s):  
Finite Difference ◽  
State Space ◽  
Transient Flow ◽  
Transfer Functions ◽  
State Space Model ◽  
Method Of Lines ◽  
Flow Simulation ◽  
The State ◽  
Finite Difference Schemes ◽  
Gas Pipelines

A transient flow simulation for gas pipelines and networks is proposed. The proposed transient flow simulation is based on the state space equations. The equivalent transfer functions of the nonlinear governing equations are derived for different boundary conditions types. Next, the state space equations are derived from the transfer functions. To verify the accuracy of the proposed simulation, the results obtained are compared with those of the conventional finite difference schemes (such as total variation diminishing algorithms, method of lines, and other finite difference implicit and explicit schemes). The effect of the flow inertia is incorporated in this simulation. The accuracy and computational efficiency of the proposed method are discussed for a single gas pipeline and a sample gas network.

Modeling of dynamics of vibration movements of the indenter during the smoothing operation taking into account the infl uence of the thermodynamic subsystem

2020 ◽  
pp. 166-172
Author(s):  
V.P. Lapshin ◽  
V.V. Khristoforova ◽  
E.V. Khalina
Keyword(s):  
Numerical Modeling ◽  
State Space ◽  
Mathematical Description ◽  
The State ◽  
Metal Working ◽  
Modeling Of Dynamics

Issues related to the mathematical description and numerical modeling of indenter vibrations in the performance of smoothing operations in metal working are considered. Attention is paid to assessment the infl uence of the temperature released during processing on the dynamics of deformation movements of the tool. It was revealed that due to the thermodynamics of the processing, the deformation movements of the tool are stabilized, although they are complex in terms of the state space.

scholarly journals IMPLEMENTATION OF THE METHODS OF IDENTIFICATION OF STATIC CONTROL OBJECTS

2017 ◽  
pp. 72-78
Author(s):  
Sergey Pachkin ◽  
Sergey Pachkin ◽  
Roman Kotlyarov ◽  
Roman Kotlyarov
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Automatic Control ◽  
Automatic Control System ◽  
Mathematical Description ◽  
Control Object ◽  
Parametric Identification ◽  
Identification Problem ◽  
Temperature Control System ◽  
The Mathematical Model

One of the main tasks solved in the development of automatic control systems is the identification of the control object, which consists in obtaining its mathematical description. The nature and type of the mathematical model is determined by the goals and tasks for which it will be used. In the present case, the aim of obtaining the model is the synthesis of an automatic control system. Proceeding from the requirements of control problems, the identification problem consists in determining the structure and parameters of the mathematical model that ensure the best similarity of the model and object responses to the same input action. The article considers the experimental method of obtaining a mathematical description of the control object based on the results of measuring its input and output parameters and then processing the obtained results. The control object is the EP10 emulator made by the Oven Company, which is a miniature furnace. The emulator is used in experimental research in the process of commissioning using thermostat controls, and also applicable for educational purposes as part of training and research stands. As a result of structural identification with subsequent adjustment of the coefficients with the help of parametric identification, a model of the control object in the form of a second order aperiodic link is obtained. Parameters and type of the mathematical model allowed to make calculations and determine the parameters of adjustment of the TRM251 PID-controller. The software implementation of the automatic control system in the MatLAB environment made it possible to evaluate transient processes in a closed system. Thus, the calculation and analysis of the automatic control system in the first approximation were made. The final result can be obtained at the stage of commissioning the automatic temperature control system in the EP10 emulator using adaptation algorithms.

scholarly journals Boiler drum automatic power management system

2020 ◽  
Vol 222 ◽  
pp. 01009
Author(s):  
Tatiana Efremova ◽  
Sergey Shchegolev
Keyword(s):  
Automatic Control ◽  
Transfer Functions ◽  
Dynamic Properties ◽  
Block Diagram ◽  
Control Object ◽  
Feed Water ◽  
Boiler Drum ◽  
Action Models ◽  
Working Out ◽  
Feed Water Temperature

Dynamic properties of boiler sections as control objects are studied. The requirements for mathematical models and the main adjustable parameters in drum boilers are determined, on the basis of which the requirements for the designed model are made. The construction of a block diagram and calculation of transfer functions of the automatic control system of the control object. The main types of disturbances are determined: feed water and steam consumption, consumer load, fuel consumption, and feed water temperature. Each perturbation is represented as a control action. Models of the object using perturbation channels are obtained. The article considers the construction of an effective model of the system of automatic control of the drum boiler power supply based on the system’s working out of disturbing influences. The paper uses the Matlab application software and the Simulink graphical programming environment.

Dynamic Analysis of a Torsional MEMS Scanner Mirror: Part 1 — Disturbance Analysis Framework

2005 ◽  
Author(s):  
Faik Can Meral ◽  
Ipek Basdogan
Keyword(s):  
State Space ◽  
Transfer Functions ◽  
State Space Model ◽  
Time Domain Analysis ◽  
The State ◽  
Space Representation ◽  
Modeling And Analysis ◽  
Lyapunov Approach ◽  
State Space Representation ◽  
Disturbance Analysis

Future optical micro systems such as Micro Electro Mechanical Systems (MEMS) scanners and micro-mirrors will extend the resolution and sensitivity offered by their predecessors. These systems face the challenge of achieving nanometer precision subjected to various disturbances. Predicting the performance of such systems early in the design process can significantly impact the design cost and also improve the quality of the design. Our approach aims to predict the performance of such systems under various disturbance sources and develop a generalized design approach for MEMS structures. In this study, we used ANSYS for modeling and analysis of a torsional MEMS scanner mirror. ANSYS modal analysis results, which are eigenvalues (natural frequencies) and eigenvectors (modeshapes), are used to obtain the state space representation of the mirror. The state space model of the scanner mirror was reduced using various reduction techniques to eliminate the states that are insignificant for the transfer functions of interest. The results of these techniques were compared to obtain the best approach to obtain a lower order model that still contains all of the relevant dynamics of the original model. After the model size is reduced significantly, a disturbance analysis is performed using Lyapunov approach to obtain root-mean-square (RMS) values of the mirror rotation angle under the effect of a disturbance torque. The Lyapunov approach results were validated using a time domain analysis.

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