Energy efficiency of electrical equipment systems of autonomous objects

When considering the main trends in the development of modern autonomous objects (aircraft, combat vehicles, motor vehicles, floating vehicles, agricultural machines, etc.) in recent decades, two key areas can be identified. The first direction is associated with the improvement of traditional designs of autonomous objects (AO) with an internal combustion engine (ICE) or a gas turbine engine (GTD). The second direction is connected with the creation of new types of joint-stock companies, namely electric joint-stock companies( EAO), joint-stock companies with combined power plants (AOKEU). The energy efficiency is largely determined by the power of the generator set and the battery, which is given to the electrical network in various driving modes. Most of the existing methods for calculating power supply systems use the average values of disturbing factors (generator speed, current of electric energy consumers, voltage in the on-board network) when choosing the characteristics of the generator set and the battery. At the same time, it is obvious that when operating a motor vehicle, these parameters change depending on the driving mode. Modern methods of selecting the main parameters and characteristics of the power supply system do not provide for modeling its interaction with the power unit start-up system of a motor vehicle in operation due to the lack of a systematic approach. The choice of a generator set and a battery, as well as the concept of the synthesis of the power supply system is a problem studied in the monograph. For all those interested in electrical engineering and electronics.

Vision-Based Robotic Arm Control Algorithm Using Deep Reinforcement Learning for Autonomous Objects Grasping

While working side-by-side, humans and robots complete each other nowadays, and we may say that they work hand in hand. This study aims to evolve the grasping task by reaching the intended object based on deep reinforcement learning. Thereby, in this paper, we propose a deep deterministic policy gradient approach that can be applied to a numerous-degrees-of-freedom robotic arm towards autonomous objects grasping according to their classification and a given task. In this study, this approach is realized by a five-degrees-of-freedom robotic arm that reaches the targeted object using the inverse kinematics method. You Only Look Once v5 is employed for object detection, and backward projection is used to detect the three-dimensional position of the target. After computing the angles of the joints at the detected position by inverse kinematics, the robot’s arm is moved towards the target object’s emplacement thanks to the algorithm. Our approach provides a neural inverse kinematics solution that increases overall performance, and its simulation results reveal its advantages compared to the traditional one. The robot’s end grip joint can reach the targeted location by calculating the angle of every joint with an acceptable range of error. However, the accuracy of the angle and the posture are satisfied. Experiments reveal the performance of our proposal compared to the state-of-the-art approaches in vision-based grasp tasks. This is a new approach to grasp an object by referring to inverse kinematics. This method is not only easier than the standard one but is also more meaningful for multi-degrees of freedom robots.

Phase synchronization in the system of supply voltage parameters correction by the adaptive filtration method

An adaptive phase-locked loop is considered, which makes it possible to improve the stability of synchronous active filters, to achieve compensation for high-quality harmonic components of the current consumed by autonomous objects. Therefore, the use of such an active filter will improve the power quality and the normal trouble-free operation of the equipment in general. A control system with an adaptive phase-locked loop often has the advantages of a reliable and efficient control system. It makes it possible to quickly respond to dynamic changes in the load, which is typical for the operation of functional equipment of autonomous objects. The control system becomes more flexible, reliable, efficient and provides an instantaneous value of the compensation current from the measured values of the load current curve. Calculations can be carried out in real time. LMS, NLMS, RLS algorithms are considered as adjusting the weighted adaptive phase-locked loop in the system for correcting the supply voltage parameters. Based on the simulation of algorithms carried out in the MATLAB environment, a comparative analysis of their effectiveness is made. It is shown that the NLMS algorithm has the highest suppression quality and minimum transient time. The NLMS algorithm works in real time and is recommended for use in the supply voltage correction system.

Controlling a Direct Matrix Frequency Converter of Secondary Power Supply Sources for Autonomous Objects

A version of using "sliding modes" in performing discontinuous control of dynamic objects for matrix frequency converters (MFC) as part of an on-board aircraft network is proposed. Unlike the way used in the existing MFC control algorithms, the sinusoidal voltages available in the primary network are processed according to the proposed modernized technology of "sliding modes". The level of discontinuous voltages is selected from the condition of minimum deviations from the target, which has a favorable effect on the spectrum of output voltages. On the selected time interval, the input primary network phase voltages and the specified output network phase voltages are sampled. A positive minimum difference between the primary network phase voltage closest to its desired value and the specified secondary network phase voltage is produced. This difference acts as a positive discontinuous control. A negative difference acts as a negative discontinuous control. Over the calculated interval, the average deviation from the specified phase voltage is zero. Owing to this feature, the smallest distortions in the MFC output voltage spectrum are obtained at arbitrary loads and evolutions of the primary network voltage frequency and amplitude. Versions of three-phase and six-phase primary sources are considered. The effectiveness of the proposed version of using "sliding modes" has been confirmed by simulation.