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 Выпуск 96
- Spiryaev V., Solodusha S. Application of Volterra-type test equations to identify input signals
The paper addresses the problem of identifying a scalar input signal of a controlled dynamic object described by the integral model in the form of a Volterra polynomial. Special classes of polynomial integral equations are distinguished, the Volterra kernels of which guarantee the fulfillment of unimprovable estimates for solutions to nonlinear inequalities. Alongside theoretical statements, the results of a computational experiment in the problem of modeling the dynamics of a heat-and-power object are presented.
- Mukhin A. About static output controller existing
The problem of the existence of static output controllers for linear time-invariant continuous-time controlled and observed plants in the general case is considered and its solution is given. The obvious advantage of static output feedback control over state control is that it does not require measuring all state variables to implement it. An equally significant advantage over the control in the form of a linear dynamic controller is that the dimensions of the closed-loop and initial plants are equal. It is shown that by reducing the input and output matrices to a block-homogeneous form, the initial bilinear inequality with respect to the matrix of the Lyapunov quadratic function and the controller matrix can be represented as a single block symmetric matrix. Thanks to this, it is possible to formulate the necessary and sufficient conditions for the existence of static output feedback. In accordance with the presented theorem, it is concluded that if the matrix of an object can be divided into blocks in such a way that at least one of its diagonal blocks was Hurwitz, then a static regulator exists. If this condition is met, then for the existence of a static output controller, it is necessary and sufficient that there is a state controller for an unstable diagonal block of the object matrix. The obtained results allow us to formulate criteria by which conclusions can be drawn regarding the possibility of static stabilization of a given linear object. Examples are presented, which demonstrate the application of the results obtained.
- Krasnov D. Synthesis of a reduced order observer for all-drive electromechanical system
In a deterministic formulation, the problem of observing non-measurable variables of an electromechanical system operating under conditions of parametric uncertainty is considered. For the case when the sensors are located only on electrical actuators, the conditions are formalized under which the problem of observing the entire state vector has a solution without increasing the dynamic order of the closed-loop system due to regressors and identifiers of undefined parameters. As a basis for constructions, an approach to assessing external disturbances acting on an object is adopted, which does not need to use dynamic models of external influences. Within the framework of this approach, for the considered electromechanical system, the structure of a reduced robust state observer is substantiated. Unlike the standard reduced Luenberger observer, which does not use differential equations of measured variables, the proposed observer does not use differential equations describing the dynamics of unmeasured state variables, which are assumed to be external bounded perturbations in solving the observation problem. A decomposition procedure for adjusting the parameters of piecewise linear feedbacks in an observer is developed, which provides stabilization with a given accuracy for a given time of observation errors and their derivatives. It is shown that the estimated signals of unmeasured variables are the corresponding variables and the control actions of the observer.
- Gulyukina S. Dynamic compensation method for synchronous generator control
In this paper we consider the problem of synthesis of automatic excitation control system (AECS) on the channel of angular speed stabilization of the synchronous generator rotor stabilization. The features of AECS should include limitations of minimum and maximum excitation, excitation rate of change, excitation forcing, swing damping, and stabilization of own and group motion. To solve this problem, the method of expanding the state space by introducing first-order filters into the feedback circuit is used. When the system is subjected to external disturbances, the use of deep feedbacks based on linear functions with saturation makes it possible, on the one hand, to solve the problem of tracking the output variables with a given accuracy and, on the other hand, to provide restrictions on the phase variables and controls. To obtain estimates of the unknown components of the system state vector and the uncoordinated external perturbations acting on the system, an observer is constructed on sliding modes. The results of numerical simulation in Matlab confirm the high efficiency of the proposed approach to the synchronous generator control.
- Karpova I. A bioinspired approach to robot orientation or a real «ant» algorithm
The paper describes a bioinspired method of mobile robots navigation, similar to the navigation mechanism of social insects. The model species is the red forest ant Formica rufa. The scout red forest ant remembers the route to food and can transmit information about the food location to foraging ants. Foragers can on their own walk to the food and return home. These ants are guided by the skylight compass, odometry data and visual landmarks. The proposed method is based on memorizing the path by visual landmarks, compass data and time component. A path is defined as a sequence of scenes consisting of landmarks. The scout route and forager route are defined as transitions from one landmark to another. The created behavior model of an animate (robot) operates only with relative categories. The results of simulation modeling for solving the foraging problem are presented. The method has been tested on real robots. Due to specific architectural and technical solutions, the transition from simulation models to the management of technical objects (robots) is carried out without the stage of physical modeling. The method can also be used in reconnaissance and patrol tasks in group robotics.
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