In this paper the solution was proposed for the state variables estimation problem in the mathematical model of the DC switch-mode power converter built according to the Ćuk scheme. Pulse converters are one of the main components of most modern electrical devices and the circuit proposed by Slobodan Ćuk in the 70s of the 20th century is still relevant and demanded. Traditionally, PI (proportional-integral) controllers or proportional-integral adaptive control algorithm (PI-PBC), based on passification methods and superior to standard PI controllers in accuracy, are used as the control algorithm for power converters. However, you need to know the entire vector of the state variables of the converter to build a PI-PBC controller, and moreover, all its parameters must be accurately known. Unfortunately, in practice, such assumptions are not fulfilled, since parametric drifting is possible, and measurements of the converter’s state require additional sensors, which in some cases does not justify itself. Thus, there is a need to develop additional observers or estimators that allow obtaining data on all variables of the converter, as well as its parameters. The solution is based on the GPEBO method (generalized parameter estimation-based observers). The problem was solved under assumption that only the output signal (the output voltage of the converter) is measurable and some of the mathematical model parameters are unknown. An important aspect of the observer design is the development of an algorithm for unknown parameters and the state vector of a mathematical model estimation that ensures convergence in a finite time. Finite-time convergence is extremely important when designing observers since transients in pulse converters occur very quickly.

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.

The results of solving the problem of increasing the efficiency of an automated pumping complex for pumping liquids in conditions of non-stationary hydraulic processes, such as cavitation, are presented. The difficulty of determining the conditions for the occurrence of cavitation is associated with a large number of parameters, the mutual correlation of which is difficult to determine. It is shown that the methods used in practice in these conditions for monitoring and controlling pumping complexes based on centrifugal pumps and adjacent pipelines have significant disadvantages or solve the problem only partially. A mathematical model of the pump complex operation for operational control of the parameters of cavitation modes based on the similarity of the modes of operation of the centrifugal pump and the movement of the piston through the pipeline is presented, which simplifies the procedure for determining the presence of cavitation. A criterion for determining the efficiency of the pump complex operation mode is proposed based on an integral assessment of the difference between experimental and model data. A methodology for controlling the modes of operation of the pumping complex in the conditions of cavitation is formed. Due to the complexity of the direct calculation of the cavitation volume, a neural network model was proposed, trained based on experimental data. The structure, algorithms and software of the automated control and control system are developed using neural network models and a case-based approach to quickly determine the conditions for the occurrence of cavitation and correct the operating modes of the pumping complex. Decisions based on case — based reasoning are offered to the operator in the form of a "control effect-expected result" pair. The practical implementation of the automated system for monitoring and controlling the operating modes of the pumping complex is carried out in the AppDesigner package of the Matlab mathematical package. The use of the developed automated monitoring and control system provides an increase (restoration) of the pump complex performance in the conditions of cavitation, prevents the destruction of its elements, increases the service life, reduces operating costs and equipment repair costs.

Grain storage and processing is the most important component of the grain market infrastructure. The task of grain storage is to ensure complete safety of quantity and quality with minimal labor and money costs. In the laboratory of the M. Kozybayev North Kazakhstan University, a prototype of an innovative type of grain storage was developed using horizontal silos, designed to reduce the cost of construction and reconstruction of elevators while improving quality, increasing storage times and reducing current storage costs. The design feature makes it possible to automate most of the operations of the technological process of grain storage. This article proposes a method for the automated formation of control actions on grain storage equipment as a result of data analysis from temperature, humidity, carbon dioxide level sensors and 3D measurements of the grain surface. A project of an automated system for monitoring and controlling grain storage facilities with horizontal silos has been developed. A distinctive feature of the proposed automated system is the most complete set of conditions for the correct storage of grain in comparison with other control systems for the technological process of a granary. Automation of work is achieved through the developed method for generating control signals, as well as such computational algorithms as forecasting the completion time of loading based on the conditional filling rate of the grain storage section, forecasting the completion time of unloading based on the conditional grain release rate, calculating the grain volume in the section using 3D measurements. The logic of the functioning of the basic algorithms for an automated monitoring and control system for a granary with horizontal silos is based on the analysis of the parameters of temperature, humidity, carbon dioxide level and 3D measurements of the grain surface in the sections of the granary. In the presented project of an automated system, scientific knowledge and achievements in the field of grain storage and the theory of identification measurements were taken into account, which makes it possible to use the described algorithms in information systems for monitoring grain storage facilities of other types.

The article is devoted to the development of algorithms for operational planning of routes for a group of aircraft (AC). We consider group actions of small and unmanned aircraft in the "air taxi" mode, when there is no regular flight schedule between the points of destination, and requests are received "on call" for flights to points whose composition is unknown in advance and is of a random nature. The multicriteria task of planning a group flight in the "air taxi" mode is being solved. The solution to this problem is proposed using the apparatus of the queuing theory, according to which the system under consideration belongs to the class of multichannel queuing systems with waiting. A method for solving the problem of operational planning of aircraft actions is proposed. An algorithm for group target distribution of new claims between aircraft is developed on the basis of a modified minimax criterion for assigning the nearest aircraft for an object with a maximum service time. The developed algorithm is based on the following four main operations: in the first operation, priority unserved targets are selected according to the criterion of assigning a dynamic priority; in the second operation, the formed list is ranked according to another criterion, taking into account the importance and total distance of each ground object from the aircraft group, in three this operation selects the object with the maximum rank, and for it the task of assigning "own" aircraft is solved according to the third criterion of maximum proximity, in the fourth operation the conditions of non-intersection of the group flight routes are checked. A computer model of the system for servicing requests in the air taxi mode has been developed. The developed model makes it possible to analyze various scheduling algorithms, as well as to determine at each step the number of free claims and the number of free and busy aircraft. A comparison is made between the well-known in the theory of queuing and the proposed minimax approaches. It is shown that, in comparison with the known variants of scheduling in the queuing theory, on the basis of the proposed approach, the optimal number of used aircraft is achieved.

Algorithms of a strapdown inertial orientation system with an inertial measurement module consisting of a three-component gyroscope, accelerometer, and magnetometer are considered. The aim of the work is to improve the algorithms for processing sensor information to ensure the asymptotic stability of the system, tuning for the Schuler period and the low-pass filter with a given bandwidth. The kinematic Poisson equations with positional and integral-positional correction based on the information of accelerometers and magnetometers are considered. The stability and frequency characteristics of the system in relation to the sensor output signals are analyzed. It is shown that the positional correction in each channel does not allow you to adjust the system for the Schuler period. The integral-positional correction allows this adjustment, but in relation to the gyroscope signals, the system is a bandpass filter and does not suppress noise in the bandwidth. The advantages of using positional correction with cross-links in the sense of tuning the frequency characteristics of the system to the Sharper frequency and the third-order low-pass filter are shown. The analysis of the influence of angular velocities confirmed the asymptotic stability of the system with their changes in a given range. The results of mathematical modeling confirmed the compensation of errors in the initial orientation system display, the reduction of noise power in the estimates of the orientation angles in relation to the noise in the sensor signals, and the ability to configure the system for the Schuler period.