The problem of structural-parametric identification of linear stationary dynamic objects under conditions of active experiments is considered. The question of the adequacy of dynamic models based on the analysis of the object’s response to a typical test impact is investigated. These studies allow us to formulate an important methodological aspect that is recommended to be taken into account in new developments of active identification algorithms. In this paper it is shown that in real conditions of interference, the classical methodology of constructing the transfer function of an object by means of the analysis of data single experiment, i.e. the response to a test effect can give incorrect results. In this regard, another approach is proposed — to form the base of the experimental data starting from a series of identification experiments, and because of its to investigate the dynamic structure of free and forced movements of the object. The ideological basis of this approach consists of the following solutions: the principle of " probing" the space of states of an object in order to determine its dynamic order; the mechanism of excitation of free movements in the object by means of finite control actions; the integral-operator form of representation of the dynamics of the object, which avoids the need for differentiation of input and output signals; the apparatus of linear regression for parametric identification of the transfer function of the object. One the base the given approach a new method of structural-parametric identification of linear stationary dynamic objects is developed and investigated. The presented results and computer approbation in the MATLAB environment have shown the operability and effectiveness of this identification method.

System approaches are being developed in the problems of dynamics of transport and technological machines related to the provision of dynamic vibration damping modes and the identification of a number of specific effects characteristic of technical objects with working bodies representing solids. The methods of structural mathematical modeling are used, in which a mechanical oscillatory system, considered as a design scheme of a technical object, is compared with a structural scheme, equivalent in dynamic terms, of an automatic control system. It is shown that the modes of dynamic damping are realized through the fixation of fixed points called centers of rotation (or oscillations). A method is proposed for the analytical evaluation of the possibilities of forming dynamic states based on the use of generalized feedback transfer functions, coefficients of motion connectivity by coordinates, forms of dynamic interaction of system elements under the simultaneous action of two harmonic excitations. Within the framework of the interpretation under consideration, the key characteristic of a mechanical oscillatory system is the characteristic frequency equation and its transformations. The development of ideas about the form of dynamic interactions of elements of a mechanical oscillatory system is proposed. The concept of form generalizes ideas about the directions of change in time of the coordinate of a system element in relation to a change in an external force or kinematic excitation. The methodology for displaying a set of dynamic states and forms of dynamic interaction of elements of a mechanical oscillatory system based on oriented graphs is proposed.

The paper describes the developed automated device for the formation of electrocatalytic layers used in electrochemical systems, and the issues of development of the sputtering technology, which allows to obtain the best parameters of the formed active layers. The general scheme of the automated device includes a system of automatic positioning of the spraying head according to two coordinates, driven by stepper motors controlled by a personal computer, an ultrasonic mini-disperser, a spraying head, ultrasonic generators for the ultrasonic mini-disperser, and the ultrasonic spraying head. Stepper motors were controlled by microprocessor system based on 8-bit Atmel AT90S2313 single-chip microcontroller and standard buffer microcircuits. The key actuating element of the device and the process is the developed atomizing head with an integrated ultrasonic homogenizer that prevents sedimentation of the catalytic composition. The overall automation circuit designed and reproduced to control all electronic devices was described in detail. It differed by application of Attiny2313 microprocessor for the control, availability of communication with personal computer via RS-485 interface that allowed not only to switch the disperser on/off, but also to control its working frequency directly from the personal computer. It was envisaged both manual control of stepper motor controller via control buttons and control from external personal computer, which had the opportunity to control spraying program step by step. In this case all the sequence of steps is contained in the personal computer memory, it is transmitted to the stepper motor controller step-by-step as the program is being executed. Algorithms for moving the spraying head that provide the best drying of catalytic composition in the process of its application have been developed. The effectiveness of the developed automated device has been shown by comparing it with manual application by a specialist according to such criteria as the rate of application of electrocatalytic layers and their quality. The created device, algorithms of its operation, software and scientific and technological advance, in general, can be used for the formation of various coatings both in electrochemical technologies and in other fields.

The paper is dedicated to the problem of finding optimal spacecraft trajectories. The equations of spacecraft motion are written in quaternion form. The spacecraft moves on its orbit under acceleration from the limited in magnitude jet thrust. It is necessary to minimize the energy costs for the process of reorientation of the spacecraft orbital plane. The equations of spacecraft motion are written in orbital coordinate system. It is assumed that spacecraft orbit is circular and control has constant value on each part of active spacecraft motion. In this case the lengths of the sections of the spacecraft motion are unknown. We need to find the length of each section, their quantity and value of control on each section. The equations of the problem were written in dimensionless form. It simplifies the numerical investigation of the obtained problem. There is a characteristic dimensionless parameter in the phase equations of the problem. This parameter is a combination of dimension variables describing the spacecraft and its orbit. Usually the problems of spaceflight mechanic are solved with the maximum principle. And we have to solve boundary value problems with some kind of shooting method (Newton’s method, gradient descent method etc.) Each shooting method requires initial values of conjugate variables, but we have no analytical formulas to find them. In this paper spacecraft flight trajectories were found with new genetic algorithm. Each gene contains additional parameter which equals to " True" , if the gene forms the control and equals to "False" otherwise. It helps us determine the quantity of spacecraft active motion parts. The input of proposed algorithm does not contain information about conjugate variables. It is well-known that the differential equations of the problem have a partial solution when the spacecraft orbit is circular and control is constant. The genetic algorithm involves this partial solution and its speed is increased. Numerical examples were constructed for two cases: when the difference between angular variables for start and final orientations of the spacecraft orbital plane equals to a few (or tens of) degrees. Final orientation of the spacecraft plane of orbit coincides with GLONASS orbital plane. The graphs of components of the quaternion of orientation of the orbital coordinate system, the longitude of the ascending node, the orbit inclination and optimal control are drawn. Tables were constructed showing the dependence of the value of the quality functional and the time spent on the reorientation of the orbital plane on the maximum length of the active section of motion.

The article solves the task of an operational choice of the most suitable conditions for the functioning of the configuration of the components of a redundant onboard equipment in the interests at the same time as ensuring the high fault tolerance of the complex and the achievement of its other performance and technical characteristics. The basis of the redundancy management system is the program subjects in terms of the number of well-developed competitive configurations of heterogeneous and non-communicable equipment complex, called configuration supervisors. The choice of preferred configuration is proposed by performing a multi-level arbitration, which includes the comprising two phases of the pair arbitrator of the computers of the complex and the paired arbitration of configuration supervisors. To ensure the reliability of the competition in the conditions of possible collisions related to the unreliability of information parcels in a pair or with failures of arbitration modules, procedures have been introduced consisting in mutual cross-checking of information parcels between the supervisors of the pair. In case of conflicts when choosing a preference, mutual replacement of the inputs of the arbitration modules and re-evaluation of preferences is provided. The means of both types of arbitration are invited to include in each configuration supervisor, which ensures its self-sufficiency with participation in a competitive selection. The first part of the article is devoted to the paired arbitration of configuration supervisors that implements mutually crossanalysis of readiness indices and indicators of the functional efficiency of configurations combined into a pair. The brute force organized by any way allows you to identify the preferred configuration for subsequent implementation. Two options for paired arbitration of configurations of various complexity and efficiency with binary estimates of preferences (simplified and complete), as well as an arbitration option with triplex preference estimates are also proposed and analyzed. The results of the comparison of the arbitration options are presented, which is selected by the developer based on considerations of guaranteed presence or restrictions of the system design. A methodological example is given illustrating the possibilities of paired arbitration of configurations and its features of a practical nature.

A method for estimating aerodynamic angles in the absence of appropriate sensors is proposed, using measurements of three projections of flight speed carried out by the navigation system and the values of the orientation angles. The relevance of the problem being solved is determined by the fact that on unmanned aerial vehicles (UAVs) sensors of aerodynamic angles, that is, angles of attack and slip, are often not installed due to restrictions on dimensions and mass. The proposed method is based on the joint use of mathematical models of aircraft motion, known from flight dynamics, and the theory of parametric identification of dynamic systems. The key factor ensuring the accuracy of the proposed method is the use of very accurate measurements of three UAV velocity projections performed by a satellite navigation system or an inertial navigation system with satellite correction. To account for the influence of wind, parametric identification of three projections of wind speed is provided. Another feature of the method is that instead of the missing aerodynamic angle sensors, it is proposed to use information about the aerodynamic coefficients of the lifting and lateral forces of the UAV. If these coefficients are known with errors, their values are also specified by identification methods. The dimension of the identification problem turns out to be low in the range of small and medium angles of attack when the aerodynamic dependencies are linear. The results of testing the proposed method based on simulation data on the flight test bench of a modern training aircraft for nine different flight modes under conditions of simulating random errors of onboard measurements corresponding to the flight experiment are presented.