The paper established a deep conceptual relation between the vibro-mechanics and the synergetic control theory. This conceptual relation is revealed in the emergence of new phenomena in the complex systems, namely: expansion and compression of the phase flow; transition of the point representing system into the internal attracting manifolds, on which new dynamic properties of the system are formed. In vibro-mehanics the control actions are carried out usually as a function of time by selecting the corresponding vibration actions, but the synergetic theory of the control actions is synthesized in the feedback function, ensuring the desired oscillation and vibration processes. These new research areas complement each other in meeting today's major technological challenges of controlling complex objects of different nature. We prove that with an example of a complete solution of the famous P. L. Kapitza's problem of "the inverted pendulum stabilization".

The authors consider approaches to development of the extreme control systems (ECS) based on a simultaneous combination of different algorithms of search for a fitness function optimum. Such systems require a method for integration of the results of different algorithms. As a distinctive feature an algorithm can have high performance under certain conditions, developed methods of configuration, effective means of estimation of the future, current and past system states. Sometimes a system solution for a control problem was no good. This was a result of an excessive simplification of the search algorithm, e.g. carried out in order to facilitate the proceeding system design and performance of the structural transformations of the control system loops. In the authors' opinion, the approach based on integration of different algorithms, first of all, is aimed at preservation of high quality extreme control of a system. Weighted summation of the separate control signals is the traditional way to integrate the algorithms into the control systems. This method is a "compromise" between the controls proposed by different algorithms. However, in this paper the authors consider another way available for the extreme control systems. They examine ways of integration of the search algorithms as exemplified by the systems, which include not only the well-known algorithms with developed methods of design and algorithms of high efficiency, but also a complex configuration in terms of specific tasks. The authors demonstrate that in certain cases the methods of integration under consideration allow us to achieve a higher quality of the search processes than each algorithm taken separately. They show possible methods to organize configuration for such systems. They suggest high quality performance based on separate search algorithms, at the first stage, and a further "manual" parameter of configuration.

The topic of this article is an off-line movement system for the mobile robots. Its main goal is to ensure their movement from one point to another in a partially determined environment with static and mobile obstacles. Several systems are described. They are calculation of the impact of a potential force field, path assessment based on a neural network, avoiding collision system and a multi-agent system architecture for detection of obstacles and mobile robot control. The article presents mobile robot agents, which process data concerning the environment, communicate with each other and allow a robot to avoid the static and dynamic obstacles. Besides that, the most important task for a robot is movement in a partially determined environment, in which the obstacles' coordinates are unknown for the system. From a technical point of view, navigation in a dynamic context is the next set of actions: a robot is given a certain trajectory from point A to point В and then it will be able to deviate from a certain route. The task is difficult because a mobile robot has its own design and kinematic restrictions. In crowded places there are many people. Consequently, there numerous moving obstacles to be avoided, i.e. the robot movement involves maneuvering and even escort of persons to the point of destination (department of a shopping center or museum exhibit). From a technical point of view, in order to avoid collision of a mobile platform with the objects their force fields can be used. The experimental results of the developed system are presented below.

The dynamometer card-based methods for diagnostics of the underground equipment for sucker rod pumping units have the following aspects: diagnostics based directly on the characteristics of a ground dynamometer card; diagnostics based on the secondary characteristics of a dynamometer card (spectral characteristics: variance, correlation and regression of the signal of the force sensor, Fourier coefficients, series expansion for a dynamometer card, etc.); and diagnostics based on the typical characteristics of the shape of a ground dynamometer card. Our studies and operation experience demonstrated that the above methods are not invariant with respect to the pump running depth and the changes in the pumping unit operating conditions. Therefore, development and introduction of new diagnostic methods based on new information technologies are necessary and relevant. The paper deals with the development of the algorithms for an automated diagnostics of the fault conditions of the sucker rod pumping units in the oil extraction industry. The authors propose algorithms for an automated identification of the fault conditions of the sucker rod pumping units with the use of the position-binary technology for analysis of the periodic signals of the force of the rod string on the hanger. The authors solved the problem of precise determination of the beginning and duration of the pumping unit period based on the data on the polished rod stroke with the use of a moving average algorithm. The following algorithms are presented: for retrieval of information about the force per a pumping period, the beginning of which coincides with the beginning of the polished rod stroke upwards from the common array of the data (force, stroke, consumed power) received from the well; normalization and scaling of the parameters of the array of force per a pumping period; the essence of the position-binary identification, which forces the signals' transformation into the position-binary components, in which the informative attributes are their duration in each position, which changes, depending on a signal form. Based on the position-binary technology, the program of the algorithm for an automated identification of the form of curves of the force on the polished rod of the sucker rod pumps was compiled in Borland DELPHI 7 object-oriented programming language and included in Ayna, general control, diagnostics and robust management complex, introduced at the oil field 3 of Shirvan Operating Company Ltd. in Azerbaijan. The authors provide an example of comparison of the position-binary components of the current signal received from the well with the known reference systems.

The topic of this paper is methodology for improvement of the efficiency of the downhole oil production control algorithms. The approach is based on the use of the well-known multi-cascade principle, in which the cascades represent the control algorithms of separate local layers of the process. The results of investigation of the multi-layered control principles on the example of the downhole oil production control process show the efficiency of application of the cascade control principle. The downhole oil production is considered as a multilayer control process: 1) Input layer - the local process of creation of pressure in an electrical submersible pump (ESP); 2) Inner layer - the local process of the fluid motion in the pump-compressor pipes; 3) Output layer - the local process of the fluid motion in the casing well. According to the principle of the cascade control, the control algorithm consists of several cascades (local control algorithms). Each local algorithm calculates the set value for the next local algorithm on the basis of the current value of the output parameter for the respective local process. As a result, the control algorithm immediately takes into account the current disturbances of all the previous layers. Duration of the compensation process of the local layer disturbance is determined by its own time constant. The paper presents a methodology for the local control algorithms design. The design procedure begins from the first (input) process layer. The design of the local algorithms is determined by the criterion of the minimum regulation time with the use of the model of the local process layer. The efficiency was assessed from the point of view of the influence of the inner layers' disturbances on the output parameters of the considered technological process. Analysis of the results of the computation experiments demonstrates a significant decline of the influence of the inner disturbances on the output parameters, when the multi-cascade control algorithm is compared with the use of the conventional control algorithms.

The article investigates the blade pitch effect on the measurements of the blade tips radial and axial displacements in the turbines of the gas-turbine engines and gives a model description of the electromagnetic interaction between the work and compensating sensitive elements of the eddy-current single-coil sensors in the amount of the distributed cluster of sensors and inspected and adjacent blades. By means of the developed model the families of the conversion functions as dependences of the equivalent inductances of the sensitive elements from the radial and axial displacements of the irregular shaped blades are defined. These conversion functions were later used for computation of the dominant functions of the adjacent blades at various blade pitches. The authors demonstrated that the adjacent blades effect on the compensating sensitive element is far greater than on the work of the sensitive element and it increases with the blade pitch decrease. A model of differential measuring circuit with pulsed power was considered. The inputs of this model are the modeling results of the electromagnetic interactions between the sensitive elements and the rotor blades presented as the equivalent inductances changing in time. The families of the conversion functions as dependences of the digital codes from the radial and axial displacements of controlled blades were obtained. They are used, as before, for computation of the dominant functions of the adjacent blades at various blade pitches. The method is presented for obtaining of the calibration characteristics of the systems for measurement of the blade tips' radial and axial displacements. It gives an opportunity to avoid possible errors, typical for the adjacent blades effect, during the system operation.

The article is dedicated to the group of converters with variable modular structure, the use of which eliminates inefficient operation of a converter at a minimal load and ensures the necessary power reserve under a load close to the maximal. Inefficiency of the group converters of a permanent structure may occur at a minimum load, in particular if the modules are used as stand-alone inverters with an excess reactive power compensator, which in this mode distorts considerably the quality of the output voltage curve. For this reason, in case the power supply is organized by a group of inverters and the total power of the modules is much larger than the current load power, it is advisable to change the module structure, depending on the load. The algorithm of an automatic determination of the optimal structure of the modules is presented. It is realized due to switching of the converter modules in real time. The structural optimization is implemented automatically according to two criteria: the degree of compliance of the modular structure of a converter with the necessary power reserve and the degree of compliance with the power limits. Algorithms were developed for determination of the optimal sequence of the switching modules according to the additive criteria (time transients, total power of modules, involved in switching). The mathematical models are based on the elements of the theory of fuzzy sets and optimization on graphs. The effectiveness of the algorithms was tested using the developed computer model for the system with a variable structure for a five module converter.

Here we present one of the possible solutions to the scientific and applied problem of ensuring the functional stability of the small-sized spacecraft stabilization and orientation systems. Our research resulted in unification of the proposed models and methods of diagnostics, as well as presentation of a scheme for development of the algorithmic support for diagnostics of the functional condition of the movement and navigation control system (MNCS). The proposed approach organizes the development process and ensures a reduction of labor costs and quality improvement, i.e. an increase of the efficiency of the diagnostic software engineering. Application of the modified FDM developed to restore the functional state of a dynamic object provided opportunities to unify the proposed models and to adapt the known methods, as well as to form a scheme for development an algorithmic support for the situational restore of the functional condition of the MNCS. The proposed scheme systematizes knowledge, tools and specific experience in the development of algorithms obtained from the studies. The use of such a scheme in real projects can improve the quality of functioning of the recovery modules and save time and resources for their development.

Mass matrix of the 3D finite element with twelve degrees of freedom was constructed taking fully into account Timoshenko theory - the stiffness of the beam section bending and shear deformation of the cross section. The created mass matrix generalizes the mass matrices of the beam element, obtained in compliance with Eu-ler-Bernoulli theory and Rayleigh theory previously constructed by the other authors. These matrices can be obtained by zeroing the specified coefficients in the mass matrix proposed in the paper. In order to verify the constructed mass matrix several numerical experiments were performed. The results were compared with the results of the numerical simulation in ANSYS. Numerical modeling demonstrated that the difference between the values of the natural frequencies in the translational motion obtained with the constructed mass matrix and in ANSYS, is less than 1 %. The difference of the maximum displacement under the harmonic loads is less than 5 %. The beats take place, when the frequency of the driving force is close to the value of the natural frequency. The effect of the resonance was obtained in the conditions of coincidence of the values of frequency of the driving force and the natural frequency. Thus the feasibility of using the proposed finite element mass matrix for the numerical simulation of the vibrating processes and loads of micromechanical inertial sensors was proved. The main advantages of the proposed 3D finite element with twelve degrees of freedom for modeling are: full respect of the inertia and shear deformation of the cross area; full control over the process of computing at any stage; low requirements for a computer power in comparison with the universal programs for the finite element modeling; possibility to do a study of high-frequency oscillations with a step of calculation equal to or less than 10^-7 s.