Distributive electrical network (DEN) is considered as an object of automation, which produces electricity as a marketable product. Development and introduction of modern automated control systems and electricity accounting (ACSEA) makes topical the problems of identification of the electrical state of DEN and localization of the coordinates of the uncontrollable (non-normative) disturbing factors, such as unsanctioned use of electricity and leakage currents in the network. Application for this purpose of the existing methods and algorithms in real time presents certain difficulties, because of the stochastic character of separate network parameters, for example, active resistances of the interpersonal sections, which is changed depending on the external factors (temperature, humidity, etc). The paper offers the methodological and algorithmic basics for solving this problem, based on identification of the current state of the distributive electrical network in the presence of the distributing factors. The received results are oriented on development of special software corresponding to the functional tasks (subsystems) of ACSEA.

In the paper the authors compare the known method of Analytical Design of the Aggregated Regulators (ADAR) with the method of Analytical Design of the Optimal Regulators (ADOR). The ADAR method has significant advantages: (i) easier procedure of analytical design of the nonlinear laws of the optimal control; (ii) physically clear presentation of the weight factors of the optimality criterions; and (iii) stability of the closed-loop optimal system. As opposed to the method of the optimal control, the ADAR method is free from the demand to solve Riccati's equation and Bellman's equation, and the procedure of the control laws' analytical design is easier. The control laws designed with ADAR method also may ensure sub-optimal transients in a system: time optimal and energy optimal in the mode of big deviations from the desired final state, as well as optimal to the #uadratic criterion of the generalized work (criterion of A. A. Krasovskii) in the mode of small deviations. The provided numerical eXamples display e#uivalency of these methods, as well as a significant difference in the approaches used for the analytical design of the control laws, i.e. in contrast to ADOR, in the ADAR method the optimizing functional is a constructed performance criteria, the structure and the parameters of which are defined by the designer of the control system in accordance with the object's physical properties and the desired engineering re#uirements.

The work presents a technical robotized system /or support o/the neurorehabilitation procedures - BioMech rehabilitation exoskeleton. The device is an improvement o/ the first versions published in [8, 9]. The work presents the tasks o/ the theoretical-mechanical description o/ the robotized exoskeletons o/ the lower extremities, dynamic modeling o/such systems, and development o/the control systems. For the considered biped system the /ollowingproblems were investigated: kinematic synthesis o/ walking on the basis o/ the technology o/video capture o/the motion, solution o/the direct and inverse dynamic tasks /or /inding o/ the operating torques o//orces, synthesis o/ a /ull control system, verification o/ the /ound solutions by means o/ physical and natural modeling, creation o/ an adequate control system o/ drives /or realization o/ the set movement. The objectives were investigated within the /ramework o/ development o/ a biomechatronic complex /or neurorehabilitation o/ the motive device o/ human lower extremities.

This paper presents an approach to the design of a thermal stabilization system for the optoelectronic equipment (OEE) operating at low ambient temperatures and based on a relay controller. The main goal of the design procedure is minimization of the amount of the warm-up time tw and the number of heater switchings. The constraints applied to the spatial gradients of the design elements should be taken into account in order to limit deformation of the OEE design. Since these constraints are applied only to the system state variables, the controller parameters' constraints cannot be explicitly formulated. We use the electro-thermal model for the object control in the design procedure. This model describes adequately the energy balance of the thermal processes and thermal responses TaO), TB(t) in points A, B of the OEE design. Model approximation error is critical for the controller, which uses differential signal TA^(t) = Ta(0 - T](t) to fulfill the condition tw - min. Experiments with physical models show that this error can be significantly decreased by introduction of additional poles of the transfer function. Pareto optimal relay controller parameters are determined as a result of solving the vector optimization problem, which minimizes the amount of OEE warm-up time and the number of the heater switchings. Experiments confirm the compliance of all the constraints applied to the temperature gradients of OEE design elements. The proposed technique was used for designing of the thermal stabilization system for a diode-pumped solid-state laser.

The paper studies the stability and dynamic quality parameters of the control of the digital positional precision electric drive depending on the frequency of the digital part quantization of the numerical control. The drive provides a program of movement and positioning precision of the movable body of the machine. Structurally, the digital actuator is designed as a three-loop system of subordinate regulation: current loop, speed loop and position loop. The astatic position loop has the greatest sampling period of the digital part of the system. The article analyzes the influence of the minimum programmable movement in the astatic position loop with the minimized power and speed on stability of the system circuits and the quality control indicators: deregulation and transition time. It also analyzes the stability of the sampled-data system on the transfer-function for the system in the open position in the form of Z-transformation based on the Shannon-Kotelnikov theorem. Herewith, there is an analysis of the reproduction accuracy of the given difficult path by the approximated part of a small radius circle and a playback accuracy analysis. The analysis is based on the study of the transfer function of the system in the closed state and the error transfer function state, respectively, in the form of Z-transformation. Z-transformation and bilinear transformation make it possible to analyze the processes in the system in the field of pseudo-frequencies and to present the results of the research in the form of a logarithmic amplitude-phase-frequency characteristic. These characteristics clearly and convincingly demonstrate the impact of the minimal programmable movement of the system on the dynamic quality indicators control in comparison with the analog prototype. The study clarified the relationship between the sampling rate of the digital portion of the frequency and bandwidth of the analog part of the system, providing the required accuracy of a complex trajectory of the movable part of the machine. In order to improve the performance of the technological operations it is necessary to maintain a constant and optimal processing speed for the given work material, which is possible by increasing the frequency of a digital quantization of the system in the function of the parameters of the motion path.

The main purpose of the research is experimental study of nonlinear dynamics of a buck converter with the control system based on target-oriented control which allows eliminating undesirable dynamic modes. Target-oriented control is a relatively new nonlinear dynamics control method and until now the possibility of its application for nonlinear dynamics control of switching power converters has been given only a theoretical estimation. In order to accomplish the mentioned purpose, the study of nonlinear dynamics behavior of the considered system using a mathematical simulation is required. Thereafter, the results of the study should be experimentally verified. The systems of the considered class are described by piecewise-smooth mathematical models in terms of differential equations with discontinuous right-hand side. This paper presents a mathematical model of the automatic control system based on target-oriented control in its stroboscopic maps. The transition to stroboscopic maps is implemented by solving a primal system of differential equations. Dynamic modes maps and voltage ripple relative swing amplitude diagrams have been calculated using the given mathematical model. They allow estimating a certain dynamic mode damages in relation to the output voltage parasitic oscillation amplitude. This paper also presents a functional description of the experimental circuit for study of nonlinear dynamics behavior of a closed-loop control system with different pulse-width modulation types. The peculiarity of the experimental circuit is the control system based on high-performance ARM core microcontroller, allowing the method feasibility estimation and using up-to-date hardware components. One-parameter bifurcation diagrams were calculated using both the mathematical model and the experimental circuit. A comparative study of the theoretical and experimental bifurcation diagrams has been carried out. The efficiency of nonlinear dynamics of target-oriented control for a buck converter has been proved. The given results have been quoted for the first time. They can be used for development the automatic control systems for a broad range of switching power converters types.

During the flights on RNAV routes the aircraft equipped with the flight and navigation systems not adapted for implementation of the area navigation functions, a problem arises of lack of the adequate information support for the crew. The situational awareness of the crew is improved with Dora-processing on-board equipment providing the crew with the required volume of the navigation parameters. An algorithm is offered for calculation and formation of the navigational flight parameters in the horizontal plane along the RNAV routes, which can be used as augmentation program for the onboard software complex. Calculation of the flight navigation parameters is performed in real time based on the data about the current and next phases of the route trajectory based on the actual flight data. We consider a set of the trajectories of the sites applied to build the circuits and route area navigation. The tra/ectory data settings are contained in the air navigation databases, compiled in accordance with the aviation industry standards. The calculation algorithm allows us to obtain the navigational flight parameters and display them in the same format, as in the next one, and change the operational sequence of the route segments. The calculated parameters can be displayed on the cockpit multifunction displays and, if necessary, generate the control signals and Yagi. The calculation algorithm allows adaptation of the onboard navigation system to the requirements of the area navigation systems.

During performance of a flight task (FT) by a helicopter (flight machine (FM)) the crew always has to solve the so-called tactical problems: the problem of the operative goal setting and the problems of designing of a way to achieve the operatively appointed purpose of the flight. The problem of the operative goal setting arises in a flight in case of occurrence of the direct external and intraonboard threats, which undermine performance of FT or threaten the integrity of FM. In this case the crew can demand to appoint a new current purpose of the flight, preferred to its carried out current purpose of FT. After a successful achievement of this new current purpose of the flight the crew solves the goal setting problem: a problem of return to performance of TF. Onboard computer systems were developed to help the crew solve the problem of the operative goal setting. They operatively ensure for the crew the discretion, the situational awareness, the situational confidence. The discretion of the crew is provided with the onboard algorithms of the complex processing of the information, which arrives from the onboard measuring systems. Those algorithms detect the external and intraonboard threats, which can prevent the performance of FT or threaten the integrity of FM. Those potential threats are shown to the crew on the information and control field (ICF) of the FM cabin. The situational awareness of the crew is ensured by the intelligent information system "Crew Situational Awareness" (IIS CSA). The system allocates the direct threats among the potential threats and defines for them the so-called "points of noreturn". The direct threats and their "points of noreturn" are shown to the crew on ICF. The ranging of the direct threats is used during decision making concerning an operative goal setting problem. The situational confidence of the crew is ensured with an onboard operatively advising expert system "Operative Goal Setting" (BOSES - goal setting). The system recommends to the crew the priority current purpose of the flight. In the article the structure of units of IIS CSA is described and an example is provided of the definition of a "point of noreturn" for a certain direct threat.

It has been a study of interaction and automatic by-wire control systems, as well as external and internal influencing factors. It was shown the need for application in the complex aircraft control system safety management system. A feature of the proposed system is the use and realization in its structure algorithms, fuzzy logic and expert systems. The proposed approach makes it possible to create a system, adaptive to changing the aircraft flight conditions, increase the speed of reaction of the system upon the occurrence of adverse events. It was the mathematical model of computing the core safety management system of the helicopter, which allows to investigate the physical processes occurring in the system. This analysis was conducted by according to the conditions Hadamard correctness. Was offered a block diagram of the safety management system of the helicopter flight, the implementation of which is carried out on the basis of artificial intelligence. The article considers various aspects of the application of expert systems and fuzzy logic in control helicopter system. Special attention is given to the analysis of the interaction of the system with other complexes of control of the aircraft.

The article is devoted to the main development trends in robotics in the context of transition to a high-tech society and the related issues connected with training of specialists using the example of the Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), St. Petersburg Politehnic University (SPb PU) and St. Petersburg Electrotechnical University "LETI". Special attention is attached to the problems of artificial intelligence and group application of robots in conditions of building of the cyber-physical systems based on the network communication of the automated technical devices. The area of the educational robotics is presented by the example of the successful implementation of the "school - higher educational institution - enterprise'" model of the Russian State Scientific Center for Robotics and Technical Cybernetics intended for attraction, education and employment of young people.