The topic of the article is the problem of identification of the dynamic objects by two types of the pulse testing signals: testing by a single pulse at a fixed interval of observation and testing by a periodic pulse sequence of a fixed frequency. The single testing pulse can be useful in operation of the adaptive controllers, and the testing impulse sequences are widely used, for example, for studying the nature of the biopotential changes of the eye retina (electroretinogram) in order to obtain additional features for the diagnostic systems. For a single pulse testing the authors propose to select a determined interval of observation, and this makes possible a Fourier series expansion of the observed output and input on the given interval of observation. They demonstrate that the ratio of the amplitudes of the harmonics with the same number of the output and input signals can show the corresponding point's coordinates on the a complex frequency response with a certain accuracy. This accuracy depends on the interval of the observation time and the inertial properties of an object. The advantages of this method are a good noise-immunity and little time for identification. There are some conditions imposed on the duration of the observed transient response on the output of the dynamic object with the defined parameters of the testing pulse, which allows us to evaluate the coordinates of the points of the complex frequency response of an object and to make an adaptation of the controller's settings. The result of the Fourier series expansion of the output signal for the periodic impulse sequence is the same as for a single pulse at a fixed interval of observation. The intermediate points of the frequency response and the points at low frequencies can be found by replacement of the observed signal with "zeros'' on the additional time interval. The input signal spectrum has harmonics with null values of the amplitudes at the frequencies multiple to the reciprocal value of the pulse width. And the authors demonstrate that the points of the complex frequency response at these frequencies are determined with big errors. Those points can be determined by varying the testing pulse duration.

Most optimization algorithms require prior appointment of its parameters. Formed on the basis of the method Nelder- Mead for the neural network learning algorithm (NNLA) was no exception. In this article the task specification values of the coefficients of the neural network learning algorithm (NNLA) is solved for systems containing PWM element that is composed of an artificial neural network. For this the genetic algorithm is applied to the most appropriate in this case selection strategy - "elitism". In order to expand the scope of formed algorithm NNLA, including automatic control systems in that processes are quickly introduced integral criterion, that along with the most common criterion, having in its composition an error, use the least amount of NNLA algorithm iterations. Assessment "health" formula is shown after the convolution operation of such criteria. The main variants of the neural network are considered: based on the modulation characteristics; single-layer fully connected neural network; single-layer fully connected neural network with feedback. The results of the application of genetic algorithm are given for determining the coefficients of the NNLA that configures an automatic system to achieve the integral quality criteria minimum, with use of the aforementioned embodiments of neural networks and features five activation of the neuron network.

This paper is devoted to the research and development of the control techniques for the semiautomatic orthosis devices of human limbs. Such devices are used for rehabilitation of the human limbs after various injuries or diseases. The designed or-thosis devices should be equipped with a set of the force-sensors, adaptive control algorithms and software for an intellectual adjustment to a patient. This allows creation of a reliable system for rehabilitation. Force-sensors are used to obtain information from a patient during walking. Based on this data the designed controller forms the desired control for the assistance device to provide support for the patient. Also, there is a manual control mode. In this mode the controller receives commands from a patient via a human-machine interface. The fixation system represented by a motor or an air pump adjusts the orthosis with the optimal force on the patient's limb. The current parameters are sent to an LCD monitor. The experiments demonstrated forces from the patients' feet during different physical exercises. The parameters for an air pump switching were obtained. These parameters were used for the control algorithms in the controller.

Automatioи of movement of the anthropomorphic systems is щи important task. It requires development of various motion control algorithms. Control of the exoskeleton is typically done using the reader and gain of the control pulses of a person. However, such a control cannot be implemented, for example, for the recovery of the motor abilities after injuries of the vertebrae and for learning to walk again, or in sports training with the help of the exoskeleton or its parts. In this case, the analytical motion control algorithms are required. The article presents a comparative analysis of these two approaches to the task of the motion control of the exoskeleton. As an illustration, the authors present a graphical dependence of the basic kinematic and dynamic parameters of the walking time and footage of the split-pictorial visualization of a model of an exoskeleton. The difference of this work from the existing ones is in the use of the exoskeleton links of a variable length. The paper describes a model of a link of a variable length in the form of a weightless rod and three lumped masses located at the ends of the rod, and an arbitrary point of the rod between its ends. The masses in the hinges-joints, except the movable joints, can be modeled by a motor mounted on a hinge pin having a substantial mass and creating the control point. Giving each lot a certain value, it is possible to obtain such a distribution of the masses on the rod, which approximately corresponds to the inertial properties of the link in the musculoskeletal system of a person. The differential equations of motion for the single-link and multi-chain systems were obtained. Generalizations for development of an effective matrix and recursive algorithms for writing differential equations of motion for the multi-link systems composed of links of variable length were composed. A study revealed that control of a real human walk had a pronounced pulsed character, while a gait, based on the theoretically specified periodic functions, was more energy intensive than a real human walk. This, in particular, explains why the energy consumption of the modern anthropomorphic robots during walking is higher than that of humans.

The article presents a description of the hard-and-software tools of the system for measurement of the complex shaped blade tips' radial clearances and axial displacements. The blades of a complex shape are used in modern and promising gas turbine engines. System's hardware consists of high-temperature single-coil eddy-current sensors with additional thermocouples for sensitive elements' temperature error correction and front-end data processing module with ADC at the output of the measurement circuit and a microcontroller. The system's software consists of operation algorithms of a new generation, which ensure an adaptive data compression, code samples' approximation and information values searching, calculation of x, y-coordi-nates of the blade tips' displacements and other service algorithms. Experimental research of the prototype of the measurement system was realized. The main aim of the research was to evaluate the metrological characteristics of the system's prototype in a static mode and its operativeness in a dynamic mode. The quantitative estimations of the most significant indexes, the methodical and random error fractions, were provided. An object simulator was developed. It was intended for evaluation of the operativeness of the measurement system's hard-and-software tools. The principles of such evaluation are offered. These principles ensure several step-by-step operations, such as obtaining of the calibration characteristics in the dynamic mode during a simulator wheel rotation; setting of them in the system memory as the initial data for the further target coordinates' calculation; setting of the test values of x, y-coordinates and their comparison with the previously calculated values.

This paper is devoted to control of the combustion processes in the internal combustion engines (ICE). It presents a method for estimation of the position of the peak pressure, the maximal pressure of the cycle and the air-fuel ratio based on the analysis of the integral characteristics of the ion current signals. The advantages of the proposed method are stability of the final result of the calculation to the influence from the cycle-to-cycle combustion parameter variations, stability to the changes in the parameters of the measuring probe during a long operation time and absence of restrictions on the wave form of the ion current. It also presents the results of the experimental testing of the developed method and its comparison with the conventional methods of analysis of the ion current and control of the combustion process parameters. The authors compared the efficiency and accuracy of the method using a combustion pressure sensor, based on the piezoelectric ceramics; the methods of the ion current analysis, based on detection of the thermal-ionization ion current peak; the method of the ion current analysis based on the integral characteristic of the ion current signal. The results of the experimental studies indicate a possibility of the use of the integral characteristic of the ion current signal for estimation of the combustion process parameters with the accuracy of the combustion pressure sensor based on the piezoelectric ceramics. The ion current measurement technology is cheaper than the piezoelectric ceramic sensors and can be widely applied in the serial engines.

An approach is proposed for substantiation of the requirements for the use of the means of control of a technical state and diagnostics of failures of the electro-pneumatic steering gear with a hydraulic brake for the autonomous underwater vehicles. The extreme requirements are based on the use and means of control of a technical state and diagnostics of failures of the electro-pneumatic steering gear with a hydraulic brake for the autonomous underwater vehicles. Using the methods of the system analysis, a decomposition of the extreme requirements up to the level of the control functions and diagnostics of the steering gear was carried out. The methods and algorithms for control and diagnostics of the steering gear, a set of technological control and test equipment were developed. The novelty of the developed methods and algorithms for the control and diagnostics of the steering gear of the autonomous underwater vehicles is related to the formalization of the process of justification of the requirements to the use of the autonomous underwater vehicles, with transition from the requirements to the functions of the devices and, further, to the methods and algorithms of control and diagnostics of the steering gear. This allows us to reduce the probability of making wrong decisions at the stage of development of the equipment, which are the most frequent and lead to a significant increase of the cost and time of the research and development, and also create the technological equipment, methods and algorithms for control of the technical state and diagnostics of failures of a new type of the hybrid actuators - the elec-tropneumatic steering gear with a hydraulic brake. For testing of the proposed approach an autonomous unmanned underwater vehicle, which moves in water at a depth up to 30 m with velocities over 100 km per hour, was considered. The control of the autonomous underwater vehicle is performed by two pairs of rudders, which, depending on the driving mode of the device, take position from 0 to 90 degrees relative to the vehicle hull.

He system identification methods make an important part of the flight test data analysis. Due to these methods accurate aircraft parameter estimations can be obtained, which meet the requirements of numerous applications, such as simulators and flight control systems design, aircraft modernization, etc. The aircraft parameter identification, when applied to the processing of the actual flight test data, faces the following principal problems: inevitable differences between a physical object and the adopted mathematical models; an essential incorrectness of the identification problem, since it belongs to the class of the inverted problems of dynamics. The presented techniques are intended to overcome those difficulties, using a system approach. That means that the identification problem is treated as an integral multistage system, designed on certain basic principles. These principles are the following: every stage includes a verification procedure; a decomposition of the general problem into minor subproblems; a systematic search for all the useful information in the relevant disciplines; an important role of a human operator. The article presents an algorithmic and methodological support for monitoring of the correctness of the airborne measurements and estimation of the aerodynamic nonlinearities for identification of the aerodynamic coefficients of the aircraft according to flights test. The paper also presents numerous examples of the practical applications of the considered methods and algorithms in the process of the parameters identification of the mathematical models of certain modern aircraft, using the flight test data. The authors believe that the choice of those examples would be helpful for understanding of the typical problems of the aircraft parameter identification.

Real-world problems associated with the use of the moving vehicles present a problem for estimation of the unknown motion parameters on the basis of the data obtained from a static camera set on the surface of those vehicles. The initial data (in absence of information about the vehicle motion) are the images obtained from different viewpoints. The traditional approach to estimation of the rotation and translation parameters, which consists in determination of the so-called fundamental matrix and the subsequent calculation of the required matrices has several drawbacks. In particular, if the largest portion of the predefined points in the images is located on the same plane, the fundamental matrix estimation involves serious errors, which, in turn, lead to errors in estimation of the camera parameters. Unlike in the traditional approach, in this paper the corresponding points are used to estimate not the fundamental matrix, but the internal and external camera parameters directly. Besides, this paper presents a multiple view geometry model, based on three-dimensional images and camera parameters in the form of dual quaternions. The proposed approach to the problem is a new method of estimation of the unknown camera parameters, which is more accurate and reliable compared with the traditional one. This method was implemented as a program in C + +. Using the developed program, the authors carried out an experiment to establish a correlation between the errors in the input data (points of coordinates on the planes of the camera) and the errors in the estimated rotation and translation parameters. As the result, it was confirmed that the accuracy of the parameters' estimation in most cases surpasses the quality of the results obtained by using the fundamental matrix.

Prospects for the self-driven vehicles and the existing adaptive cruise-control systems for vehicles put more and more stringent requirements to the longitudinal motion control models. The authors believe that one of the key targets in the contemporary studies is development and research of the motion models suitable for the robot-aided vehicles, showing the difference between the piloted, semi-automated and automated control models. This article is devoted to the theoretical mechanical models of the guided longitudinal motion of vehicles. Such models, precise and robust, are essential for analyzing and construction of complex transportation system models. The article is mainly devoted to the design of the analytical models of the linear movement of the vehicles' control; theoretical and mechanical studies of the longitudinal motion of a single car and a pair of cars are carried out, a paradigm of the constructive mathematics is used. Notably, a traffic flow is introduced as a chain of the vehicle "couples", since their motion is longitudinal. A new approach to the coupled vehicles' movement, taking into account the velocity, acceleration and dynamic parameters of the transport units, is introduced. The article presents a concept of a predetermined (program) motion; the relative vehicles' motion is presented in the deviations from a predetermined motion. Possible relative motion control models are introduced. Ways of keeping the required mode of the coupled movement for different types of control are considered. The asymmetry of the control options for different vehicles is detected and studied.