The situational approach originated initially at the management in 1960’s of the XX th century at present has not the proper development and extension in control problems by technical objects. The true possibilities of the situational approach for the theoretical automation are uncovered themselves in rethinking of the key notions like "situation", "situational model" and "situational control" for class of complex technical systems. The retrospective of the formation of the situational approach is discussed in the article, and also the questions of the application of the situational methodology in the problems of the automatic control and the automation of the ergatic control systems are considered. The conception of the situational control developed by the authors permits to join naturally the methods of the logical and continuous dynamical control and allows to consider as one from the directions of the development of the theory of the logic-dynamical systems. This fact is conclusively illustrated with use of the situational methodology in the systems of multiregime regulation. The aim of the regulation is decomposed into local aims. The definite situations and the regimes of regulation conform to these aims. And the processes of the regulation themselves are realized by means of two-level hierarchical design of the system: the lower level puts together the bank of subcontrollers working off the local aims, and at the top of the level the control of the flowing situations is realized and the logic process of the switching of the regimes is represented. The situational approach used for one from the fundamental bases for the present control theory by complex technical objects. The suggested conception of the situational-goal control for the given class of the objects in contrast to the classical two-step scheme "situation-action"is based on four-step scheme "situation-aim-control strategy-action", which meshes perfectly with multiple goal control principle by complex systems based on the decomposition of the main aim into intermediate local aims in connection with the separate situations. As a final result, the control process is realized by three functions simultaneously: monitoring of the situations, the generation of local aims and formation of the control strategy. Their outputs are diagnose of the flowing situation, the new local aim of control in case of the situation’s change and the control strategy respectively.

In the paper the authors to continue comparison of known methods of Analytical Design of the Optimum Regulators (ADOR) and Analytical Design of the Aggregated Regulators (ADAR), discussed in paper [1]. Their comparison with method ADOR by criterion of accuracy of regulating is resulted. It is shown that the ADOR method by criterion of accuracy possesses more considerable advantages connected with easier procedure of analytical design of the nonlinear laws of the optimal control — is direct on the equations of the control object, not demanding the solution of any differential equations or artificial introduction in consideration of any functions of transformation in the form of the aggregated macrovariables, and the most difficult mathematical procedure is differentiation of variables and substitution of the equations of control object. The main difference of method ADOR by criterion of accuracy in the theoretical plot from all known methods that this method gives absolutely exact solution, he reliably secures a zero error of regulating, and all factors of errors (on a position, speed, acceleration, jerk etc.) also are equal to zero.
Unlike known ADOR methods, in known Bellman`s method relay optimum control by criterion of accuracy of regulating function of switching and corresponding to this optimum control is defined. The method of decomposition of control process on n control intervals is for this purpose applied, on each of which there is continuous partial derivative Bellman`s function and, hence, the functional equations on each interval are fair. In an investigated method optimising functional is a real and concrete criterion of performance. Synthesised laws of control by criterion of accuracy of regulating also can provide multicriteria optimization of transients in system: optimum on accuracy and simultaneously optimum on fast operation, or optimum on accuracy and simultaneously optimum on an energy consumption. At the expense of emersion in system of zeroovershoot responses double invariance as to any (including, casual) to external affectings, and to changes of parametres of control object is provided. On synthesis examples clear advantages of method ADOR by criterion of accuracy of regulating as concerning the elementary procedures of analytical control laws disign for nonlinear objects, and concerning validity of analytical definition of parametres of regulators depending on extent of fast operation of optimum regulating on accuracy in the closed system are illustrated.

This paper is devoted to the investigation of relay systems with sample-data control. Self-oscillations in such systems are the operating mode. Time-sampling has a significant effect on the parameters of periodic oscillations. We propose an exact method for analyzing periodic regimes in digital self-oscillating control systems with a two-position relay element. The proposed approach extends the phase hodograph method to the class of systems operating in discrete time. A method for obtaining a phase locus for the case of self-oscillating systems with time-sampling and a linear control object is presented. The method for obtaining a phase locus for the case of self-oscillating systems with time-sampling and a linear control object is presented. The method for obtaining a phase locus for the case of self-oscillating systems with time sampling and a linear part is presented. The paper proposes a analytical procedure for constructing a family of phase locusers of a discrete relay system, both in the frequency domain and in the time domain. This approach makes it possible to isolate all possible symmetric periodic motions in the systems under consideration. The frequency approach is based on the allocation of a continuous linear object and a discrete control part. The output signal from the digital part in the batch mode can be decomposed into a discrete Fourier series. This allows obtaining analytical conditions for the output signal of the continuous part. The sampling of the control system causes a delay in the switching of the relay in a batch mode in comparison with the continuous case. The method allows to determine all symmetrical periodic oscillations in relay systems with time sampling. Similarly, we propose the approach of obtaining a family of phase travel curves for such systems in the time domain. The approach is based on the consideration of the control object in the state space. The approach is based on consideration in the state space of the control object. The phase locus is determined by solving the matrix equation. The stability and the attraction domain of limit cycles are discussed. The effect of sampling on periodic processes with an unstable control object is given. It is shown that in this case micro-chaotic oscillations arise in the system. An example is provided to demonstrate the application of the method.

Currently, multi-mode control is widely used in the management of complex controlled objects. The actual solution of this article is the replacement of the dynamic situation analyzer by the state controller by the example of controlling the air jet engine. The state of the air jet engine is characterized by the following variables: the rotary frequency of the free turbine (fan or low-pressure compressor), the rotary frequency of the high-pressure compressor, the pressure and combustion temperature of the gas in the combustion chamber, etc., which are projections of the state vector, where the operating point in the current time moves on the static characteristic. All variables depend on the fuel consumption, its quality and synchronously change at the current time. Currently, all listed parameters of the air jet engine are regulated separately, which is a disadvantage. It is proposed to replace the linear regulators of the above parameters with a single state regulator that controls the dispenser of an air jet engine. The task of the fuzzy adaptive controller state is to change the fuel consumption of the dispenser in order to control the parameters for implementing the various operating modes of the air jet engine using neural-fuzzy technology. The developed model of the state controller meets the requirements of the real-time system, and reduces the hardware costs for building the control system by eliminating the selector.

A methodology is proposed for investigating surface sea currents that considered as natural phenomena. Monitoring of sea currents is relevant in the context of ensuring the safety and purposefulness of a variety of human activities at the sea. The peculiarity of this methodology, which distinguishes it from others, is that it identifies the current with the portable movement of a controlled marine object. It considered as a navigational factor that changes in time and geographical space and requires an on-board operational assessment of the current state. Mathematical models of inverse trajectory problems of the "state — measurement" form are presented, the aim and main component of the solutions is the velocity vector estimation of the sea current, following the reconstruction of the object absolute velocity (relatively to solid Earth) according to its GLONASS positioning data. These models are associated with the model of the estimating the derivatives problem of a continuous time function from its temporally measurable values having the Jordan form of a matrix with a nilpotency index that coincides with the dimension of the system of linear differential equations of state, which causes the discretization of the problem in time without methodological errors and the implementation of computational algorithms for dynamic circulation. The results of computational experiments are presented.

The paper presents peculiarities of some components of wall climbing robots intended for motion along underwater surfaces and performs underwater technologies. Recommendations for design of vacuum contact devices equipped with "gaswater" ejector are analysed. The information data preparation for modelling and simulation the vacuum contact devices are needed to find required parameters. The obtained hydromechanical characteristics permit to prepare wall climbing robot for realization some underwater technologies.
Vacuum contact devices are intended for produce gripping functions with underwater horizontal or sloping surfaces over which underwater wall climbing robots are moving.
In motion process one platform can move when other platform is connected with surfaces by means vacuum contact devices. Another words, when external group of vacuum contact devices is fixed to the surface, internal one can move with the platform, and so on.
Underwater wall climbing robots consists of internal and external platforms equipped with vacuum contact devices placed on the end of every leg. Sensory system includes a video camera that is used for robot navigation and orientation, proximity sensors for fixation final positions of pneumatic drives and pressure-vacuum sensors intended for measure forces inside of vacuum contact devices.
Technological equipment is installed on the upper platform. Suggested experimental robot prototype has control system that permit to organize automatic or supervision control with participation of man-operator.
The drive design provides both the continuous low velocity mode to fulfill technological operations by the robot, and the discrete high velocity mode. The discrete high velocity mode is convenient for the transportation of technological equipment to working area.
This paper includes following sections: prescribed tasks for underwater wall climbing robot technologies, main peculiarities of the robot, vacuum contact devices study and conclusion.

The article deals with the pneumatic mechatronic complex (PMC), which is controlled by an interactive touch panel by a human operator. A pneumo-electric circuit for connecting components of the mechatronic complex is presented. The pneumatic mechatronic complex consists of electrical, electronic, pneumatic, pneumo-electric components and software. A functional map of the technological process of fixing a floating object, moving and storing in a storage tray, which includes 13 steps, is constructed. To control the PMC, a programmable logic controller (PLC) Siemens S7-1200 and a touch panel Siemens HMI KTP 400 Basic are used. The interconnection of PMK components is carried out through the construction of an industrial communication network. The industrial network is implemented using the Ethernet interface. The Ethernet switch Siemens Scalance XB05 combines a PLC, a touch panel and a personal computer into a common network. For each device, you specify the IP address and subnet mask. To implement the stages of the technological process, an experimental view of the operator’s screen was developed. On the touch panel, buttons are displayed so that the human operator can control the PMC in manual mode. Program control PMC is implemented in the Tiaportal v.14 environment using the LAD programming language (Ladder Diagram). The article shows and describes parts of the code that implement: moving up / down the rodless cylinder of the carriage with the grip; retraction and extension of the cylinder with grasping; opening and closing of the grasp; supply and deactivation of air in the nozzle; extension of the cylinder supplying objects to the zone of action of the air stream. An experiment was conducted to reveal the time for performing operations of the technological process of fixing the floating object, moving and storing it in the storage tray. The commit of the execution time occurred separately for each stage and for the complete cycle from the start position to the return of the object to the storage tray. The amount of time for performing individual operations was approximately 17 seconds. The complete cycle man-operator can perform in 22 seconds.

Article is devoted to development of theoretical representations of elements and control systems. Implementation of the modern systems of automatic control on the basis of uniform modules demands use of the alternate designs of functioning of mechanical clusters, in particular in two-rotor execution. It will allow to realize adaptive behavior of the car in technological process, movement of actions on the composite contours with various speed, high reliability and safety. The set of mathematical and pilot study is one of perspective and most widespread methods of studying of objects of a research, allows to study its functioning, to learn to operate efficiently an object.The purpose of work is the pilot study of the electric drive of the two-rotor electrical machine with differential management by a natural experiment and receiving its surge characteristics.For carrying out a natural experiment the pilot unit of the electric drive on the basis of the two-rotor electrical machine with differential management which contains mechanical loading, the operated electric loading, the control unit of electric loading, the terminal computer operating system is developed and made. The pilot study of the electric drive consisted in filing of rotation frequencies of rotors of the two-rotor electrical machine with differential management in various duties at change of entrance loadings: mechanical and electric. During an experiment the data reflecting transition phenomenons of the electric drive on rotation frequencies of rotors and also a cooperative rotation frequency of rotors are obtained. Statistical data processing of the received results and the subsequent comparative analysis of results of the received earlier imitating experiments and the natural these established values of rotation frequencies of rotors in various duties of the electric drive is carried out.The analysis of the submitted data of model operation shows qualitative and the quantitative (within 10 %) compliance of an imitating experiment to natural. Means, the developed mathematical model of the two-rotor electrical machine with differential management is adequate, reflects the actual physical processes proceeding in the developed electrical machine and allows to investigate parameters and to receive characteristics of the electric drive on its basis in various duties.