The problem of control of a hybrid power plant of a car consisting of an internal combustion engine, a synchronous electric motor with permanent magnets and a synchronous generator is considered. The formation of the control effect is carried out taking into account the connection of the above objects with each other with the help of planetary transmission. The mathematical models of the three listed engines are nonlinear with several control channels. In addition, the principle of the hybrid power plant requires the simultaneous operation of these engines and, accordingly, the construction of the necessary interrelated control actions. To synthesize the laws of vector control of a hybrid power plant, the method of analytical construction of aggregated regulators (ADAR) is used. Within the framework of this method, it is possible to work with a complete nonlinear control object model. Unlike the traditional approach of constructing a separate stabilizing control for each control channel, this method uses co-control over all variables to transfer the object to the desired state. In this case,for a number of variants of control algorithms, the communication between the control channels is carried out not indirectly, through the control object, but directly formed in the regulator. In addition, the control law takes into account unknown external disturbances, which were compensated using the principle of integral adaptation. In this paper, one of the modes of operation of a hybrid power plant is shown during the acceleration of the car. First, only the electric motor works, as the car accelerates, the internal combustion engine is connected, and at high speeds only the internal combustion engine works. This mode of operation of the hybrid power plant allows using both engines in the most convenient range of angular speeds, which leads to an economical fuel consumption and a charge of the storage batteries. In addition, the second electric motor operates in the generator mode and transfers a part of the mechanical moment to recharge the batteries.

This paper presents an algorithm for stable bipedal walking control along an arbitrary curve. The algorithm starts with a foot planner, which takes a parametrically defined desired path as an input and calculates feet positions and orientations at each step. Zero moment point (ZMP) concept is used for robot stability control. The dynamics of the robot is modeled as a running cart on a table. Given the reference ZMP trajectory, ZMP tracking servo controller based on preview control theory is used to calculate robot’s center of mass (CoM) trajectory. The preview controller is made of three terms: the integral error of ZMP, the state feedback proportional to a current state vector and the preview action which takes into account future values of the desired ZMP position. We propose robot’s state estimator based on linear Kalman filter with measured CoM acceleration and position as system inputs. Swing foot trajectories are calculated using trigonometric functions, since they are simple and can provide zero velocities at contact moments. We put some additional constraints on a system by assuming that there is no forward-backward inclination of the robot trunk and swing foot is always parallel to the ground. To avoid kinematic limits in hip and ankle roll joints we calculate a minimal angle to rotate robot trunk in frontal plane. After position and orientation of robot trunk and swing foot are found we apply inverse kinematics solution for robot legs to get robot joint angles. Finally, joint angles are sent to robot actuators. Software package based on ROS operating system was developed for AR601 robot. Verification tests were executed with robot model in Gazebo simulator. The robot successfully completed series of experiments confirming modelling results.

In this paper is given an over view of histor y of creation and development of geometrical mathematical models and use of pneumatic artificial muscles (PAM) and bellows. PAMs and bellows as pneumatic actuators are made of flexible membrane which can inflate. Displacement of these membranate elements depends on inner pressure. Direction of the displacement coincide with elements symmetry axis. Process of displacement involve shell form change. Reviewing actuators can be divided into two types: push-type and pull-type. The direction of displacement depends on length and diameter ration of element. PAMs are related to the pull-type actuators, bellows are related to the push-type. Distinguished tendencies and perspectives of developing pneumatic actuators are based on force membranate elements because of their advantages such as small weight, smoothness on low velocities and high strength. True to date exist big amount of different constructive designs of PAMs and bellows. Review contains such designs as braided, pleated and other designs of PAMs. In this paper are given main and often used approaches of creation static geometrical mathematical models of PAMs and bellows. Suggested mathematical models connect such parameters of PAMs and bellows as developed force, element axial length change, inner pressure change, diameter and material characteristics. For PAMs and bellows control is required to control its length or developed force. There are shown some applications of force membranate elements in different fields, such as biorobotics, medical and industrial applications. In conclusion are given possible approaches to improve discussed geometrical mathematical models of PAMs and bellows.

 We propose the new version of separating the process of integrating the differential equations, which describe the functioning of the strapdown inertial navigation system (SINS) in the normal geographic coordinate system (NGCS), into rapid and slow cycles. In this version, the vector of the relative velocity of an object is represented as a sum of a rapidly changing component and a slowly changing component. The equation for the rapidly changing component of the relative velocity includes the vectors of angular velocities of the Earth’s rotation, NGCS rotation, and, at the same time, the vectors of the apparent acceleration and gravity acceleration, because these accelerations partially balance each other, and at rest relative to the Earth are balanced completely. The equation of the slowly changing component of the relative velocity includes only the vector of angular velocity of the Earth’s rotation and the vector of NGCS rotation. The quaternion orientation of an object relative to the NGCS is represented as a product of two quaternions: a rapidly changing one, which is determined by the absolute angular velocity of an object, and slowly changing one, which is determined by the angular velocity of the NGCS. The right parts of the equations for each group of variables depend on the rapidly changing and slowly changing variables. In order to enable the independent integration of the slow and rapid cycle equations, the algorithm have been developed for integrating the equations using the predictor and corrector for the cases of instantaneous and integral information generated by SINS sensors. At each predictor step the Euler method is used to estimate the longitude, latitude and altitude of an object, slowly changing component of the relative velocity, and slowly changing multiplier of the orientation quaternion at the rightmost point of the slow cycle. Then the Euler-Cauchy method is used to integrate the equations for the rapidly changing components on the rapid cycle intervals, which are present in the slow cycle. The necessary values of the slowly changing components in the intermediate points are calculated using the formulas of linear interpolation. After the rapidly changing components are estimated at the rightmost point of the slow cycle, at the corrector step the Euler-Cauchy method is used to refine the values of the slowly changing components at the rightmost point of the slow cycle. Note that at the beginning of each slow cycle step the slowly changing component of velocity is equal to the value of the relative velocity of an object, and the rapidly changing component is zero. Similarly, at the beginning of each slow cycle step the slowly changing multiplier of object’s orientation quaternion equals to the quaternion of orientation of an object relative to the NGCS, and the rapidly changing multiplier of the orientation of an object has its scalar part equal to one, and its vector part equal to zero (this formula is derived from the quaternion formula for adding the finite rotations). SINS on a stationary base had been simulated in the presence of perturbations for a large time interval for a diving object, which drastically changes its height over short time periods. 

The questions of estimation of convergence of the processes received in single flight tests of an aviation complex and at mathematical modeling are considered. This evaluation is performed based on the methods of analysis of variance and means of verification of statistical hypotheses in decision-making on the convergence of the compared processes. For each of the compared processes, the least squares method determines the regression lines. By methods of mathematical statistics the permissible proximity of regression lines of the compared processes is established and the average regression line equivalent to the mathematical expectation of the analyzed statistical processes is determined. With respect to this line, the variance of deviations of the compared statistical processes is determined and their belonging to the General sample of processes is estimated. This suggests that under normal laws of the distribution of measurement errors there is an adequacy of the processes of the mathematical model of the stages of operation of the aviation complex and the observed processes of these stages during flight tests of the aviation complex under study.

The article is devoted to the actual topic of a small-sized active aircraft control sidestick design and identification of parameters that influence its energy consumption characteristics. The analysis of structural regularities of active control sidestick kinematics design is carried out. The analysis demonstrates that the disadvantage of the known frame constructions, apart from the large dimensions, is the difference in the dynamic characteristics of the channels when using the same actuators, because the mass of a frame mounted actuator is the load for a fixed base mounted actuator. According to results of the analysis, a synthesis of the active control sidestick building based on using of kinematic pairs having one degree of motion was carried out. Hinged mechanisms were used that convert rotational motion of the input link (the actuator output shaft) to the swinging motion of the output link (the control sidestick handgrip) in a single plane. When using two such actuators, so that their links are located perpendicularly and connected to each other by a lever through one-degree-offreedom rotating pairs, a kinematic scheme with two degrees of motion is obtained. As a result the kinematic scheme of an active control sidestick which don’t use a frame is offered. The frameless scheme contains two identical actuators mounted on the fixed base, at that the interference of channels is excluded. The derivation of the actuator gear ratio between the rotation angle of the actuator output shaft and the handgrip deflection angle is given. It is shown that this dependence is of a sinusoidal type and that it is close to linear in the range of the handgrip operating angles. The given results of the parametric synthesis of the control sidestick electromechanical actuator allow to determine the electric motor minimum power and the gear ratio providing the required values of torque and speed at the actuator output link. In consequence of the research of the active control sidestick specific operation modes it is shown that the electric motor power depends on the required values of the maximum speed of the handgrip movement by a pilot and on the force applied to the handgrip, as well as on the handgrip inertia moment.

Different approaches to problem of improving onboard spacecraft control system failurestable on base principles of analytical excess, optimization and reconfiguration with using probability index and adaptive logic in diagnostic and testing algorithms are considered. One of problem is synthesis of spacecraft control system algorithms with incomplete apriory and distorted current information, action of uncontrolled and random factors, equipment failures and signal loss in information channel. Ways of failure diagnostic are examinated, in particular, problem excluding of failures sensors and power drives. Onboard attitude control system is synthesized and control algorithms are chosen, which guarantee robust stability and failure stability in presence indignant factors. Questions of onboard spacecraft control system failurestable improving are discussed on base reconfiguration with apply to adaptive logic in diagnostic and testing algorithms. The features of simulation are described on instrumental structure and operational modes of the attitude control system, the methods of dynamic research and computer simulation utilized during designing are indicated. Onboard complex control algorithms, diagnostic and reconfiguration are proposed for navigation, communication, geodesy satellites and earth inspectoral vehicles with prolonged utilization (more 10 years) in space flight conditions. Testing system have to decide two problem: discovering and eliminating faults. The mathematical system model is researching with implementation of analytic reserving. Difference signals are formed, which arise at fault appearance. The failure character is established by deciding rules on base difference signals and measures to it eliminating are took. The adaptive approach to development testing and diagnostic systems provide for realization of flexible logic of control system function to take into account factual onboard equipment state. The effectiveness of prepositional approaches and algorithms is confirmed by mathematical modeling results for several actual technical systems. Recommendations to their practical applications are gave.