Permanent-magnet synchronous motors (PMSM) are widely used in industry, transport and household appliances due to many advantages such as high power and payload, maintaining a constant speed at impact loads and voltage fluctuation, and high efficiency. Implementation of sensorless algorithms instead of measuring equipment may reduce the cost price of systems with PMSM. Field-oriented PMSM control requires information on rotor position and speed. Sensorless control methods replace the measured rotor position and speed with their estimates. The estimates are supposed to be obtained from the measured electrical quantities such as the motor voltages and currents. This paper continues the trend of sensorless control design and is devoted to design of rotor speed, position and flux observers for PMSM. The problem is solved under assumption that winding resistance, inductance and viscous friction coefficient are known; load torque is known or measured. In this paper the classical stationary reference frame model of the nonsalient PMSM is used. A simple speed observer is designed using linear filtration of known signals. The necessary condition for the convergence of the speed estimate is given and proved. Reparameterised model of PMSM and estimated rotor speed are used to design the position and flux observers. The proposed algorithms have simple structures and fast convergence. The theoretical results are proved by system simulation in MATLAB. Estimations of rotor speed, position and flux are conducted for different values of viscous friction coefficient and constant and harmonic load torque.

Non-contact profilometer often use scanning method to obtain data about the shape of the surface of the body. In this paper, present investigation and modeling of stabilization gap for non-contact optical profilometer based on the optical tunneling effect (OTE) in the dynamic mode based on the characteristics of its constituent blocks. In operation of such a scanning optical profilometer transducer moves along the test surface, without touching it. To ensure a correct reading of the measurement results is necessary to maintain the gap between the optical module and the test approach permanent body with high accuracy. For this proposed use of tracking feedback system that provides the stabilization of nanometer gap. This allows you to receive signals, depending on the topography of the surface, and on this basis to build a height map. The system of non-contact profilometer stabilization gap comprises a converter approach based OTE, photodetector, the convertor " current - voltage ", the height of the surface of the sensor and a piezomotor. In the process of stabilizing the converter system converts approximations gap d changes in the optical radiation Pfd, and formed a feedback voltage U_{os_d.} According to the difference of voltage U_{os_d} and master voltage U_d0, increments are obtained voltage DU_d, which provides piezomotor control applied to traffic proximity transducer that provides stabilization of the gap d at a given initial level d₀. System of this problems solve the task of selection circuitry, which managed to implement the necessary requirements for the quality of regulation and the task of building a regulator, by compensating unwanted temporal properties of the contour measurement, which is based on dynamic links with large gains and small time constants.

The article is devoted to the task of condition analysis of control systems for distributed infrastructures based on technical diagnostics and reliability theory procedures and methods. The urgency of the problems to be solved is substantiated, a brief review of scientific publications in this field is carried out, and directions that require further research are analyzed. The concept of "distributed infrastructure", integrating the automation, control, communication and data transmission subsystems within the technological systems is introduced. The model of distributed infrastructure control system is designed, the main processes of its functioning are described. The analysis of elements models of control systems for distributed infrastructure at the component level and interconnection protocols is executed. The diagnostic object is selected, its properties and characteristics are analyzed. A generalized and detailed diagnostic models of the control systems elements are proposed, their mathematical description using the methods of graph theory is performed. An approach to the development of algorithms for estimating the condition of control systems elements is shown, an example is given, and the results of their practical implementation are shown. The method for calculating and analyzing operational and technical parameters of control systems elements based on methods of reliability theory is proposed. The influence of indicators of diagnosis and checking different stages on the operational and technical parameters of the control systems elements is estimated, an example of the use of the proposed method with using the software modeling tool is given. Conclusions on the results of this paper are made, recommendations on their practical application are offered.

At present, the underwater vehicles equipped with multilink manipulators are used to perform a wide range of survey, technological and research operations in the depths of the world ocean. But in most cases, said manipulation operations are performed in a manual mode with help of the specially trained operators of the underwater vehicles. Based on their experience and knowledge, these operators plan the trajectories of working tools of underwater manipulators. However, it is very difficult for the operator to quickly and accurately solve manipulation tasks without direct contact with the working object and identifying the location of this object of work with help of video images. This leads to the performance decreasing of his work and to the probability increasing of the errors. The work proposes the new method for the supervisory implementation of manipulative operations by means of multilink manipulators mounted on underwater vehicles. This method involves the construction of mathematical models of objects of work with the help of on-board sonars. Herewith, the formation of target points and spatial trajectories of the manipulator's working tools is carried out by means of the targeting of the optical axis of the camera taking into account the requirements for the implementation of specific technological operations. The developed method can be used to perform many underwater manipulation operations in the supervisory mode.

Rotary-wedging propulsion device are considering. The peculiarities of dynamics and control main module such propulsion devices have been analyzed. These peculiarities are manifesting in environmental, energy efficiency, possibility. The problem of determination of parameters and schedule of motion, providing the minimum energy consumption has been set. The authors consider a mechanical system consisting of a rod of variable length, at the initial time occupying a certain position. The movement of the rod to a new position is carried out by successively changing the length of the rod from the initial to the intermediate, turning about the axis by a certain angle, and extending the rod from the intermediate to the final value. The weight of the robot is concentrated on the movable end of the boom at a point. To solve the problem, specify the total movement time and schedule drives. Method of solution based on the requirement of a minimum of functionality based on the equations of motion at each stage, with subsequent determination of the parameters. These parameters are depended on geometric features of environment. The equations, providing the solving the task have been obtained.

The paper considers the problem of designing the automatic control system of robot based on computer vision. The paper contains the problem formulation of designing the computer vision system to control mobile robot and describes restrictions and basic requirements for control system. The choice of the operating system for mobile robot is described. The paper also contains overview and comparison of recognition methods of the specified object in the image using modern program tools and considering restrictions of mobile computing platforms. The following methods have been analyzed: detection using a marker, pattern matching, image detection and contour matching, feature detections, object classification, method of statistical image analysis, application of artificial neural networks. The paper describes possible ways to implement these methods using OpenCV library. Experiments with OpenCV implementations have been made, and also main advantages and disadvantages of compared methods have been determined. As the result of comparison the method of image segmentation and contour matching has been chosen to be implemented in control system prototype. The paper also describes the implemented prototype of the mobile robot angular velocity control system, which is based on pattern recognition system. The implemented system has been tested in a robotic simulator Gazebo. Research of possibility of distance measurement to a recognized object, as well as research of the effectiveness of different methods combinations can be further directions of development of this work.

We consider a situational awareness as the perception of environmental elements and events, the comprehension of their meaning, and the projection of their status after some variable has changed. Applied to perspective autonomous unmanned aerial vehicles (AUAV) the situational awareness is understood as awareness of terrestrial scene structure and its variability in relation to information about this structure preassigned in the flight task (FT) which preparation is performed on the ground. In this case, ground system of FT preparation and onboard control system could be represented as two components: conventional and intellectual. The intellectual component of a control system is based on: - "intellectual" component of ground system of FT preparation that includes aprioristic knowledge base (informational, situational and algorithmic components); this knowledge base is formed on the base of aprioristic information about a condition of the external environment, a set of the predicted situations and their resolution methods; - "intellectual" component of the onboard control system (technical vision system) providing a posteriori information about a current state of external environment, comparison of a priori and a posteriori information, decision-making methods, formation and implementation of the relevant control. When developing situational and algorithmic components of the aprioristic knowledge base the following logical sequence is used: - FT is represented through a priori formed semantic networks of the typal situations (TS); one of examples of TS is process of targeting the relevant priority object of interest (OI); - each TS is formed of big number of significant events (SE); these SE forms sets (situational vectors Vs), that characterizes the problem sub-situation (PrSS). "Intellectual" component of the onboard control system (technical vision system) performs such tasks as recognition, selection and auto tracking of the priority OI assigned during the preparation of the FT. In a real situation, the priority OI could be unavailable (destroyed, invisible because of weather condition, etc.). In this case, the on-board system decides to retarget to an alternative OI. The example is offered where a method is given for the developing of the situational and algorithmic components of the a priori knowledge base for the case of two OI that are part of a multi-object stationary terrestrial scene.

In this paper, the problem of fixed-wing unmanned aerial vehicles (UAVs) group control was solved using the relative state space method. To achieve this goal the authors created a flight dynamic model of a fixed-wing UAV. Then it was linearized using MATLAB built-in routine and the standard PID autopilot was synthesized. The control inputs for the UAV's inverse kinematic model were calculated based on relative state space method, which is decentralized control of the multi-agent system, fault-tolerant in the sense that the failure of individual agents does not lead either to the failure of the entire system or to the inability to further build and maintain the formation. Each agent has autonomy, i.e. the ability to control part of the system's global state. This method is a bio-inspired algorithm based on the model of living organisms' motor neurons network. In comparison with the "leader-follower" method, the relative state space approach involves the construction of a control hypersurface in the relative state space instead of just following "leader" commands. In addition, this method is resistant to atmospheric disturbances in comparison with virtual structure approach and it has a low computational complexity. Initially the relative state space method was developed only for linear control objects without taking into account their dynamics. Therefore, it was modified by the authors to be applicable to nonlinear control objects (for example, fixed-wing UAVs). The math modeling in MATLAB/Simulink shows successful solution of the problem. Further research will focus on optimization of the formation building time, considering the vehicles collision avoidance and creating path-following algorithms based on the above method.

For real-time developed a method of visual formation of trajectories of air objects of smoothly conjugated segments in the coordinate system of the zone of vision radar. The geometric shape segments of General trajectories are based on iterative change of the location of the reference polyline bezier curves with variable radii of curvature. As the trajectory of the object was used and the piecewise-specified spatial curve consisting of smoothly combine segments as Bezier curves mainly the first and third orders. The geometric shape of each segment of the total trajectory was set based on the location of n control points, i.e. the reference polyline with n nodes. When you specify a geometric shape of the curve were simultaneously determined by the minimum radius of its curvature. In addition there was a reserve in the amount of allowable linear acceleration, which is summed with a vector tangential. In the transition from one curve to another Bezier smooth change of the radius of curvature is ensured by continuous first and second derivatives matched curves. It is shown that to ensure the continuity of the first derivative, it is sufficient that three adjacent reference points of the two curves are collinear, then when you build the trajectories of the two mating curves will have a common tangent at the point of intersection, i.e., equal to the first derivative. To obtain the kinematics of the motion of an object along a path in real-time functions when the speed was obtained functional dependence linking the current value of the time and normalized time. Standardized and real-time links traversed path. Monotonically changing forward and backward functional dependency a journey from time to time was approximated with a high degree of accuracy by polynomials of the best approximation of the 2nd or 3rd degrees. The paper presents recommendations for operators to conduct preparatory calculations provide in General a time interval of formation of a trajectory of movement of air objects.

Any structure of automation means of checkout flight parameters of flying device and diagnostics of onboard equipment which taking as a basis on linearization mathematical model of flying device will have another description for non-linearity mathematical model this flying device. In this case automation means of checkout employment practice unfit for testing of parameters of flight and diagnostics of onboard equipment. Estimation effectiveness of automation diagnostics of onboard equipment and checkout parameters of flight require employment of new methods and approach independently from the dynamics of flying device and adequate of mathematical models everybody of checkout process. Indignation of atmosphere and instrumental errors of transducers exercise influence on selection of scheme checkout and diagnostics. They can be determine of dynamics systems of checkout and diagnostics. At the same time sensor errors or errors of transducer can be detect and become localized without use altogether vector of estimation condition of checkout and diagnostics object. It can be make by means of weigh-procedure of measuring estimation error and off-error exit each of measuring canal. This article consideration the algorithms account of instrumental errors of transducers during inspection of flying device.

From the point of view of a docking dynamical process, a multi-loop docking mechanism, in spite of its low mass, is a more complex mechanical system than a spacecraft. An approach providing high computational efficiency of dynamic simulation algorithms for such a class of mechanisms is considered in this paper. Before simulation, a multi-loop mechanical system is transformed to a tree structure using constrain equations instead of some joints. Each loop of a docking mechanism can be partitioned to a controlled and a dependent kinematical chains with independent and dependent joint variables, and constrain equations for its replaced joint are non-singular. This paper describes an application of the generalized coordinate partitioning method (GCPM), which specifies that dependent joint accelerations of the transformed mechanical system are expressed as a function of independent ones through matrixes, which are used to reduce the dimension of dynamic equations. All loops and dependent chains of a docking mechanism are numbered from outermost to innermost. In contrast to GCPM, constrain equations are formulated in the inverse sequence, i.e. starting with the maximum loop number, and for a current loop they incorporate all joint accelerations except previous loops. So, dependent joint accelerations of a current loop are expressed as a function of joint accelerations of all next loops. It allows reducing the dimension of dynamic equations regardless of various combinations of outer and inner kinematical loops of docking mechanisms. Redundant mathematical operations with zero matrix elements can be eliminated using symbolic manipulation system. For higher computational efficiency, analytical solutions of joint coordinates constrain equations are proposed for main types of dependent kinematical chains.