Viacheslav Pshikhopov

Mathematical model of robot on base of airship

This work is aimed at mathematical model of unmanned robotized airship. An airship can be controlled remotely by pilot or fly autonomously. Nonlinear interrelated model of an airship, considering kinematics and dynamics, main propulsion drives and ballonets is developed. Also mathematical model of external environment is presented. Results of CFD researches for aerodynamics are presented.

Development of Indirect Adaptive Control for Underwater Vehicles Using Nonlinear Estimator of Disturbances

In this paper, authors propose a new method of disturbance estimation that can be used for marine and air vehicles. As stability area for nonlinear systems is connected with performance of estimation, indirect measurement is proposed to estimate the error. The base for calculation is vehicle accelerations provided by navigation system. New algorithms were tested in simulation for which authors developed a block diagram of indirect adaptive control system that features independence of estimator from controller. Analysis of results showed that the error of the developed estimator in transient mode is 30-40% less than error of the linear estimator. In steady state mode, gain of the proposed estimator is equal to gain of the linear estimator and output noise is the same. Simulated system was implemented in mini motor boat, and showed good results in experiment. New estimator allowed to increase the accuracy of moving along the paths.

Control Method for Vehicles on Base of Natural Energy Recovery

This paper is devoted to vehicle movement control method based on the natural energy recovery [1] and position-path control approach [2,3,4]. This method ensures the fullest use of kinematic energy of the controlled vehicle. Method is applied for path profile with variable height. Vehicle velocity is changed to minimize kinematic energy losses. The time of the path passage is accounted in the designed method. In this report typical profiles of the controlled vehicle are considered. In general case the vehicle velocity program is developed on base of solutions for typical profiles. The vehicle velocity program is changing while vehicle is moving. The developed method is applied for control of trains implemented with electrical power drives. On base of train model studying it is proved that optimal mode of trains acceleration is maximal traction. The maximal traction ensures minimum energy consumption of train drives. But the traction of trains is extreme function of the speed wheel slip [5, 6]. Therefore the new extreme control for the train drives is developed. This method supports trains traction in extreme value. The developed method is implemented in simulator based on Matlab and Universal Mechanism. Movement of a freight train on a real track section is simulated.

Control Method for Heterogeneous Vehicle Groups Control in Obstructed 2-D Environments

The article considers the problem of distributed control for a group of heterogeneous vehicles. A survey of tasks and group control methods is given. A problem is posed to synthesize a local control algorithm ensuring motion if a heterogeneous group in a 2D environment with nonstationary obstacles. The algorithm is used to calculate the required speed and robot’s heading. A principle is used that allows us to treat all the neighboring objects as repellers. Unlike the known methods, in the proposed approach the repelling forces are formed at the outputs of dynamic units allowing us to perform synthesis in the state space instead of a geometric space. Motion steady state modes analysis of the planned paths is performed and their stability is considered. The presented results allows to improve the operation of the robot safety among human environment.

Implementation of Intelligent Control System for Autonomous Underwater Vehicle

This paper introduces the implementation of intelligent motion control and planning for autonomous underwater vehicle (AUV). Previously developed control system features intelligent motion control and planning subsystem, based on artificial neural networks. It allows detecting and avoiding moving obstacles in front of the AUV. The motion control subsystem uses position-trajectory control method to position AUV, move from point to point and along given path with given speed. Control system was tested in the multi-module simulation complex. Simulation showed good results – AUV successfully achieved given goals avoiding collisions not only with static obstacles, but also with mobile ones. That allows using the proposed control system for the groups of vehicles. Besides simulation, control system was implemented in hardware. AUV prototype passed tests in Azov Sea and proved its efficiency.

Position-trajectory control system for robot on base of airship

This work is devoted to control system of unmanned robotized airship. Mathematical model is analyzed for controllability. Position-trajectory control system on the base of high-order nonlinear interrelated model of airship is suggested. System adaptation is implemented with robust estimation algorithms. Use of redundant control channels is solved on the base of minimum of applied control actions. Experimental results of system functioning are presented.

Base Algorithms of the Direct Adaptive Position-Path Control for Mobile Objects Positioning

Problem of a mobile object positioning in the presence of determinate disturbances is considered in this paper. A mobile object is described by kinematics and dynamics equations of a solid body in three dimensional space. The control inputs of the mobile object are forces and torques. Design of adaptive control is based on position-path control method for mobile objects. In this article two algorithms of the adaptive position-path control are developed. The first algorithm is adaptive position-path control with integration component and a reference model. The second algorithm is adaptive position-path control with a reference model and an extended mobile robot model. Block diagram of the direct adaptive position-path control system with a reference model is suggested. Design procedures of the adaptive position-path control systems and stability analysis of the closed-loop systems are presented. Computer simulation results of the designed adaptive closed-loop systems with both constant and variable disturbances are presented. On base of the analysis and modeling results conclusions are provided.

ICEs as Part of Mobile Units: Efficiency Improvement

Paper considers problem of increase in key indicators of the internal combustion engines which are used as a part of a wide range of mobile objects, including motor transport surface, underwater and aircrafts. Approach to the solution of a problem of development of the optimum form of an intake system of the engine providing increase in filling of cylinders with fuel and air mix and uniform distribution of air on cylinders is offered. Besides, the requirement of symmetry in time that means a need of air intake from a throttle to the inlet valve of each cylinder for identical amount of time is put. The results of computing tests of the developed form of an intake collector confirming compliance to the developed model to the given requirements are presented. Model sample intended for installation on small-capacity atmospheric 4-cylinder IC engine is made on the base of 3d-model. Need of modification of the software of a control system of the engine for achievement of the maximum return at tests of a model sample is proved. Corresponding changes are described, comparison charts of adjusting parameters are given. Experimental stand for carrying out natural tests was assembled and used to get the external high-speed characteristic of the engine when using a regular intake collector and intake collector of the developed form. The results of tests that clearly demonstrate increase in power and a torque of the engine are given.