'Automation of Control Processes' # 2 (36) 2014

Contents
COMPUTER-AIDED ENGINEERING

Sergei Mikhailovich Maksimov, Ulyanovsk State Technical University, graduated from the Ulyanovsk State Technical University (UlSTU) with the specialty of Design and Technology of Electronic Instrumentation; a post-graduate student of the ‘Design and Technology of Electronic Instrumentation’ Department at UlSTU; an author of articles in the field of optoelectronics. [e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it. ]S. Maksimov,

Oksana Vadimovna Maksimova, Ulyanovsk State Technical University, Candidate of Engineering, Associate Professor at the Department of Electronic Instrumentation Design and Technology of Ulyanovsk State Technical University; an author of articles and monographs in the field of optoelectronic and microwave engineering. [e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it. ]O. Maksimova,

Mikhail Konstantinovich Samokhvalov, Ulyanovsk State Technical University, Doctor of Physics and Mathematics, Professor; head of the Department of Electronic Instrumentation Design and Technology at Ulyanovsk State Technical University; an author of articles and monographs in the field of optoelectronics. [e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it. ]M. Samokhvalov

Tasks of Modeling Automation of Brightness and Luminous Efficiency of Thin-film Electroluminscent Condensators 36_14.pdf

The modern means of information representation intended for professional use must meet certain requirements which depend on their field of application and maintenance conditions. The selection of constructive decisions is made according to the visualization system requirements. Certain of the computer-aided design (CAD) system simplifies the procedure of the design choice with necessary characteristics. The presented of investigations and calculations of the lighting characteristics of thin-film electroluminescent indicators. The main characteristics of indicator devices are explained by means impact excitation activator centers with the following light relaxation. These equations have been adapted for the development of CAD system of thin-film electroluminescent indicators. The presented of conspicuous lighting parameters dependence on the structural factors. Physical processes determined the thin-film light emitters work are sufficiently studied, that permits elaboration and production of different indicators and displays.

Thin film electroluminescence indicator, brightness, luminous efficiency, phosphor, activator centers, electroluminescence.

MATHEMATICAL MODELING

Vladimir Fedorovich Belov, N.P. Ogarev Mordovian State University, Doctor of Engineering, Professor; graduated from the Faculty of Electronics at N.P. Ogarev Mordovian State University; Head of the Department of Computer-Aided Design at N.P. Ogarev Mordovian State University; an author of articles, monographs, and inventions in the field of the design of autonomous electric power systems, in which power quality parameters are controllable. [e-mail: belovvf@mail.ru]V. Belov,

Anna Aleksandrovna Butkina, N.P. Ogarev Mordovian State University, graduated from the Faculty of Mathematics at N.P. Ogarev Mordovian State University; Lecturer of the Department of Computer-Aided Design at N.P. Ogarev Mordovian State University; an author of articles in the field of numerical method application for mathematical simulation of electric power systems. [e-mail: butkinaaa@gmail.com]A. Butkina,

Alexey Valentinovich Shamaev, N.P. Ogarev Mordovian State University, Candidate of Engineering; graduated from the Faculty of Electronics at Ogarev Mordovian State University; Associate Professor at the Department of Computer-Aided Design at N.P. Ogarev Mordovian State University; an author of articles in the field of mathematical simulation and optimization of electric power filters. [e-mail: shamaevav@list.ru]A. Shamaev

Mathematical Simulation of Power Conversation Systems for Micro Grid 36_7.pdf

Mathematical model of AC/DC/AC converter with energy storage device is developed on the base of the bridge element concept. This model is intended for the analysis of conducted interference at the designing stage of micro Smart Grid, which contain AC/DC/AC converters, as well as for the emulation of the control object at the software development stage of microcontrollers.Bridge element (B-element) is a generalized model of the m-phase bridge converter of electric power, in which transistors are modeled by ideal switches. Rules to represent a graph of the equivalent circuit of AC/DC/AC converter with energy storage as a set of subgraphs corresponding standardized bridge elements are developed. Application of these rules provides correctness of algorithm functioning of forming and solution of differential equations of the equivalent circuit at any state of the switches automatically.Computational aspects of the algorithm have been investigated on the example of mathematical simulation of AC/DC/AC converter with MPI distributed computing technology. Preliminary results showed that increasing of the simulation speed may be achieved by application of parallel computing technology for solution of the complete differential equations system formed on the B-element base. Element-wise forming and solution of differential equations systems does not increase the computational efficiency. Additional studies are required for final confirmation of these results.

Smart grid, smart grid, power converter, mathematical model, power quality, parallel computation.

COMPUTER-AIDED ENGINEERING

Vladimir Anatolyevich Maklaev, Federal Research-and-Production Center Open Joint-Stock Company ‘Research-and-Production Association ‘Mars, Candidate of Engineering; graduated from the Radio Engineering Faculty of Ulyanovsk Polytechnic Institute; Director General at the Federal Research-and-Production Center Open Joint-Stock Company ‘Research-and-Production Association ‘Mars; an author of articles in the field of CAD. [e-mail: mars@mv.ru]V. Maklaev,

Petr Ivanovich Sosnin, Ulyanovsk State Technical University, Honored Worker of the Higher School of the Russian Federation, Doctor of Engineering, Professor; graduated from the Radio-Engineering Faculty of Ulyanovsk Polytechnic Institute; a head of the Computer Science Department at Ulyanovsk State Technical University; an author of numerous works in the field of conceptual design of computer-aided systems. [e-mail: sosnin@ulstu.ru]P. Sosnin

Question-answer Modeling of the Operational Spacein Designing the Family of Automated Systems 36_13.pdf

For last 20 years, the successfulness of developing the software intensive systems (SIS) has been associated with a very low degree of a success (approximately 35% in accordance with universally recognized statistics of Standish Croup company), and it is an important reason for searching of new approaches to occupational activity in this subject area which enough fully reflects problems of occupational activity in human-computer environments. Negative influences of human factors (misunderstanding, ambiguity of reasoning and the others) are being recognized as basic reasons of unsuccessfulness in creating and using of SISs and automated systems (AS) as a subclass of SIS, and it inevitable concerns relations of the human with the software. A very important direction of an implementation and improvement of the human-computer activity is bound with discovering, representing and evolving an occupational experience. The special role of interactions with experience in human-computer environments is confirmed by active evolving of the subject area “empirical software engineering” in the frame of which the special kind of “metrology” is developed. This subject area is also bound with the creation and use of the Experience Bases and Experience Factories and with methods and means of “experimenting” in human-computer environments. Told above includes sufficient arguments to count the creation of innovative methods and means of conceptual experimenting in human-computer environments is topical.Formalization of conceptual experimenting is implemented with using a system of rules of the generated grammar which shall include the sets of rules specifying a reflection of all components of professional work onto a question-answer memory. A program realization of the instrumentally technological environment intended for conceptual experimenting, in the form of a program product which is demanded commercially and adjusted on a definite kind of occupational activity.

Cad, conceptual experimenting, experience base, precedent, professional maturity.

MATHEMATICAL MODELING

Aleksei Aleksandrovich Dozorov , Federal Research-and-Production Center Open Joint-Stock Company ‘Research-and-Production Association ‘Mars’, Post-graduate student; graduated from the Faculty of Machine-Building of Ulyanovsk State Technical University; Deputy Chief of Production Manager Service at Federal Research-and-Production Center Open Joint-Stock Company ‘Research-and-Production Association ‘Mars’; an author of articles in the field of modeling of processes of shock mechanism motion. [e-mail: a.dozorov@bk.ru]A. Dozorov,

Vladimir Kuzmich Manzhosov, Ulyanovsk State Technical University, Doctor of Engineering, Professor; graduated from the Faculty of Machine-Building of Frunze Polytechnic Institute; Head of the Theoretical and Applied Mechanics Department at Ulyanovsk State Technical University; an author of articles, monographs and inventions in the field of dynamics of machines, modeling of shock processes. [e-mail: v.manjosov@ulstu.ru]V. Manzhosov

Motion Modes of Shock System for Fluctuating Force Linear Function With Changing Characteristics 36_6.pdf

Multiple technological processes are often related to using shock systems for performing of cyclic shocks on the object. Research of such systems’ dynamics, stability of motion, shock activity level requires examination of shock processes in systems with different structures. At the same time, a number of problems, confining an area of application of shock systems, arise. They are the following: finding of solutions by exact methods; taking into account complimentary non-liner factors; analysis of transient processes; detection of limit cycles of motion. These problems can be solved by means of developing the effective dynamic system simulation procedures based on the adequate mathematical models, process visualization, and representation and good processing of simulation results. The paper [1] provides an examination of the model of shock system, as well as the definition of its parameters, ensuring a required low of motion. However, a considered piecewise constant force impact may be applied to an ideal situation that is difficult to implement with a real system. Thus, it is required to know how the change of force impact would effect the mode of striker’s motion. The present paper deals with a model for shock system at force impact as linearly increasing and linearly decreasing function when force impulse, duration and period of the force impact are constant as at the piecewise constant function. A mathematical model for the shock mass motion under condition of collision with rigid barriers is given. The modeling of shock system motion at the force-impact piecewise constant, linearly increasing and linearly decreasing function is implemented. The comparative analysis of presented simulation results is performed. The motion mode of shock system at linearly increasing and linearly decreasing functions has been changed against the mode at the force-impact piecewise constant function (although the force impulse was constant in both cases). Following the results of implemented work, it may be deduced that the changing the force linear function characteristics, when impulse and duration of force, and part of cycles are constant at an appropriate system-parameter option, does not misrepresent the cyclic mode of shock mass motion if the process would be estimated at such criteria as velocity of shock to the right barrier, implementing of one impact per a cycle at the maximal velocity, and a cyclic behavior of impact.

Shock system, motion modes of shock system, limit cycles of motion, modeling, cyclic mode of motion.

ARTIFICIAL INTELLIGENCE

Vadim Sergeevich Moshkin, Ulyanovsk State Technical University, Post-graduate Student at the Department of Information Systems at Ulyanovsk State Technical University; graduated from the Faculty of Information Systems and Technology of Ulyanovsk State Technical University; an author of articles in the field of intelligent systems. [e-mail: postforvadim@yandex.ru]V. Moshkin,

Nadezhda Glebovna Yarushkina, Ulyanovsk State Technical University, Doctor of Engineering, Professor, Head of the Department of Information Systems at Ulyanovsk State Technical University; an author of more than 250 papers in the field of soft computing, fuzzy logic, and hybrid systems. [e-mail: jng@ulstu.ru]N. Yarushkina

Ontological Time-series Analysis System 36_12.pdf

This article describes a semantic approach to analyzing the time series as an example of local area network (LAN) status parameters using the ontology of problem area. We represent a formal model of the OWL-ontology for the considered subject domain, an ontological view model for a set of production rules. An inference algorithm for LAN architecture modification during its status estimation while artificially increasing traffic is proposed.We solved the aggregation problem of the different approaches to expert knowledge representation through the product knowledge integration into the ontological model using SWRL- rules. In addition, the implementation of this algorithm in the time-series analysis software TSAnalyzer is considered.The results of computational experiments on LAN-status simulation while artificially increasing traffic as an example of the LAN of the Center for Development of Electronic Media Technologies at Ulyanovsk State Technical University are represented. We summarized the research results conducted and evaluated further research findings expectation in this domain.

Ontology, time series, data mining, semantics.

MATHEMATICAL MODELING

Vitalii Ivanovich Smirnov, Ulyanovsk State Technical University, Doctor of Engineering, Professor, graduated from the Gorky State University with the specialty of Physics; Professor of the ‘Design and Technology of Electronic Instrumentation’ Department at Ulyanovsk State Technical University; an author of articles, monographs, inventions in the field of measurement instrument automation. [e-mail: smirnov-vi@mail.ru]V. Smirnov,

Viacheslav Andreevich Sergeev, Ulyanovsk Branch of the Kotelnikov Institute of Radio-Engineering and Electronics of the Russian Academy of Sciences, Doctor of Engineering, Associate Professor, graduated from the Gorky State University with the specialty of Solid-State Electronics, Director of the Ulyanovsk Branch of the Kotelnikov Institute of Radio-Engineering and Electronics of the Russian Academy of Sciences; an author of articles, monographs and inventions in the field of physics of the thermal processes in solid-state structures and semiconductor devices. [e-mail: ]V. Sergeev,

Andrey Anatolyevich Gavrikov, Ulyanovsk Branch of the Kotelnikov Institute of Radio-Engineering and Electronics of the Russian Academy of Sciences, Candidate of Engineering, graduated from the Ulyanovsk State Technical University with the specialty of Design and Technology of Electronic Instrumentation, Senior Staff Scientist at Ulyanovsk Branch of the Kotelnikov Institute of Radio-Engineering and Electronics of the Russian Academy of Sciences; an author of articles and inventions in the field of measurement of thermal and physical parameters of semiconductor devices. [e-mail: a.gavrikoff@gmail.com]A. Gavrikov

Spectral Method of Measurement of the Led Thermal Resistance and Estimation of the Optimal Performance 36_5.pdf

The computer simulation helped the authors in studying the kinetics of the LED heating by the pulse-width modulated power varying harmonically. The programming model relies on a principle of the thermoelectric analogy saying that the heat dissipation processes on the path “chip - substrate - case - radiator - environment” are similar to electrical processes in the equivalent circuit, which is a set of serial-connected RC-chains. The task of simulation was to validate the LED thermal resistance measurement method based on heating by PWM power, as well as to study the effect on the accuracy and sensitivity of the method parameters such as heating pulse repetition period, frequency, and modulation coefficient, the number of heating pulses per modulation period. The simulation results shows that the method has an accuracy of 3%, and this value is independent of the heating pulse repetition period ranging between 80-200 ms. Sensitivity of the method depends on the modulation frequency of the heating power and heating pulse repetition period. It decreases with increasing modulation frequency, increases with the decrease of the repetition period at constant amplitude of oscillation pulse duration.

Led, thermal resistance, heating process, computer simulation.

Sergey Evgenyevich Savotchenko, Belgorod Institute of Education Development, Doctor of Physics and Mathematics, Associate Professor; graduated from the Faculty of Physics at Kharkiv State University; Professor of the Department of Computer Science in Belgorod Institute of Education Development, an author of articles in the field of mathematical modeling, information technology, and automated information systems. [e-mail: ]S. Savotchenko,

Vadim Andreevich Stukalov, Belgorod State Institute of Art and Culture, Postgraduate Student of the Department of Library Science, Bibliography and Bibliology at the Belgorod State Institute of Art and Culture; graduated from Belgorod State University; an author of articles in the field of the integrated library systems. [e-mail: svadglo@gmail.com]V. Stukalov,

Elena Aleksandrovna Proskurina, Belgorod State Institute of Art and Culture, Postgraduate Student of the Department of Library Science, Bibliography and Bibliology at the Belgorod State Institute of Art and Culture; graduated from the Belgorod State Institute of Art and Culture; an author of articles in the field of the integrated library systems. [e-mail: pea@bgiik.ru]E. Proskurina

Dynamics of Semantic Measure of Search Query Results 36_11.pdf

The article presents the research results of changing the quality characteristics of information search in time illustrated by the example of five global search systems. The implementation of semantic measure and partial semantic measure of definition search query results was estimated to display that the automated search systems are in a position to output the pertinent documents at simple select query.To analyze the stability over time the results of information retrieval, in the use of quantitative indicators for implementation of the sequence of normalized conditional queries. Defined methodology for conducting trials to capture the dynamics of semantic query results to measure the automated retrieval information systems.We used the quantitative characteristics specifying the conditional standard query sequence implementation to analyze the stability of retrieval results in time. It was defined the methodology for conducting trials to capture the dynamics of semantic query results to measure the automated retrieval information systems.The article presents dynamics of completeness semantic relations and semantic measures of the SERPs information retrieval systems Yandex, Rambler, Nigma, Qip, and Mail.ru. Based on the realizations of random trajectories semantic dependency measures and partial measures, mean values are calculated for the observation period. Analysis of variance values of the partial measures as a function of weight showed that among the surveyed search engines, Mail.ru has to some extent the possibility of pertinence search.

Descriptor, information search, semantic relations, paradigmatic relations, information retrieval systems.

AUTOMATED CONTROL SYSTEMS

Ruslan Yurievich Martimov, St. Petersburg Branch of OJSC ‘Vega’, graduated from the Faculty of Information Technologies and Programming of St. Petersburg National Research State University of Information Technologies, Mechanics, and Optics; Senior Staff Scientist at St. Petersburg Branch of OJSC ‘Vega’ Concern’; an author of articles in the field of digital watermark and stenography; is interested in digital steganography, cryptography, computer vision. [e-mail: Ruslan.Martimov@gmail.com]R. Martimov

Electronic Steganography Signature of Video Data 36_4.pdf

The article examines principles for building of an asymmetric system of video data authentication. The suggested scheme applies a method of digital watermarks. To provide for the authenticity, we have used the robust hashing function. The cryptographic basis is the scheme based on the Johansson electronic signature absolute stable scheme with the bit generation and verification. As a result, we ensure protection against external and potential internal intruders under conditions of the high error level at video compression. The article gives the experimental results of video data compressed with H.264 codec at variable stream speed. The experimental comparison is performed with one of the advanced asymmetric authentication schemes using digital watermarks based on the fragile electronic digital signature and fragile simulation plug. It is qualitatively discussed potential threats to the authenticity for the video sequence and analyzed how this scheme can face these threats.

Steganography, digital watermarks, electronic signature, video stream.

ARTIFICIAL INTELLIGENCE

Sergey Aleksandrovich Norseev, V.A. Degtyarev Kovrov State Technological Academy, Post-graduate Student at the Department of Instrument Engineering of V.A. Degtyarev Kovrov State Technological Academy; an author of articles in the field of robot group management. [e-mail: norseev@gmail.com]S. Norseev,

Dmitriy Viktorovich Bagaev, V.A. Degtyarev Kovrov State Technological Academy, Candidate of Engineering, Associate Professor at the Department of Instrument Engineering of V.A. Degtyarev Kovrov State Technological Academy; an author of articles and monographs in the field of system analysis of information systems in robotics. [e-mail: dmitrybag@gmail.com]D. Bagaev

Algorithm Design for Distributed Research of Unknown Terrain Using a Group of Mobile Robots 36_10.pdf

The paper examines a research task of unknown terrain by group of mobile robots. A formal problem statement for the unknown terrain survey using a group of the mobile robots is carried out. The method of dividing the unknown terrain into zones that considers limitations of computer vision systems of a single robot and free geometrical shape of the area is described. An algorithm for unknown terrain survey by group of mobile robots that considers the possible presence in the survey area obstacles of arbitrary shape and size and that detects in the survey terrain some object, which requires for special actions by robots, is proposed. This algorithm considers the limitations of computer vision systems of robots and arbitrary geometrical shape of the area.The software modeling of the distributed robotic system on the base of the proposed algorithm conducted in the frame of this work has shown that the proposed algorithm can be used for solving the distributed unknown terrain survey problem. The application architecture used for the simulation of the described robotic system is given.

Robotics, robotics group control, algorithms.

AUTOMATED CONTROL SYSTEMS

Nikolay Vladimirovich Luchkov, Federal Research-and-Production Сenter Open Joint-Stock Company 'Research-and-Production Association 'Mars', Candidate of Engineering; graduated from the Faculty of Radioengineering and completed his post-graduation at the Department of Telecommunications of Ulyanovsk State Technical University; research engineer at Federal Research-and-Production Сenter Open Joint-Stock Company 'Research-and-Production Association 'Mars'; author of articles in the field of statistic methods in signal processing. [e-mail: ]N. Luchkov,

Nikita Aleksandrovich Pchelin, Federal Research-and-Production Сenter Open Joint-Stock Company 'Research-and-Production Association 'Mars', graduated from the Ulyanovsk High Education Military Communications Academy, chief designer at FRPC OJSC ‘RPA ‘Mars’; an author of articles in the field of statistic methods in signal processing. [e-mail: pna3@yandex.ru]N. Pchelin

Object Grouping Based on Radar Observations 36_3.pdf

The article presents a review of main principles of integration (grouping) of the radar-tracking observation object marks used in those processing points where the information on each object is not required or the density of mark reception from objects appears above the calculated throughput.The article offers an algorithm for object grouping based on joint use of the heuristic approach and the quality index allowing an automatic joint processing of data about the object coordinates and speed. An important outcome is an opportunity to increase the relevant object characteristics at initial grouping. The article shows an example of performance of the proposed method for grouping objects with the set coordinates and speed values.

Grouping, tertiary processing, heuristic method, euclidean distance, radar marks.

MATHEMATICAL MODELING

Anna Aleksandrovna Tcynaeva, Samara State University of Architecture and Civil Engineering, Candidate of Engineering; graduated from Ulyanovsk State Technical University; Associate Professor at the Department of Heat-and-gas Supply and Ventilation of Samara State University of Architecture and Civil Engineering; an author of development works and articles in the field of mathematical modeling of heat-exchange processes in engineering. [e-mail: a.tsinaeva@rambler.ru]A. Tcynaeva

Numerical Investigation of the Temperature Stratification 36_9.pdf

The intensity of heat and mass transfer in devices based on the gas-dynamic temperature stratification, for example, in a supersonic pipe temperature stratification (in the Leontief’s pipe) is determined by the heat flow through the separation wall between subsonic and supersonic flows. This paper presents the mathematical modeling and numerical study of heat transfer in devices of gas-dynamic temperature stratification using passive stimulation techniques. The efficiency of heat pipes (HP) and the metal edges of the same configuration were researched. Mathematical modeling was performed using a mathematical model. The mathematical model includes differential equations that describe the motion and heat transfer in the boundary layer; equations for calculation of heat transfer processes in heat pipes; equations to calculate the heat flow between subsonic and supersonic flows in the device of gas-dynamic temperature stratification.It was found that the intensification of heat transfer devices based on the gas-dynamic temperature stratification (in the Leontief’s pipe) through the use of heat pipes is increasing up to 3 times. It was established that the use of heat pipes with a wick of material copper-water is more of using efficiency of heat pipes with the working material in the aluminum-acetone up to 1.05 ... 1.12 times.

Mathematical modeling, numerical investigation, temperature stratification, intensification, heat pipes.

AUTOMATED CONTROL SYSTEMS

Rinat Damirovich Shigapov, Federal Research-and-Production Center Open Joint-Stock Company ‘Research-and-Production Association ‘Mars’, graduated from the Radio Engineering Department of Ulyanovsk State Technical University; a software engineer of Federal Research-and-Production Center Open Joint-Stock Company ‘Research-and-Production Association ‘Mars’; research interests include management of marine mobile objects. [e-mail: shigap@hotmail.com]R. Shigapov,

Viktor Rostislavovich Krasheninnikov, Ulyanovsk State Technical University, Doctor of Engineering, Professor; graduated from Kazan State University, head of the Department of Applied Mathematics and Computer Sciences at Ulyanovsk State Technical University; research interests include statistical methods of signal and image processing. [e-mail: kvrulstu@mail.ru]V. Krasheninnikov,

Aleksey Valeryevich Mattis, Federal Research-and-Production Center Open Joint-Stock Company ‘Research-and-Production Association ‘Mars’, Сandidate of Engineering; graduated from the Faculty of Machine-Building at Ulyanovsk State Technical University; his major is 'Technology, Equipment and Automation of Machine-Building Productions'; Deputy Chief Designer at FRPC OJSC 'RPA 'Mars'; an author of publications in the field of modelling and development of C2 systems. [e-mail: mars@mv.ru]A. Mattis

Synthesis of a Fuzzy Controller for Control of Ship Hoist 36_2.pdf

The present paper deals with a mathematical model of the system which is comprised of a ship hoist and a cable connecting the remotely controlled underwater vehicle with a surface ship; a fuzzy controller is synthesized to control the ship hoist allowing the minimum impact of the cable to the underwater vehicle.The mathematical model of the cable is represented by the N-system of the hinged rails (links); at this, the length of the first link and the link number allow their reduction over time. To model the ship hoist, a simplified model is applied. Recommendations are made to determine the membership functions for input and output variables of the developed controller, and to synthesize its rule database. The Mamdani algorithm is employed for the fuzzy logic output. When setting the membership functions and synthesizing the control rules, the restrictions for the cable strength and hoist persistence are taken into account. The paper gives the results of comparison of the ‘proportional-differential’ model with the fuzzy controllers. A computer program is developed where the performance of the hoist and control system within the ‘surface ship - cable - underwater vehicle’ system is simulated. To identify the hoist, we have used the actual features of SVL-4 hoist which is ‘Simbiya’ company produced. To implement the fuzzy modeling process, we have employed tools from MathWorks MatLab mathematical software package including Fuzzy Logic Toolbox, a specialized bump pack.

Cable, ship hoist, fuzzy controller.

MATHEMATICAL MODELING

Evgeniy Nikolaevich Menshov, Ulyanovsk State Technical University, Candidate of Engineering, Associate Professor; graduated from the Faculty of Radio-Engineering of Ulyanovsk Polytechnic Institute; Associate Professor of the Electricity Department, SOC cycle at Ulyanovsk State Technical University; an author of monographs, textbooks, and articles in the field of mathematical modeling of cleaning coolants and water. [e-mail: raynd2@rambler.ru]E. Menshov

Mathematical Modeling of Magnetic Separator for Quality Management Purification of Water Flows 36_8.pdf

The paper is devoted to the modelling of the main characteristics of the water separator process fluids - dependence of the degree of cleaning of the size of the ferromagnetic particles, the rate of water flow and the thickness of the layer of particles deposited on the surface of the magnetic system. On the basis of reasonable approximations of the analytical solution of a nonlinear system of dynamic and kinematic equations of a particle moving in a laminar flow of fluid under the action of magnetic force fields. In this non-linear system of equations is reduced to an ordinary linear inhomogeneous differential equation with an equivalent right-hand side, which simulates the equivalent forces. The presence of equivalent force effectively for studying the behaviour of the simulated system on which found two significant areas for changes to the condition of motion of the particles. In the first zone of equivalent force contributes to the acceleration of the process of sedimentation of particles. In the second zone the equivalent force leads to inhibition of this process. The General solution of the linear differential equation describes the trajectory of the particle. The program of calculation of various families of characteristics of a cartridge magnetic separator is developed. Justified algorithm of application of the theoretical characteristics, aimed at the provision of quality management for the cleaning of process aqueous liquids.

Degree of cleaning, laminar stream, motion equation, cleaning cycle time.

AUTOMATED CONTROL SYSTEMS

Olga Alekseevna Peregudova, Ulyanovsk State University, Doctor of Physics and Mathematics, Associate Professor, graduated from the Mechanics and Mathematics Department of Ulyanovsk State University; Professor at the Department of Information Security and Control Theory of Ulyanovsk State University; an author of articles, textbooks, and a monograph on the theory of stability and motion control of mechanical systems. [e-mail: peregudovaoa@sv.ulsu.ru]O. Peregudova,

Konstantin Valerievich Pakhomov, Ulyanovsk State University, Post-graduate student; graduated from the Faculty of Mathematics and Information Technologies of Ulyanovsk State University; Junior Researcher of the Research Department of Ulyanovsk State University; an author of articles in the field of motion control of mechanical systems. [e-mail: pakhomovkv@yandex.ru]K. Pakhomov

Constructing of Piecewise Constant Control in the Problem of Dynamic Positioning of Ship 36_1.pdf

The paper deals with the results of solving the problem of control synthesis performing dynamic positioning of ship in a point. The problem of simple dynamic positioning, which is in alignment with the center of mass of the vessel with given point waters (center position) for the given requirements for the orientation course is considered. The solution of this problem is provided by use of control on the basis of feedback that asymptotically stabilizes the position and orientation of the ship. To justify the control law, which is based in a discrete form, Euler discrete approximation of the original continuous system is constructed and the method of recursive procedure of backstepping is applied. This procedure allows to build a controlled system that can be represented as a cascade connection of several subsystems. For each subsystem, the stabilizing control and the Lyapunov function are built. At the final step of the recursive procedure, a control law for the entire system and the corresponding Lyapunov function is constructed. Thus, the structure of the found control law essentially depends on the Lyapunov function used at each stage of the procedure. We justify the use of a new class of Lyapunov functions in the form of vector norms for solving this problem, which is used in comparison to previously known works with class of quadratic Lyapunov functions and allows us to simplify the control structure and improve its properties, such as the speed of convergence of the process at a given position. The results of numerical simulations, confirming a higher effectiveness of the proposed control law in comparison with the known results are obtained.

Dynamic positioning, piecewise constant control, backstepping technique, lyapunov function.