Наукові публікації кафедри АВП
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Browsing Наукові публікації кафедри АВП by Author "Osadchy, S."
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Item Optimal Control of Leader-Following Robots under Random Effects(IDAACS, 2017) Osadchy, S.; Ladanyuk, A.; Zozulya, V.; Vikhrova, L.; Kalich, V.The article focuses on the development of an on-board system design method for optimal control of an autonomous mobile group of objects. It is assumed that the group consists of a leader and some agents. A new method for the synthesis of an optimal multivariable control system, which is needed for preserving desired position of the agent relatively to the leader was substantiated in the article. The leader passes along a random trajectory and measurement of the agent position with respect to the leader is accompanied with random noise. All group members experience the action of random disturbances.Item The Dynamic Characteristics of the Manipulator With Parallel Kinematic Structure Based on Experimental Data(River Publishers, 2015) Osadchy, S.; Zozulya, V.; Timoshenko, A.The chapter presents two identification techniques which the authors found most useful in examining the dynamic characteristics of a manipulator with a parallel kinematic structure as an object of control. These techniques emphasize a frequency domain approach. If all input/output signals of an object can be measured, then the first one of such techniques may be used for identification. In the case when all disturbances can’t be measured, the second identification technique may be used.Item The Dynamics of 3-dimentional micro-mechanic sensor of angle motions of a robot-hexapod(River Publishtrs, 2015) Osadchy, S.; Zozulya, V.; Rudiuk, G.Transfer function matrices of 3d MEMS sensor of angular motions and spectral density of noises measurements were estimated with the help of the method of structural identification for first time. This provides the possibility to control and operate the angle position of the platform of robot-hexapod.Item Максимізація точності стабілізації кутового положення посадочної платформи(ВД Гельветика, 2021) Осадчий, С. І.; Березюк, І. А.; Мельніченко, М. М.; Osadchy, S.; Bereziuk, I.; Мelnichenko, M.У статті наведено методологію та технологію максимізації точності стабілізації кутового положення посадочної платформи, встановленої на рухомому об’єкті (судні), за рахунок розробки та впровадження нових принципів керування механізмами з паралельною кінематикою типу гексапод. The article presents the methodology and technology of maximizing the accuracy of stabilization of the angular position of the landing platform installed on a moving object (vessel), through the development and implementation of new principles of control mechanisms with parallel kinematics such as hexapods. The proposed approach to the synthesis of the stabilization system of the angular position of the platform differs in that the initial data are models of hexapod dynamics and spectral density of the active perturbation obtained on the basis of experimental data and the use of spectral algorithm of structural identification. The basic stages of the proposed methodology are the structural identification of the matrix of transfer functions of the hexapod as a control object and the spectral density of the active perturbation; synthesis of the optimal structure of the system of stochastic stabilization of the angular position of the hexapod platform; analysis of the quality of the system of the proposed system. The theoretical basis for the successful implementation of these stages are scientifically based methods and algorithms for estimating and identifying complex dynamic objects and perturbations in real operating conditions, as well as modern methods of optimal synthesis. The implementation of this system will allow to obtain the maximum possible quality and accuracy of management.Item Ідентифікація сигналів як один з етапів синтезу системи автоматичної стабілізації висоти киплячого шару в зерносушарці(Національна металургійна академія України, 2021) Федотова, М. О.; Скриннік, І. О.; Осадчий, С. І.; Трушаков, Д. В.; Fedotova, М.; Skrynnik, І.; Osadchy, S.; Trushakov, D.В роботі подано в широкому розумінні проблематику синтезу системи автоматичної стабілізації висоти киплячого шару, розкрито її значущість для покращення ефективності сушіння та показано застосування технології ідентифікації сигналів зерносушарки з урахування її особливостей, а саме багатовимірності та розподіленості. The work presents in a broad sense the problems of synthesis of the system of automatic stabilization of the height of the fluidized bed, its significance for improving efficiency of drying and the application of the technology of identification of grain dryer signals is shown, taking into account its features, namely multidimensionality and distribution.