This article discusses the features of the power plant control based on renewable energy sources for additional and emergency power supply of surface robotic systems. This kind of integrated power plant can be built on the basis of wind and solar energy converters and produce at least 10-15% of all electrical energy required for the vessel. For the most important element of the KSEU - wind power plant (wind), the Electromechanical torque control on the shaft of its rotor is considered. For this purpose, firstly, the problem of controlling the angular velocity of the rotor rotation by means of variable geometry elements (IEG) of the VEU of perspective type is solved. As an IEG, the tunable distance from the lower part of the rotor to the upper part of the lower guide structure of this wind turbine is considered. Simulation of the equations of the controller for the particular case of stabilization of the rotation speed of the rotor. Secondly, the structural scheme of electrical control of the output characteristics of the wind turbine is justified and the method of selection of some key elements of this scheme is given. Features of realization of the electric circuit of connection of VEU, solar panels (SP) and diesel generator set in uniform KSEU are considered. It is shown that the constructed integrated control system of wind turbines is able to effectively solve the problem of parrying external wind disturbances.
Keywords: complex power unit, robotized surface platform, advanced windmill, solar panels, structural wiring diagram, hybrid controller
The paper presents a method for decomposition of a complex dynamic system with a network architecture based on the Crohn's diakoptic approach. The proposed method is aimed at the allocation of independent network segments, the removal of which from the general structure will not affect the overall performance of the system. Segments are formed as simple paths in the graph model of the system with the least weight of the incident edges and checking the condition for maintaining the product flow balance in the application to the transport task. In general, the decomposition method presented allows us to divide a complex technical object of the network architecture into subsystems, simplifying the process of analysis and management. In the case when the common control task and the dynamics of interaction of subsystems allow the system to be broken up into unconnected segments, or to limit interaction over certain lines, the method allows reducing the load on the transmitting elements of the system.
Keywords: decomposition, complex dynamic system, network, grapho-analytical method, network segmentation, diakoptics, load reduction
This paper presents an approach to organize the group control underwater vehicles based on multi-loop adaptation algorithm of position-trajectory control system of moving object, with the estimating unmeasured parameters, reference model and contour that ensure astatism 2nd order. Estimation of unmeasured disturbances on the top control level as part of the reference model, which allows for highly accurate positioning of the final master AUV in the target point specified as a parameter to the reference model. The application of the developed algorithm expedient in control systems of moving objects group, where a single object from the leading group, and its parameters are used as the parameters of the reference model. The leading mobile object control system uses an adaptive control system with disturbance estimation. The control systems of the slave moving objects using positional-trajectory control system astatism second order, thereby providing high-precision tracking of the movement of the reference mobile object.
Keywords: group control, AUV, adaptive control, reference model, position, trajectory control, estimator, parameter estimation, the mobile object
This paper presents an adaptive algorithm for position-trajectory control with reference model and estimation of nonlinear circuit unmeasured disturbances. The introduction of a robust observer derivatives in the base controller position-trajectory control, built on the principles of self-adjusting adaptive systems with a reference model, allows to estimate unmeasured disturbance characterized by non-linearity of the second order and higher, and to adapt the parameters of the system in order to reduce or minimize the zero mismatch errors between the control object and reference model. The use of derivatives allows the observer to increase the overall stability of the control system, otherwise, the system loses its stability in short-term effect of the disturbance on the control of high-order object.
Keywords: adaptive management, reference model, positional-trajectory control, observer, parameter estimation, the movable object, AUV
The article discusses the the problem of controlling a synchronous generator, namely, maintaining the stability of the control object in the conditions of occurrence of noise and disturbances in the regulatory process. The model of a synchronous generator is represented by a system of differential equations of Park-Gorev, where state variables are computed relative to synchronously rotating d, q-axis. Management of synchronous generator is proposed to organize on the basis of the position-path control using algorithms to adapt with the reference model. Basic control law directed on the stabilizing indicators the frequency generated by the current and the required power level, which is achieved by controlling the mechanical torque on the shaft of the turbine and the value of the excitation voltage of the synchronous generator. Modification of the classic adaptation algorithm using the reference model, allowing to minimize the error of the reference regulation and the model under investigation within the prescribed limits, produced by means of the introduction of additional variables controller adaptation in the model. Сarried out the mathematical modeling of control provided influence on the studied model of continuous nonlinear and unmeasured the disturbance. Simulation results confirm the high level accuracy of tracking and adaptation investigated model with respect to the reference, and the present value of the loop error depends on parameters performance of regulator.
Keywords: position-path control, adaptation algorithms, reference model, synchronous generator
The paper considers the algorithms of position-trajectory control of mobile objects, are automatically distributed control forces and moments on the actuator. The basic control law is based on the equations of kinematics and dynamics and method of position-trajectory control of mobile objects. We consider the distribution of control forces and moments on the basis of pseudo-inverse matrix, which provides minimum MSE. This approach does not provide for preliminary separation of control channels, as is customary in classical systems of mobile objects. The proposed method is applied to the control system of aeronautical complex. The cases of excessive and insufficient number of control channels. The results of the simulation.
Keywords: position-trajectory control, a multiply, actuators, mobile object
Recently becoming urgent problem of managing distributed processes of production, transmission and consumption of energy. This fact is associated with the emergence of a significant number of generators and the possibility of a primary control on all elements of the grid. In this connection, in proposed three-level distributed power grid management, which includes the upper level of segmentation networks, distributed control average frequency and power level and a lower primary control. The methods of control for each of the above levels, the results of simulation.
Keywords: smart grid management system, distributed control, frequency control and power.
The paper is concerned to the synthesis of synchronous generator’s regulatory control algorithm that is one of the main elements of power system and power stations, in a whole. The algorithm allows to improve the stability margin of synchronous generator’s control system. Because of integrated derivatives’ observer synthesized algorithm allows to detect the lever of unwanted disturbance in the process of electric power’s generation and adjust the work of generator. It is conducted the modeling that shows high resistance of spectator, quality of transients and steady mode of synchronous generator’s model status variables. The quality of free-form signal spectator’s assessment is generated with enough high degree of accuracy that raises with the improvement of operation speed’s features of observer and regulator.
Keywords: power system, synchronous generator, synthesis, automatic control, observer, assessment
In the paper we consider the energy efficiency of electric trains in overcoming the curved portion of the profile path. In this paper, were synthesized motion control algorithms that will help conserve energy resources by means of changes in traffic patterns electric depending on the profile path. The simulation electrorolling stock motion by offer the model showed a reduction in energy consumption compared to the nominal operation.
Keywords: energy efficiency, electric train, traffic management, motion control algorithms, reducing the consumption of energy resources