The main tasks in optimizing the automated control system for dosing and preparation of the electrode mass are considered. The tasks set to improve the accuracy of charge dosing, as well as to speed up the dosing time, are proposed to be performed using acoustic rapid analysis. The method is based on the decomposition of the acoustic signal generated by the interaction of the moving flow of the charge mixture and the charge line. The decomposition of the signal using fast Fourier transform into spectra and the allocation of sub-spectra responsible for fractional components will increase the accuracy of dosing.

Keywords: automated control system, charge, electrode mass, acoustic signal, spectral analysis, discrete Fourier transform, fractional composition of the charge mixture

A non-stationary system of automatic speed control of a DC motor with an adaptive controller is considered. Comparative simulation modeling in Simulink of the system with and without an adapter is performed. The results of the modeling confirm the stability of the adaptive system in a larger range of change of the non-stationary parameter compared to the conventional system. At the same time, the speed and quality of transient processes are maintained at the level recommended for such systems.

Keywords: automatic control system, non-stationarity, adaptive controller, subordinate control system, electromechanical object, DC motor

The role of automation in fire protection systems of technological processes is investigated. We reviewed the evolution of these systems, evaluated modern advances in automation, and analyzed their impact on improving the effectiveness of fire protection. In addition, we drew attention to the advantages of such systems, their implementation in various industries and the prospects for further development. With the constant growth of safety requirements and the desire to reduce risks, automation of fire protection systems is becoming not just an innovation, but a necessity for the sustainable development of industrial facilities.

Keywords: modern, safety, fire hazard, automation, system, insulation, fire fighting, implementation, firefighting, protection

The paper presents the concept of an intelligent superstructure designed to combine automated vertical storage systems, mobile robots and standard control systems for both warehouse and production processes into a single complex. The proposed mathematical model describes the key aspects of product placement, robot routing, and accounting for equipment throughput. Optimization algorithms allow you to create and quickly adjust storage and relocation plans based on dynamic changes (spikes in demand, disruptions, priority orders). The simulation results confirm that the implemented system helps to reduce time and resource costs, increases throughput and ensures higher adaptability of logistics operations.

Keywords: logistics, warehouse optimization, automated vertical storage systems, mobile robots, collaborative robots, warehouse management system, production process management system, mathematical model, optimization algorithms, intelligent system

production processes during the fourth industrial revolution according to the concept of Industry 4.0. The concept of Industry 4.0 provides for the digital transformation of production using modern automated production technologies and information technologies. Such transformation accelerates the pace of production and management integration of production and reduces the costs of servicing control systems and equipment. Automated production equipment of modern enterprises should be controlled using information and communication technologies. The basic technology that ensures the exchange of information between devices and facilitates decision-making on the network is the Internet of Things. Artificial intelligence, cyber-physical systems, service orientation, high-speed communication systems and remote access are technologies that allow organizing harmonious intelligent production. Thanks to this, production will have the maximum level of automation of processes and their full control, feedback between production links and product properties, reduced costs per unit of production and improved quality. Modern automation systems are analyzed and it is indicated that in order to create flexible intelligent production environments, it is necessary to use effective models of component-based industrial automation systems with high reliability. The ways to improve the efficiency of component-based systems based on modern technologies are presented: artificial intelligence, machine learning, high-speed wireless networks, forecasting systems, monitoring and data processing in real time. The creation of effective component-based industrial automation systems will reduce the time and cost per unit of production, improve its quality and reliability of production systems.

Keywords: automation, industry 4.0, efficiency, digitalization, component-based systems

The problem of modeling the dynamics and control of a quadrotor using a cascade control system based on a proportional‐integral‐derivative controller is considered. The main subject of the study is the development and simulation of a system that ensures the stable positioning of the quadrotor in the presence of external disturbances and limitations in the dynamic characteristics of the vehicle. The object of the research is the quadrotor as an unmanned aerial vehicle, while the subject is the cascade control system comprising an outer controller responsible for correcting position errors and an inner controller that maintains the stability of the vehicle’s orientation. The aim of the study is to create a mathematical model of the quadrotor’s dynamics and to implement a cascade control algorithm capable of converting position errors into control commands for adjusting the tilt angles. The work employs methods of mathematical modeling, discrete integration of the equations of motion, and cascade control algorithms implemented in MATLAB software. The simulation results demonstrate that the proposed control system significantly reduces the discrepancy between the current position of the vehicle and the specified target point, ensuring flight stability. However, residual errors have been identified, which are associated with the approximated models of motor dynamics and limitations on the maximum tilt angle, thereby necessitating further optimization of the control algorithms. The main conclusion of the study is that the developed cascade control system represents an effective solution for improving the positioning accuracy of the quadrotor and opens prospects for further research in the control of unmanned aerial vehicles

Keywords: quadrocopter, flight dynamics, mathematical modelling, cascade control, position controller, orientation controller, control optimisation

The article considers the problem of dynamic control of a 3-connected manipulator designed for trajectory following in conditions of external dynamic disturbances. To ensure the stability of the system, an adaptive PID controller based on the methods of kinematics and dynamics of a multi-link system is proposed. The analytical conclusions of direct kinematics, the calculation of the Jacobian matrix, and the perturbation compensation algorithm are described in detail. The experimental part is presented in the form of MATLAB modeling, the results of which are illustrated by graphs of motion, error convergence, dependence of link angles and control moments, as well as comparative tables of system characteristics at various levels of disturbances.

Keywords: robotics, manipulator, adaptive PID controller, dynamic control, direct kinematics, Jacobian matrix, perturbation compensation

In this article, an analysis of the main methods for solving the linear cutting problem (LCP) with the criterion of minimizing the number of knife rearrangements is presented. The linear cutting problem in its general form represents an optimization problem that involves placing given types of material (rolls) in such a way as to minimize waste and/or maximize the use of raw materials, taking into account constraints on the number of knives, the width of the master roll, and the required orders. This article discusses a specific case of the problem with an additional condition for minimizing knives' changes and the following approaches for its solution: the exhaustive search method, which ensures finding a global optimal solution but can be extremely inefficient for problems with a large number of orders, as well as random search based on genetic and evolutionary algorithms that model natural selection processes to find good solutions. Pseudocode is provided for various methods of solving the LCP. A comparison is made in terms of algorithmic complexity, controllability of execution time, and accuracy. The random search based on genetic and evolutionary algorithms proved to be more suited for solving the LCP with the minimization of waste and knife rearrangements.

Keywords: paper production planning, linear cutting, exhaustive search, genetic algorithm, waste minimization, knife permutation minimization

Steel hoisting ropes play an important role in metallurgical equipment, ensuring reliability and efficiency of lifting operations. One of the key features of their operation is the high level of contamination typical of metallurgical operations. Metallurgical processes are often accompanied by dust, metal chips and other abrasive particles that can significantly degrade ropes, causing wear and corrosion. To maintain the efficient operation of equipment it is necessary to monitor the condition of hoisting ropes in real time, which makes the task of improving automatic systems for monitoring the condition of ropes urgent. The paper reviews the methods of optical control of defects in hoisting steel ropes, the advantages and limitations of different approaches are considered. The aim of the work is to justify the effectiveness of the authors' developed method of analyzing rope defect images using neural networks in relation to the method based on the discrete Fourier transform. It is revealed that one of the most promising in terms of technical and economic efficiency of inspection methods is the application of vision system with image processing based on convolutional neural network technology, which allows to effectively detect defects in complex and changing operating conditions, such as metallurgical and mining production, where the background of the image may be non-uniform, and the distance between the camera and the rope varies.

Keywords: lifting ropes, vision systems, optical control methods, fast Fourier transform, hidden Markov models, convolutional neural networks

Modern automated process control systems include software complexes for monitoring, dispatching, data processing, and controlling industrial equipment. The correct operation of these systems depends on the predictable and stable deployment of software components, which requires a deterministic approach to configuration management. This paper proposes a mathematical model for software configuration management in APCS, based on difference equations of discrete systems. Numerical modeling was conducted in the Octave environment, confirming the correctness of the proposed model and allowing for the analysis of the impact of control parameters on process dynamics. The obtained results can be used to optimize strategies for automated deployment of software complexes in industrial systems.

Keywords: automated control, software complexes, discrete systems, difference equations, stability, dispatching, monitoring

The article offers examples of simulated processes for creating a digital twin, a monitoring process, and a cargo transportation process. A theory is proposed for calculating a mathematical model based on Petri nets. Models for placing an order and its delivery are proposed, as well as a model of information flows using the example of developing models for the processes of transporting perishable products in a refrigerated container.

Keywords: Business process, modeling, BPMN, IDEF1, DFD, Petri nets, mathematical model, intelligent 3D model

The paper presents the results of calculating reliability indicators and analyzing the fault tolerance of the subsystem for monitoring and controlling steam pressure in the steam curtain of a tubular furnace of a diesel fuel hydrotreating technological unit. The effectiveness of reserving critical elements to improve functional safety is substantiated.

Keywords: reliability, fault tolerance, steam curtain, tubular furnace, hydrotreating, diesel fuel, redundancy, functional safety

The article discusses options for solving the problem of slowing down the operating cycle of programmable logic controllers that occurs when implementing complex algorithms. For most modern programmable logic controllers, the operating cycle directly depends on the volume of the user program. The program is executed pseudo-parallel, so the complexity of the algorithm affects the slowdown of the cycle indirectly, through an increase in the code volume. The growth of the program leads to a slowdown in the controller's response to changes in the state of the inputs. In some cases, controller developers provide programmers with options that allow them to disrupt the natural order of the operating cycle, thereby reducing the response time. The advantages and disadvantages of such methods are discussed in detail in this article. As an alternative way to reduce the controller's response time, the possibility of transferring the execution of a part of the algorithm to the operator's touch panel is considered. Modern touch panels, in addition to their main task - implementing the human-machine interface, have many additional functions, including the ability to use macros. The main functionality of macros is given and the possibility of exchanging data between the controller and the panel is demonstrated. This feature is a prerequisite for delegating some of the functions of the panel controller. The limitations and risks that arise when using this approach are discussed in detail, and situations in which it is preferable to use this method are identified.

Keywords: programmable logic controller, operator touch panel, controller operation cycle, distribution of computing resources, macros

The article provides an overview of existing technical solutions, considered from the point of view of two approaches: complete replacement of the electrolysis plant with a modern analog; replacement of only the measuring part of the system. Based on the results of a review of existing technical solutions, it was concluded that the purchase and replacement of an entire electrolysis plant or a software measuring part is economically unprofitable, and Berezovskaya GRES can implement its own SEU-20 plant management system using modern Russian-made automation software, but its own development will bring significant economic benefits. due to the lower cost compared to foreign counterparts. Для проектируемой системы управления технологическим процессом выбрано необходимое оборудование. Рассчитано время реакции системы при аварийной ситуации. Разработаны электрическая структурная и функциональная схемы автоматизации электролизной установки СЭУ-20. Разработан интерфейс АРМ оператора и произведено моделирование разработанной программы с отработкой различных ситуаций.

Keywords: electrolysis plant, import substitution, remote control, remote control, PLC programming, APM operator

The transition from scheduled maintenance and repair of equipment to maintenance based on its actual technical state requires the use of new methods of data analysis based on machine learning. Modern data collection systems such as robotic unmanned complexes allow generating large volumes of graphic data in various spectra. The increase in data volume leads to the task of automating their processing and analysis to identify defects in high-voltage equipment. This article analyzes the features of using computer vision algorithms for images of high-voltage equipment of power plants and substations in the infrared spectrum and presents a method for their analysis, which can be used to create intelligent decision support systems in the field of technical diagnostics of equipment. The proposed method uses both deterministic algorithms and machine learning. Classical computer vision algorithms are applied for preliminary data processing in order to highlight significant features, and models based on unsupervised machine learning are applied to recognize graphic images of equipment in a feature space optimized for information space. Image segmentation using a spatial clustering algorithm based on the density distribution of values ​​taking into account outliers allows detecting and grouping image fragments with statistically close distributions of line orientations. Such fragments characterize certain structural elements of the equipment. The article describes an algorithm that implements the proposed method using the example of solving the problem of detecting defects in current transformers, and presents a visualization of its intermediate steps.

Keywords: diversification of management, production diversification, financial and economic purposes of a diversification, technological purposes of ensuring flexibility of production

An optimization model has been developed for the minimum required number of employees carrying out transport security measures included in transport security units, taking into account the algorithm for distributing employees, including various groups according to individual functions performed at different security levels, as well as the likelihood of various threats to transport security.

Keywords: transport strategy, digitalization of transport security, cost optimization, transport security units, requirements for ensuring transport security

The paper discusses the use of the M/M/n mass service model to analyze the performance of cloud storage systems. Simulations are performed to identify the impact of system parameters on average latency, blocking probability, and throughput. The results demonstrate how optimizing the number of servers and service intensity can improve system performance and minimize latency. The relevance of the study is due to the need to improve the performance of cloud solutions in the context of growing data volumes and increasing load on storage systems.

Keywords: cloud storage, mass service theory, M/M/n model, Python, modeling, performance analysis

within the framework of the conducted research, the task of controlling a robot of a parallel structure was considered. This paper presents a model of a 3-RPR type flat parallel robot in the Matlab package, developed for conducting computational experiments. Implementation of two types motion trajectories have been simulated in order to determine the optimal structure of the position regulators of the drive joint used in the robot control system. Six structure of regulators were compared: three classical ones: PD, PID, PDD and three of their fractional-degree analogues: FOPD, FOPID, FOPDD. The FOMCON tool was used to model fractional-degree regulators. The best results for type 3-PPR robot were shown by a control system with a FOPID regulator, which indicates the expediency of using fractional-degree regulators to control parallel robots.

Keywords: parallel robot, inverse kinematics problem, 3-RPR robot, computational experiment, working out the trajectory of movement, control system accuracy, fractional-degree regulator, parametric optimization of the regulator, comparative modeling, FOMCON tool

The article develops calibration methods to improve accuracy and reduce operating costs of robotic systems in warehouse logistics. Special attention is given to the use of laser sensors and offset parameters, enabling the robot's position to adapt to changing conditions. The methodology includes the stages of initialization, orientation, and final verification, which help minimize deviations and reduce the need for manual adjustments. This approach ensures consistent operational accuracy and lowers operating costs through automated and adaptive robot calibration settings.

Keywords: robot calibration, warehouse automation, laser sensor, offset, positioning accuracy, robotic system, adaptive calibration, automatic calibration, collaborative robot, cobot

The article presents the results of the analysis of the architecture of robotic technologies used in warehouse logistics. The following methods of architecture optimization are identified: multifunctionality, modularity, swarm intelligence, and the implementation of several operating modes. Based on the analysis, a conceptual model of a robot for inventory of warehouse premises was created. The main advantages of the model are: the possibility of using the robot outside working hours due to the presence of an autonomous operating mode; application for inventory and for joint work with other robots (coordination of the movement of ground robots); the presence of an interchange algorithm that ensures fault tolerance and a partial solution to the problem of the limited operating time of the robot from the battery.

Keywords: robotic technologies, drones, modularity, swarm intelligence, fault tolerance, warehouse logistics

The problems of building human-machine interfaces of automated operational dispatch control systems with a high density of information flow are considered. The article is devoted to the modernization of the graphical part of control systems with the proposal of levels of graphical mnemonic circuits and their description of their advantages. In the second part, the modernization of the previously proposed algorithm for the development of an alarm subsystem is given. The advantages of the proposed approaches for the end user are derived.

Keywords: dispatch control, automated control system, HMI, BMS, SCADA, UX/UI design

The paper describes an automated security system for a mining container: a short circuit protection system for smooth start-up of equipment, temperature control and fire prevention of devices.

Keywords: mining, electrical safety, temperature maintenance, fire prevention, automated system

This article provides an overview of existing structural solutions for in-line robots designed for inspection work. The main attention is paid to the analysis of various motion mechanisms and chassis types used in such robots, as well as to the identification of their advantages and disadvantages in relation to the task of scanning a longitudinal weld. Such types of robots as tracked, wheeled, helical and those that move under the influence of pressure inside the pipe are considered. Special attention is paid to the problem of ensuring stable and accurate movement of the robot along the weld, minimizing lateral displacements and choosing the optimal positioning system. Based on the analysis, recommendations are offered for choosing the most appropriate type of motion and chassis to perform the task of constructing a 3D model of a weld using a laser triangulation sensor (hereinafter referred to as LTD).

Keywords: in-line work, inspection work, 3D scanning, welds, structural solutions, types of movement, chassis, crawler robots, wheeled robots, screw robots, longitudinal welds, laser triangulation sensor

The development, research and construction of devices that speed up the process of interaction between various modules (for example, telemetry and remote control systems), and in general, hybrid communication systems of a digital city that include a variety of systems used in an Intelligent Building is an urgent problem. One of these devices presented in the article is the optimal multi–frequency modem developed. In addition to the developed modem, the article presents examples of the development of similar types of devices and systems by both Russian and foreign researchers. At the same time, the authors proved that the use of the proposed modem provides a gain in spectral and energy efficiency in comparison with analogues. The proposed approach can be used to organize high-speed data transmission over frequency-limited communication channels based on new wired technologies of the digital subscriber line standard, as well as wireless systems.

Keywords: telemetry and remote control system, intelligent building, digital city hybrid communications system, modem, multi-frequency modulation, digital subscriber line, optimal finite signal, modulator, demodulator, wireless communication system

The desliming process plays a key role in mineral processing technology, ensuring efficient particle separation based on their magnetic properties. The article examines the issues arising from the use of traditional magnetic deslimers under elevated slurry temperatures. One of the main drawbacks of existing methods is the decrease in magnetite density as temperature rises, which impairs separation quality and leads to losses of the valuable product. The article explores the physical aspects of this problem and proposes methods for its mitigation, including control of the magnetic field strength to optimize flocculation. It also considers the possibility of upgrading deslimers by replacing permanent magnets with electromagnets, enabling more precise process control. Magnetic field modeling with ANSYS Maxwell software confirms the effectiveness of the proposed solutions. The work’s primary focus is the development of a hybrid intelligent control system for the desliming process. The proposed system consists of three control loops: water supply, electromagnet excitation current, and desliming discharge. Each loop is managed by proportional–integral–derivative regulators, which are automatically adjusted based on data regarding changing slurry parameters and external conditions. Applying these methods can significantly improve the quality of the iron ore concentrate, increase the iron content in the product, reduce losses in tailings, and ensure stable equipment operation under varying environmental conditions.

Keywords: magnetic desliming, flocculator, automated control system, PID controller, iron ore processing, optimal control