Scientific activity
of the Aircraft Management Systems Department
of the Faculty of Aircraft Management Systems
National Aerospace University
"Kharkiv Aviation Institute"
Technical vision in systems of rational management of promising systems of navigation, orientation and stabilization of moving technical objects
Development of algorithms and hardware and software tools for the use of stereo vision methods in trajectory measurement tasks
Main tasks:
- software synchronization of web cameras with high accuracy to obtain synchronized stereo images;
- calibration of used cameras to determine their parameters (focal length, optical distortions, etc.);
- calibration of the cameras of the stereo pair in the common coordinate system;
- rectification of images to establish correspondences between epipolar lines on a stereo pair, along which a search will be performed for the algorithms to work;
- stereo matching, color correction of stereo channels for stereo visualization tasks.
It is advisable to conduct further research in the following areas:
- development of new methods and algorithms of stereovision for tasks of restoring the parameters of a three-dimensional scene based on the results of video surveillance;
- development of methods and algorithms for estimating trajectory parameters (ranges, angles, and angular velocities) for moving objects, researching their accuracy and resistance to disturbances;
- to develop new software for stereo vision systems;
- to develop a hardware and software complex of stereo vision based on the Raspberry Pi microcomputer.
Models and methods of rational management of autonomous small-sized aircraft
Diagnostics of a shock-resistant aircraft of a helicopter circuit in a gimbal suspension with a protective shell
Main tasks:
- to develop a linearized mathematical model of an impact-resistant aircraft;
- investigate diagnostic processes using a machine model of an impact-resistant aircraft.
Results:
- the construction of meaningful and physical models of a shock-resistant aircraft of a helicopter scheme in a cardan suspension with a protective shell was completed;
- on the basis of Lagrange equations of the 2nd kind, the equations of the nonlinear mathematical model of LA for the general case of motion were obtained. It is shown that LA has eleven degrees of freedom;
- using the method of analytical linearization, linearized equations of the dynamics of the longitudinal motion of an impact-resistant aircraft were constructed;
- to solve the problem of diagnosis, the equation of a separate case of longitudinal movement with a trajectory close to vertical was obtained, which allowed not to take into account the oscillating component of the internal dynamics of the aircraft along the pitch angle;
- implemented, with the help of machine modeling in the Matlab / Simulink environment, algorithms for diagnosing aircraft according to three parameters: height, vertical speed and overload. It is shown that to determine the place and nature of destabilization it is advisable to use signs for any pair of flight parameters.
Models and methods of rational management of the performance of typical functional elements of navigation, orientation and stabilization systems
Development of a mobile platform control system on three omnidirectional wheels
Main tasks:
- calculation of the kinematics of the movement of the mobile platform;
- development of a mobile platform management system.
Results:
- obtained dependences of projections of linear velocities on the axis of the basic coordinate system of the movement of the platform with three roller-carrying wheels allow to ensure the movement of its center of mass in any desired direction from the starting point of the trajectory without prior reversal of the platform. The obtained dependencies can serve as the starting material for describing the dynamics of the platform using any of the known methods;
- formed structural and functional schemes. Calculated transfer function according to the desired influence. Synthesis of the system using the PID controller method was performed in the Matlab/Simulink environment;
- according to the results of using a synthesized PID controller in the motor control circuit, along with ensuring the stability of the platform, it additionally ensures the high accuracy necessary for determining the location of the robot platform, which is necessary when moving in a limited space.
Diagnosis and restoration of the electric flywheel drive unit of the spacecraft
Main tasks:
- development of diagnostic functional models for detecting destabilization, finding the place of destabilization, determining the type of destabilization;
- development of models and methods of restoring the mechanism's operability in abnormal modes of operation;
- modeling of the electric flywheel drive in the Simulink environment in nominal and non-standard operating modes;
- research of the current mock-up model of the system of rational control of the electric flywheel drive.
Results:
- algorithms for diagnosing the system and forming signs of destabilization in the case of detection of signs of deviation of the controlled parameters from the reference ones were considered;
- the greatest influence on the results of the diagnosis process is the confidence coefficient, the diagnosis interval and the permissible deviation of the controlled value, since it depends on them whether a certain measurement will be considered destabilization at a specific moment in time, as well as how many such measurements will be found during the diagnosis interval and whether there are this amount is sufficient for the system to enter the recovery mode;
- analyzing the results of experimental studies, it can be concluded that the obtained time dependences fully satisfy the initial requirements for the system.
Study of possibilities of intelligent management methods on the example of various technical systems
Ensuring the multi-mode functioning of the vortex energy distributor due to automatic positioning of the energy parameters of the low-temperature air flow
Main tasks:
- to analyze the areas of use of vortex energy separators, existing samples of vortex systems for ensuring the temperature regime and to evaluate · the possibility of expanding the range of operating modes of the vortex energy separator;
- to develop graphic, physical, interval mathematical, machine and mock-up models of the vortex energy distributor as an object of automatic positioning;
- to develop ways of changing the energy flow of cold air and conduct research on structural and parametric identification of interval mathematical models of the object of automatic positioning;
- to develop a method of synthesis of an automatic positioning system using interval asymptotic logarithmic amplitude-frequency characteristics;
- to develop a hardware and software complex and technology for conducting experimental studies of the system of automatic positioning of the cold air energy flow of the vortex energy distributor.
Results:
- for the first time, interval models of the vortex energy distributor were developed, which differ from the known ones by displaying the transforming properties of the vortex energy distributor as an object of automatic positioning with interval uncertainty, which makes it possible to analytically solve the problem of ensuring the stability and quality of the positioning system;
- the models and method of structural and parametric identification of the interval mathematical model of the vortex energy distributor have been improved by using the features of the derivatives of the interval logarithmic amplitude-frequency characteristics, which allows to provide an adequate description of the dynamic properties of the vortex energy distributor in a wide range of modes
- the frequency method of the synthesis of the automatic positioning system was further developed due to the use of fractional order values and interval evaluations of the parameters of the open system, which allows to ensure the stability and quality of the operation of the closed system in a wide range of modes of the vortex energy distributor.
Stabilization of unstable states of the reverse pendulum with screw electric drives
Main tasks:
- to form a physical model of a reverse pendulum with helical electric drives;
- to develop, using the Lagrangian formalism, a non-linear mathematical model of a reverse pendulum with helical electric drives as an object of automatic stabilization;
- build a linearized mathematical model of the object of automatic stabilization in the space of states;
- analyze the functional properties of the object of automatic stabilization;
- to form structural diagrams of the system of automatic stabilization of the states of the reverse pendulum with screw electric drives;
- to obtain analytical relations for calculating optimal values of parameters of algorithms for stabilization of unstable states of a reciprocating pendulum with screw electric drives;
- to synthesize an optimal angular position stabilization algorithm for a specific reverse pendulum with helical electric drives.
Results:
- various models of the reverse pendulum with screw electric drives as an object of automatic stabilization were obtained, which differ from the known ones, taking into account the dynamic properties of the screw electric drives, which create control moments of stabilization.
- the conditions for selecting the parameters of the proportional-differential structure of stabilization algorithms to ensure the stability and optimality of the transition process of the closed stabilization system are formed, which differ from the known specifics of the formation of the control moments of stabilization according to the integral criterion of the weighted error module.
Intelligent computer training programs in the design of rational control systems
Development of intelligent educational programs for the development of algorithms
Screen forms of the "APSIS" program
Screen forms of the "Apsis FC Tutor" program
Results:
- experimental studies showed that the program works successfully when using "input-output" testing when identifying errors of the type "Compilation error" and "Incorrect answer";
- the "trainer" mode is the mode that requires the most training. The student's decision may be different, and it is necessary to choose such a minimal set of actions for organizing a dialogue with the user, which would lead to a quick and high-quality mastering of the material;
- the main attention should be paid to the algorithms for selecting reference solutions. The "incomplete search" algorithm is essential when the set of possible reference solutions is very large. At this stage, during the experiment, this algorithm can choose a reference solution that is different from the user's solution, but which is also included in the set of reference solutions and implemented in the system. The "full search" algorithm works correctly and efficiently if the number of reference solutions embedded in the ICOP is not large. This algorithm can become an alternative to the previous algorithm, if you organize a system of hints, which clearly describes which syntactic constructions are allowed to be used during training. This is justified by the fact that the set of all kinds of reference solutions is infinitely large, as well as by the fact that different strategies can be applied when training the ICOP user.
Development of an intellectual educational program in mathematics
Main tasks:
- synthesize parameterized mathematical models of problems for the generation of conditions, correct answers to check the results obtained by the tested, and variants of incorrect answers in the case of closed tests;
- to create algorithmic and software for the implementation of means of interactive testing of knowledge and skills of graduates of general educational institutions of Ukraine using the Internet in three modes: the mode of teaching the teacher's decision, the training mode with hints and the control mode;
- to develop a model, algorithmic and software for relative, rating evaluation of the knowledge and skills of the tested.
Screen forms of the "Math Education system" program
Results:
- the project is aimed at improving the effectiveness of training graduates of general educational institutions of Ukraine for external independent assessment in mathematics by ensuring the availability of test examples via the Internet and the implementation of interactive learning modes, training with hints and control to improve understanding of the content of tasks and technologies for filling out answer sheets, as well as to save costs for the production and distribution of paper collections of test tasks due to the development and implementation of interactive testing tools;
- an analysis of the world experience of creating interactive means of testing the knowledge and skills of schoolchildren in mathematics was performed, as a result of which the project tasks were formulated;
- synthesized parameterized mathematical models of problems for the generation of conditions, correct answers to check the results obtained by the tested, and variants of incorrect answers in the case of closed tests.
Development of an intelligent educational program in the discipline "Theory of automatic control"
Screen forms of the "Demo" mode of operation
Results:
- like any program, ICOP for constructing the frequency characteristics of the ACS is not without its shortcomings. Based on the feedback received from the students during the testing of the training program, a list of recommendations for improving the software can be formed in order to increase the overall level of user satisfaction and correct the identified errors. It is necessary to introduce changes in the educational program that would contribute to increasing the level of these indicators;
- it is necessary to take measures to increase it. Some minor errors discovered during testing are also subject to correction;
- in general, during the tests, the students coped with the task without additional help with minimal introductory instruction before using the program. Most of the feedback received is positive, therefore, the program must be developed for further integration into the educational process in the discipline "Theory of Automatic Control".
Post-graduate students' report
On December 9, 2021, a scientific seminar of Department 301 was held, at which the results of graduate students' work on the implementation of the study plan and scientific research were presented. Speakers: Wei Sibey, Sokol, Gurtovyi, Boychuk.
Physical model of cyclorotor. Speaker: Wei Sibei
Experimental installation of a vortex energy separator. Speaker: Sokol