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Дисертації з теми "681.5.015.24"
Гусинін, Андрій Вячеславович, та Andrii V. Gusynin. "Методи розв’язання нелінійних задач оптимального керування рухом літальних апаратів на основі диференціальних перетворень". Thesis, Національний авіаційний університет, 2021. https://er.nau.edu.ua/handle/NAU/48739.
Повний текст джерелаThe thesis is dedicated to the evolution of methods for solving non-linear optimal control problems of aircraft motion based on differential transformations and their application for optimization of multistep delivering of autonomous unmanned aerial vehicles (UAVs) into desired terminal conditions. The scientific and methodological base has been developed to ensure the solution of non-linear problems of optimal aircraft motion control based on the mathematical apparatus of differential transformations. Advanced and developed new methods for solving non-linear ordinary differential equations, nonlinear boundary value problems and the method of discrete-analytical mapping into the image area (into a spectral model) of the initial non-linear mathematical model of aircraft motion at delivering into desired terminal conditions. The basic differential transform method in terms of its application for solving non-linear problems of optimal aircraft motion control has been advanced, which has made it possible to simplify the control algorithms synthesis and obtain them in analytical form. New methods for solving non-linear problems of optimal terminal, multicriteria and guaranteed-adaptive control have been advanced and developed.The advanced and developed new methods for solving non-linear problems of optimal control are used for optimal algorithms synthesis of terminal, multicriteria and guaranteed-adaptive control of the launching of an aerospace system into orbit, takeoff with delivering into desired altitude and landing of an autonomous unmanned aerostatic aircraft.
Заковоротный, Александр Юрьевич. "Синтез автоматизированной системы управления подвижным составом на основе геометрической теории управления и нейронных сетей". Thesis, НТУ "ХПИ", 2017. http://repository.kpi.kharkov.ua/handle/KhPI-Press/28330.
Повний текст джерелаDissertation for the degree of Doctor of Technical Science on Specialty 05.13.07 – Automation of Control Processes. – National Technical University "Kharkіv Polytechnic Institute", Kharkіv, 2017. The dissertation is devoted to solving scientific and applied problems of increasing energy characteristics of traction rolling stock, traction asynchronous drive through the development and introduction of new onboard intellectual decision support system of machinist that is based on more accurate models and optimize dynamics tools, using new methods and specialized software and new technologies of information processing based on stable and plastic neural networks and new models of associative memory, which creates theoretical precondition for developing of automatic control systems of high-speed rolling stock. Developed a comprehensive diesel-train model that takes into account the principal vibrations of the rolling stock and the distribution of forces of interaction between them, as well as parallel performance of traction drive of wagons with motors that adequately reflects the processes that occur on the real object. Developed specialized software that realizes the man-machine system that automates the conversion of analytical geometric control theory in the synthesis models to the Brunovsky form. Based on the neural networks that can solve problems with multiple solutions, developed a new method of search switching functions between the variables in the form of linear models Brunovsky and variables of nonlinear models control object. Developed stable-flexible Hamming neural networks, Hebb and other networks based on Perceptron, that can recognize new information and studying during its performance and modification Hamming neural network, capable identify several solutions. Has developed structure and components of the onboard intellectual decision support system that allows the actual use of the rolling stock and when happening currently changing road conditions, system can give for machinist new control laws under which adheres to a schedule for the least cost fuel and energy resources. Conducted experimental investigations on mathematical models and real object that confirming the correctness of the proposed solutions, methods and algorithms.
Заковоротний, Олександр Юрійович. "Синтез автоматизованої системи управління рухомим складом на основі геометричної теорії керування та нейронних мереж". Thesis, НТУ "ХПІ", 2017. http://repository.kpi.kharkov.ua/handle/KhPI-Press/28327.
Повний текст джерелаDissertation for the degree of Doctor of Technical Science on Specialty 05.13.07 – Automation of Control Processes. – National Technical University "Kharkіv Polytechnic Institute", Kharkіv, 2017. The dissertation is devoted to solving scientific and applied problems of increasing energy characteristics of traction rolling stock, traction asynchronous drive through the development and introduction of new onboard intellectual decision support system of machinist that is based on more accurate models and optimize dynamics tools, using new methods and specialized software and new technologies of information processing based on stable and plastic neural networks and new models of associative memory, which creates theoretical precondition for developing of automatic control systems of high-speed rolling stock. Developed a comprehensive diesel-train model that takes into account the principal vibrations of the rolling stock and the distribution of forces of interaction between them, as well as parallel performance of traction drive of wagons with motors that adequately reflects the processes that occur on the real object. Developed specialized software that realizes the man-machine system that automates the conversion of analytical geometric control theory in the synthesis models to the Brunovsky form. Based on the neural networks that can solve problems with multiple solutions, developed a new method of search switching functions between the variables in the form of linear models Brunovsky and variables of nonlinear models control object. Developed stable-flexible Hamming neural networks, Hebb and other networks based on Perceptron, that can recognize new information and studying during its performance and modification Hamming neural network, capable identify several solutions. Has developed structure and components of the onboard intellectual decision support system that allows the actual use of the rolling stock and when happening currently changing road conditions, system can give for machinist new control laws under which adheres to a schedule for the least cost fuel and energy resources. Conducted experimental investigations on mathematical models and real object that confirming the correctness of the proposed solutions, methods and algorithms.
Дудник, Олексій Валентинович. "Оптимальні системи керування перехідними процесами енергозаощаджуючих об'єктів зі змінними параметрами". Thesis, НТУ "ХПІ", 2016. http://repository.kpi.kharkov.ua/handle/KhPI-Press/22091.
Повний текст джерелаThe thesis for scientific degree of candidate of technical sciences in the specialty 05.13.03 – control systems and processes. – National Technical University "Kharkov Polytechnic Institute", Kharkov, 2016. The thesis is devoted to solving scientific and practical problems of improvement of cost effective energy control system. In the thesis has given the method of optimal control in a linear open-loop system with quadratic criteria of quality. It is shown that there are six variants of the algorithms of optimal control, depending on the combination of constraints on the controlled axes. Depending on the duration, optimal control algorithms are arranged in a specific order, relative to each other, thereby forming a region of the problem solution by the time of maximum speed with one hand and minimal time costs with other. Mathematical dependences for definition of these limits and the borders of neighbour algorithms within this field are derived in the thesis. In the thesis is proposed a method for the identification of the drive parameters. This method based on recurrent neural network Elman. The mathematical relationship between the weight coefficients of the network layers and parameters of the engine allows using the network learning as a way of identification. The paper presents a functional diagram of a two-tier system of optimal control. On the upper level, there is a choice of algorithm of optimal control and calculation of intervals durations. The lower level controller performs the generation of control actions on the object, the shape and duration of which is determined the upper-level computer.
Главчев, Дмитро Максимович. "Моделі, методи та програмні компоненти комп'ютерної системи тягового рухомого складу". Thesis, Національний технічний університет "Харківський політехнічний інститут", 2020. http://repository.kpi.kharkov.ua/handle/KhPI-Press/48901.
Повний текст джерелаThe thesis is submitted to obtain a scientific degree of Doctor of Philosophy, specialty 123 – Computer Engineering – National Technical University “Kharkiv Polytechnic Institute” , Kharkiv, 2020. The object of the research is the processes of managing the traction rolling stock with the help of an on-board computer system used in the DEL-02 series diesel trains. The subject of research are models, methods and corresponding software components used in the computer system of traction rolling stock, which extend the using scope of geometric control theory for the synthesis of optimal controls of rolling stock, as well as methods and tools for the development of modern software complexes in the development of computer decision support systems of the diesel train driver of the DEL-02 series trains. The introduction focused and explained on the relevance of the topic being researched, shows the relationship with scientific programs, plans and topics, presents the scientific novelty, as well as formulates the practical significance of the results. The first section provides an analytical overview of models, methods and software components used in computerized decision support systems of the diesel train driver and train control systems. The peculiarities of the structure and peculiarities of using such systems on rail transport in Ukraine and in the world (China, India, Germany, CIS countries) are considered. On the example of the operation of such systems considered their structure, specifications, applications and features of use. The first section also deals with the mathematical model of a control object, an example of a method of linearization of a given mathematical model, a method of finding transform functions that relate variables of linear and nonlinear mathematical models. Also, the possibility of using neural network associative memory in control systems was considered and methods of synthesis of optimal control systems were analyzed. As a result, the main directions of research were selected and the main tasks of the dissertation were set. In the second section, the question of converting nonlinear mathematical models into equivalent linear mathematical models in the form of Brunovsky was considered. Also, methods of simplifying analytical transformations during the linearization process by converting to a linear kind of nonlinear systems with different numbers of monomials in the right-hand sides of the differential equations of the initial object, as well as separating the linear equation from the other part of the system of equations, were considered. These methods were verified by modeling the motion along the path of the initial object in the form of a nonlinear system of differential equations and the object transformed into a linear Brunovsky form, with further comparison of the results obtained, which showed coincidence, which indicates that in the case of using this the linearization method allows to obtain a linear mathematical model that is completely equivalent to the original non-linear model. Additionally, linearization of a more complex nonlinear mathematical model describing the operation of a train with two separate engines was performed, and the verification of the results of the linear model simulation showed complete equivalence to its original form. Research results have yielded a number of scientific results: − dependence of quantity and complexity of calculations during linearization and search of transformation functions on the number of monomials in the right part of equations of nonlinear mathematical model is determined; − two new methods of finding transform functions are proposed that relate variables of linear and nonlinear models that extend the scope of geometric control theory to objects whose right-hand sides of differential equations contain more than two monomials; − was proposed a method of reducing the number of calculations when performing linearization by separating a linear equation from the system; − this method was tested, which showed its workability on more complex mathematical models, in particular, on a model that describing the operation of a train using two equivalent motors. In the third section of the paper, the question of creating a new method for finding functions of transformation using neural networks was considered. In this section proposes a new neural network that can be used to search for conversion functions. In addition, this section proposes a new tabular method of finding conversion functions, which is simple and clear and can be used to get results when performing the calculation process. The studies conducted in this section have yielded the following scientific results: − a new neural network has been created and proposed for searching the conversion functions that relate variables to nonlinear and linear models of a control object, which in turn widens the scope of geometric control theory; − a new tabular method for finding conversion functions is proposed, which is simple enough to understand and sufficiently visual. In this context, it is proposed to present a system of partial differential equations with constraints in the form of differential inequalities in the form of a corresponding table, which allows to visualize the dependence of transformation functions on arguments, as well as to form systems of linear homogeneous equations by which it is possible to narrow the search area of conversion functions. The fourth section focuses on the software components of the on-board computer system, as well as the developed software that extends the scope of geometric control theory. Specifically, shows with new functionality of designed software and describes its main characteristics and structure. In the framework of the description of the developed software, special attention is paid to the structure and description of the operation of individual functional blocks of the program, the development of the interface structure, the reliability of the software, components for solving control problems using geometric control theory, evaluation of the quality of the software. Also, this section gives an example of how the developed software works. In addition, this section presents the results of solving the problem of optimal motion of the diesel train along the route of its direction, in which the simulation of the train movement along the route was performed and the comparison of the obtained data with the data of the movement of the real train, as well as an attempt to improve the efficiency of train movement due to the optimization of individual sets of routes, taking into account the features of the route. The following scientific results have been obtained within this section: − new software has been developed that has been further developed through the use of modern programming languages. The developed software is more stable due to the testing unit, more convenient due to the created graphical user interface, more functional, because it can perform the process of linearization and search of conversion functions, many of the functionality are automated, there are comments and an explanation that increases the ease of use of this software, in addition, the characteristics of the program meet the requirements of the standard of program quality; − the study of the dependence of the amount of fuel consumed during train movement on the features of terrain, the style of running the train and its schedule; − a method of reducing the amount of fuel consumed was proposed and tested, using terrain features, permissible lag or advance of the train timetable, as well as determining the optimal driving style for the route as a whole and for its individual parts; − the train simulation was performed on a real route, and the results showed that the simulation was correct, because it was compared to the real train running on this route. Therefore, the dissertation is devoted to the solution of the scientific-applied problem, namely, the development of models, methods and software components of the computer system of traction rolling stock, which is created on the basis of generalized mathematical models, developed software, as well as the means of optimizing the control of moving objects new methods, as well as the use of a new neural network structure to search for transformation functions, which made it possible to extend the scope of geometric control theory it breeds the preconditions for developing automatic train control systems and improves performance related to energy consumption. The advanced diesel train model takes into account the main types of interaction between the train and the track profile, namely, turns, slopes, as well as the performance of the train engines, which adequately reflects the processes in real diesel train. Specialized software has been created that has a graphical user interface and complies with software quality assessment requirements. This software implements an advanced structure of the human-machine system, makes it possible to perform automation of analytical transformations of geometric control theory to the form of Brunovsky. The new neural network structure is based on ART-type neural networks to solve multiple-choice tasks. This made it possible to develop a new method of finding transform functions that relate variables of nonlinear and linear models in the form of Brunovsky. To increase the efficiency of the linearization process, several methods have been proposed to simplify the calculation process by reducing the number of elements in the right-hand side of the initial differential equation system, and by separating the first equation, which itself is linear, from the general system of equations. The performed research and development allowed to improve the structure of the on-board computer system of decision support of the driver of the diesel train, which allowed, under real conditions of movement of the dynamic object, during changes of road conditions, to perform recalculations and to give the driver new control laws which will allow to continue the movement on the route adhering to the timetable and minimum cost of fuel and energy resources. Appropriate researches were conducted on real object and mathematical models. The results of the researches confirmed the correctness of the used tools, methods and algorithms, on the basis of which the appropriate solutions that formed the basis of the developed software were proposed.