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

In the article the question of the distribution of the load factor of a synchronous generator, which determines the percentage of the PTO on the particular consumer generator. When transporting the electricity consumers on several lines from different energy sources, there is a problem of rational distribution of power level that the consumer will take from each of the sources. This paper proposes a method of allocation, which aims to minimize power losses in power lines. Disabled distribution law SG load factor, which takes into account line losses and possible limitations on the level of generated power generators.

Keywords: the load factor, synchronous generator, control system, smart grid, power distribution.

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 article discusses the design of microcontroller control unit for actuators of marine vehicle "Neptune". Functions of the control unit and its interconnections with the other functional elements of the vehicle is described. Emergency remote control mode is presented in details. Paper contains description of hardware and software implementation of the control unit. The efficiency of the proposed design is proved by the results of experiments in which authors measured dependencies between the parameters issued by the autopilot and the appropriate control signals applied to the actuators of autonomous vehicle.

Keywords: control unit, actuators, control system, microcontroller board, remote control.

From the point of view of development of control systems, a significant disadvantage of indirect adaptive control systems of moving objects is the fact that the limiting the properties of such system are determined by the basic adaptive regulator. In other words, to solve the problem of adaptive control it is required to find a non-adaptive regulator, which solves the problem of marine autonomous vehicles. In this case, the adaptive controller replaces many controllers that solve the control of multiple objects in a non-adaptive domain. The paper presents method of direct adaptive control for marine autonomous vehicles. Nonlinear mathematical models are considered. The method is based on position-trajectory control approach. It is proved the designed by suggested method controller is a vector nonlinear PI-regulator. The regulator ensures asymptotical stability of the closed-loop control system.

Keywords: adaptive control, marine autonomous vehicles, position, trajectory

This article investigated the possibility of creating a new composite material for electrical products based on natural graphite as the main component with the addition of a plasticizer . Adding plasticizer necessary to solve technological difficulties pressing process products with a high content of natural graphite . This is due to large shear between the interphase graphite flakes . As the plasticizer used polyvinylacetate . The paper presents the technological aspects of production material and study the influence of the plasticizer on the composition, both qualitative and quantitative . Conclusions about the most appropriate ratio to the amount of graphite esmestvennogo adds plasticizer.

Keywords: Еlectrotechnical products, softener for graphite, composite material, copper-graphite composition, tokosjemny material, current collecting Box, рolyvinylacetate, modification of the surface of graphite.

The article presents an approach to synthesis of inhibitory quasi-fields of obstacles for SUGV on-board path planning system, algorithmic basis of which is an adaptive control method for intellectual robots. The inhibitory quasi-fields of obstacles are used for path optimization by safety criteria.

Keywords: Robotics, SUGV, local navigation, path planning, trajectory optimization

This paper presents the application of the model predictive control (MPC) technique for direct vector control  of induction motor drive. Three MPC controllers have been employed; one for adjusting the motor speed, the second for rotor flux control and the last one is specialized for controlling the motor currents. A simple models of induction motor is employed in the MPC structure so as to minimize the computational load. a cassced  The effectiveness of the proposed scheme has been successfully verified through simulations.  The performance of the system including the MPC controller is compared with the corresponding one using the traditional PI controller. The results proved that the induction motor with the MPC controller has superior transient response, and good robustness in face of uncertainties including load disturbance. Moreover, accurate tracking performance has been achieved. 

Keywords: Ac drives, Induction Motor, Model Predictive Control, vector control, field oriented control.

The methods of improving the efficiency of thermal power plants. Improve the efficiency improvement offers reach the combustion process. Outlines the benefits of controlling the combustion of fuel in the ion current signal.

Keywords: power system, power plants, combustion control, the ion current, the detonation

A mathematical model of a surface mini-ship "Neptune", including a mathematical model of the actuators. Used to identify the parameters of the mathematical model. analysis of stability and controllability of surface mini-vehicle for its mathematical model.

Keywords: mathematical model, surface mini-ship, handling, stability

In this paper we propose an approach to the implementation of the automatic control system of autonomous unmanned surface vessels on the example of a surface mini-ship "Neptune". Synthesized autopilot algorithms based on the theory of control of dynamic objects, developed by prof. Pshihopovym. A program of mathematical modeling. simulation results, which confirm the correctness of the proposed algorithms.

Keywords: autopilot, surface ship, mathematical modeling

In this paper we propose an approach to the implementation of the automatic control system of autonomous unmanned surface vessels on the example of a surface mini-ship "Neptune". Synthesized autopilot algorithms based on the theory of control of dynamic objects, developed by prof. Pshihopovym. A program of mathematical modeling. simulation results, which confirm the correctness of the proposed algorithms.

Keywords: autopilot, surface ship, mathematical modeling