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Документ Parametric synthesis of the invariant system of car course stability(Національний технічний університет "Харківський політехнічний інститут", 2023) Aleksandrov, Yevgen; Aleksandrova, Tetiana; Kostianyk, Iryna; Morgun, YaroslavThe problem of constructing the invariant stabilizer of the ESP (Electronic Stability Program) car course stability system is considered by implementing two control principles by the electronic brake force distribution unit EBD (Electronic Brakeforce Distribution) – the principle of control by deviation and the principle of control by external disturbance. The values of the variable parameters of the stabilization algorithm are selected from the conditions for minimizing both the static and dynamic errors of the system. Two brake fluid pressure sensors are introduced into the EBD structural-functional scheme in the brake lines of the right and left sides of the car. It is proven that the pressure difference of the brake fluid, which is measured by pressure sensors, is proportional to the external disturbance acting on the car body from the side of the road surface. Therefore, in order to give the ESP system the property of invariance to external disturbances, the control signal generated by the EBD electronic unit contains current information not only about the parameters of the disturbed movement of the car, namely, about the angle of deviation of the longitudinal axis of the car relative to the given direction of movement, about the angular velocity of rotation of the body relative to its vertical axis and about lateral displacement of the center of mass of the body, but also the current information about the external disturbance acting on the car body. Recommendations for choosing the values of variable parameters of the ESP system stabilizer are given, which ensure the minimization of both static and dynamic errors of the closed system in the emergency braking mode.Документ Selection of the set of allowable values of the variable parameters of the stabilizer of a complex dynamic object(Національний технічний університет "Харківський політехнічний інститут", 2023) Aleksandrov, Yevgen; Aleksandrova, Tetiana; Kostianyk, Iryna; Morgun, YaroslavTopicality. One of the most important tasks in the application of computational methods for the parametric synthesis of controllers of complex dynamic objects is the task of determining the set of permissible values of the variable parameters of the controller, where the target function is calculated based on the solutions of the mathematical model of the disturbed motion of the dynamic object with its subsequent minimization. The purpose of the work is to construct the set of permissible values of variable parameters of the stabilizer of a complex dynamic object when applying the algorithmic combined method of parametric synthesis of stabilizers of complex dynamic objects, the essence of which is the direct calculation of the integral quadratic functional on the solutions of a closed dynamic system with subsequent finding of its global minimum through a sequential combination of two algorithms – the Sobol grid algorithm and the Nelder-Mead algorithm. Results. With the help of the Sobol grid construction algorithm, the starting point of the computational process is brought to the node of the Sobol grid, which is located in the small vicinity of the point of the global minimum. At the second stage of optimization, the found Sobol grid node is selected as the starting point for applying the Nelder-Mead method, which is implemented by the Optimization Toolbox software product of the MATLAB package or the Minimize software product of the MATHCAD package and leads the computational process to the point of the global minimum. Conclusion. The paper proves a theorem according to which the stability region of a closed system of the first approximation can be taken as such a set, and also gives an example of a solution to the problem of parametric synthesis of the stabilizer of the car's course stability system during its emergency braking.