Development Of Control System Research Articles

Investigating Dynamic Behavior and Control Systems of the F-16 Aircraft: Mathematical Modelling and Autopilot Design

The development of control systems for aerial vehicles necessitates a meticulous examination of their dynamic behavior. This research delves into an in-depth investigation of the dynamic behavior of the F-16 aircraft, employing refined mathematical models to analyze both its longitudinal and lateral motions, as well as their corresponding modes. These mathematical models are formulated in two conventional representations: state space equations and transfer functions. By utilizing these mathematical representations, two displacement autopilots have been developed, consisting of a pitch attitude autopilot based on the longitudinal equations and a roll attitude autopilot designed using the lateral equations. Proportional Integral Derivative (PID) controllers, encompassing inner loops, as well as Linear Quadratic Controllers (LQR), have been recruited as control system units. The control structures have undergone analysis utilizing Simulink models. The analyses have yielded favorable damping characteristics and faster responses in both longitudinal and lateral movements and modes.

Nonsingleton Gaussian type-3 fuzzy system with fractional order NTSMC for path tracking of autonomous cars

Path-tracking and lane-keeping tasks are critical to guarantee safety and navigation performance considerations for deploying autonomous cars. This paper presents a novel control framework for the path-tracking control of high-speed autonomous cars with structured uncertainties. This study introduces a nonlinear adaptive control system based on a fractional-order terminal sliding mode system while incorporating a novel Gaussian Nonsingleton type-3 fuzzy system (FOTSM-NT3FS). Therefore, the proposed controller is independent of the information about the ego vehicle’s dynamic information, and instead, the dynamics are approximated through a developed NT3FLS. The developed control system exhibits robustness to measurement errors and faulty sensors, because the inputs to the NT3FS are uncertain. In order to guarantee the boundedness of the adaptation parameters, the σ−mod approach is employed. The Lyapunov stability theorem and Barbalat’s lemma are used to ensure the uniform ultimate boundedness of the closed loop system and the convergence of tracking errors to the origin in finite time. High-fidelity co-simulations with CarSim and MATLAB are performed to verify the effectiveness of the proposed control scheme and are also compared to other reported methods in the literature. Based on the obtained results, the schemed controller exhibits competitive effectiveness in path-tracking tasks and strong efficiency under various road conditions, parametric uncertainties, and unknown disturbances.

Principles of Constructing a HIL Simulation Stand for Debugging Automated Process Control Systems based on the Baget PLC

The problem of constructing a HIL simulation stand for researching a technological process using programmable logic controller (PLC) "Baget" is described in this article. Issues of modeling technological processes are currently extremely relevant, since modeling is a mandatory stage in the automated process control systems development. An adequate model of the technological process allows debugging and verification of automated process control system algorithms without using real equipment, reducing financial costs and the probability of emergency situations. The HIL modeling method involves partial use of real equipment as part of the model. The inclusion of standard components of the original object in the model does not require detailed mathematical model and at the same time provides a more complete correspondence to the original. Due to using a computer from the original object, the stand software operates under conditions close to the real technological process, which improves the quality of the simulation results. The HIL modeling stand includes the following components: control computer of automated process control system; programmable logic controller PLC "Baget"; simulation computer. The stand for the basic element of an automated process control system allows to speed up the process of prototyping and debugging even in the case of complex systems, because it will be easier to build the entire system from correctly functioning elements. Another advantage of this approach is that the stand is not tied to a specific type of technological process or to a narrow area of production — the stand allows the use of ready-made models, the development of new models, and the inclusion of various function libraries. The simplicity of the stand design with this approach is combined with a full range of functionality. By connecting additional software, you can create more complicated and detaild model. This stand is also capable of serving both for debugging PLC algorithms and as a simulator for maintenance personnel of a real control object, because the stand operator can simulate failures and errors of standard equipment, emergency situations at the control object. Using C and JavaScript programming languages for development ensures portability and ease of expanding the capabilities of the modeling software. The development of complex systems based on HIL modeling allows saving resources and effectively solving assigned problems, therefore the proposed approach to building stands will be in demand in the process of developing an automated process control system based on the PLC "Baget".

Transmedia Performance Research and Motion Control of Unmanned Aerial–Aquatic Vehicles

This paper presents an improved motion controller based on the backstepping method to address nonlinear control challenges in unmanned aerial–aquatic vehicles (UAAVs), enabling them to navigate between two different media. The nonlinear control approach is applied to UAAV motion control, incorporating filters to improve stability. The study designs motion controllers for three UAAV phases: underwater, in the air, and transitioning between media. Fluid simulations of the emergence process of the UAAV for future field experiments were conducted. By fine-tuning the simulations, a comprehensive understanding of the vehicle’s performance is obtained, offering crucial insights for the development of subsequent control systems. Simulation results confirm the controller’s ability to achieve target trajectory tracking with control system responses that meet practical requirements. The controller’s performance in attitude control and trajectory tracking is verified in underwater gliding, transmedia transitions, and airborne phases, demonstrating its effectiveness.

Development and Testing of an Active Noise Control System for Urban Road Traffic Noise

As urbanization accelerates, the increasing number of vehicles and travel demands contribute to escalating road traffic noise pollution. Although passive noise control techniques such as noise barriers and green belts effectively mitigate noise, they occupy urban space, exacerbating the scarcity and high cost of already congested city areas. Emerging as a novel noise reduction strategy, active noise control (ANC) eliminates the need for physical isolation structures and addresses the noise within specific frequency ranges more effectively. This paper investigates the characteristics of urban road traffic noise and develops an ANC prototype. Utilizing the Least Mean Squares (LMS) algorithm, we conduct active noise control tests for various types of single- and dual-frequency noise within the prototype’s universal platform to validate its actual noise reduction capabilities. The study demonstrates that urban road traffic noise is mostly in the mid- to low-frequency range (below 2000 Hz). The developed ANC prototype significantly reduces single- or dual-frequency noise within this range, achieving a maximum noise reduction of nearly 30 dB(A). Future research should expand noise reduction tests across more frequency bands and assess the noise reduction effectiveness against real road traffic noise.

Development of a bio-inspired optical system that mimics accommodation and lighting regulation like the human eye.

Bio-inspired optical systems have recently been developed using polarizers and liquid or rigid lenses. In this work, we propose a bio-inspired opto-mechatronic system that imitates the accommodation and regulation of light intensity as the human eye does. The system uses a polymeric lens as a cornea, an adjustable diaphragm as an iris, a tunable solid elastic lens as a crystalline lens, and a commercial sensor as a retina. We also present the development of the electronic control system to accommodate and regulate the amount of light that enters the system, for which two stepper motors, an Arduino control system, and light and movement sensors are used. The characterization of the system is presented together with the results obtained, where it can be seen that the system works in an acceptable range as the human eye does.

Method for planning the way of UGV using a modification of dynamic bi-directional RRT algorithm.

The path planning problem of unmanned autonomous ground vehicles has always been an acute problem in the field of autonomous ground robotic systems research. From the point of view of the complexity of the tasks during the conduct of combat operations in the urbanized space of the densely built-up city with a constantly changing landscape, the tasks entrusted to the UGV are constantly becoming more difficult, and the scenarios of the use of the UGV demonstrate a diversified trend in the development of new management and control systems. The rapidity of conducting modern military operations in an urbanized space appears as a complex and multifaceted task. Considering the complexity of the UGV movement process, at the current stage of the development of robotic systems, the general trend is to abandon remote control of robotic complexes with the transition to automatic modes, which requires the development and implementation of algorithms for automatic interaction and movement of military mobile robotic systems. To solve the problems of the Rapidly-Exploring Random Tree *Fixed Nodes algorithm regarding its low speed for obtaining track junctions and the impossibility of using it in a dynamic environment when planning a UGV path. To solve the problem of accelerating the acquisition of collision-free paths in real time in two-dimensional space, it is proposed to apply a modified dynamic bidirectional RRT* algorithm with reference nodes. The algorithm is a modification of Rapidly-Exploring Random Tree *Fixed Nodes using a bidirectional greedy search method to speed up and solve the problem of the unidirectional Rapidly-Exploring Random Tree algorithm regarding its slow search speed, as well as the difficulties of decision making in a narrow environment caused by blind random sampling. In the case of dynamic disturbance movement, taking advantage that reference nodes do not require much calculation in planning, in the process of iterative path optimization, the proposed algorithm updates the map information in real time and repairs the damaged output path to complete the dynamic path planning.

Optimal Controllers for the Operation of Activated Sludge Treatment Systems

Objective: Application of Optimal Control Theory to the activated sludge process in order to regulate the removal of the carbonaceous part of the organic matter. Theoretical benchmark: Dynamic models of activated sludge processes are capable of enabling the development of innovative control systems. The Optimal Control Theory, aimed at optimizing the performance of dynamic systems, allows the establishment of control systems that enhance efficiency in adapting to changes in operating conditions, ensuring satisfactory process performance. Method: The proposed control systems were established from the application of Optimal Control Theory, considering the use of the dynamic model of the activated sludge process presented by International Association on Water Pollution Research and Control. Computer simulations were used to assess the performance of the control systems proposed. Results and conclusion: The proposed control systems were capable of curbing substantially the oscillations in the concentrations of biomass, of particulate matter produced by the degradation of biomass and those of the inert particulate substrate. The reductions in the oscillations of the slowly biodegradable part of the influent were relatively smaller. The controller was quite effective in leading the wastewater treatment system sooner to the new equilibrium conditions after the imposition of the disturbances in raw effluent. Implications of research: Development of control systems for activated sludge processes to regulate the removal of the carbonaceous fraction from organic matter. Originality/value: The establishment of optimal control systems for activated sludge processes can enable greater efficiency and operational capacity, especially in industrial facilities or densely populated urban settlements, where such wastewater treatment systems are most commonly used.

MODEL-BASED METHODOLOGY FOR DESIGNING AUTOMATED WORKPLACES

The article deals with model-based methodology for designing automated workplaces with control systems using programmable logic controllers. A categorization of some development methodologies and simulations of automated system control is presented. In the case study, a model of the controlled system is created, which is used for control simulations of the designed control system. The developed control system can thus be tested on this model, and any failure will thus only indicate possible errors in the control program or in the control hardware. Accordingly, it is then possible to modify the control system without the risk of possible damages or disasters. With this methodology, it is possible to implement control system training, especially in the case of dangerous and risky applications.

Simplified Maneuvering Strategies for Rendezvous in Near-Circular Earth Orbits

The development of autonomous guidance control and navigation systems for spacecraft would greatly benefit applications such as debris removals or on-orbit servicing, where human intervention is not practical. Within this context, inspired by Autonomous Vision Approach Navigation and Target Identification (AVANTI) demonstration, this work presents new guidance algorithms for rendezvous and proximity operations missions. Analytical laws are adopted and preferred over numerical methods, and mean relative orbital elements are chosen as state variables. Application times, magnitudes and directions of impulsive controls are sought to minimize propellant consumption for the planar reconfiguration of the relative motion between a passive target spacecraft and an active chaser one. In addition, simple and effective algorithms to evaluate the benefit of combining in-plane and out-of-plane maneuvers are introduced to deal with 3D problems. The proposed new strategies focus on maneuvers with a dominant change in the relative mean longitude (rarely addressed in the literature), but they can also deal with transfers where other relative orbital elements exhibit the most significant variations. A comprehensive parametric analysis compares the proposed new strategies with those employed in AVANTI and with the global optimum, numerically found for each test case. Results are similar to the AVANTI solutions when variations of the relative eccentricity vector dominate. Instead, in scenarios requiring predominant changes in the relative mean longitude, the required ΔV exhibits a 49.88% reduction (on average) when compared to the original methods. In all the test cases, the proposed solutions are within 3.5% of the global optimum in terms of ΔV. The practical accuracy of the presented guidance algorithms is also tested with numerical integration of equations of motion with J2 perturbation.

Modeling the influence of external influences on the process of automated landing of a UAV-quadcopter on a moving platform using technical vision

This article describes a series of experiments in the Gazebo simulation environment aimed at studying the influence of external weather conditions on the automatic landing of an unmanned aerial vehicle (UAV) on a moving platform using computer vision and a previously developed control system based on PID and polynomial controllers. As part of the research, methods for modeling external weather conditions were developed and landing tests were carried out simulating weather conditions such as wind, light, fog and precipitation, including their combinations. In all experiments, successful landing on the platform was achieved; during the experiments, landing time and its accuracy were measured. The graphical and statistical analysis of the obtained results revealed the influence of illumination, precipitation and wind on the UAV landing time, and the introduction of wind into the simulation under any other external conditions led to the most significant increase in landing time. At the same time, the study failed to identify a systemic negative influence of external conditions on landing accuracy. The results obtained provide valuable information for further improvement of autonomous automatic landing systems for UAVs without the use of satellite navigation systems.

Load mode control of test rigs for rubber-metal vibration isolators

BACKGROUND: Confirmation of the effective performance of vibration isolators of the suspension system for cabins of wheeled and tracked vehicles is obtained on the basis of bench tests. The development of loading devices and load mode control systems for bench testing of vibration isolators based on operating modes is a relevant technical task.
 AIM: Development of load mode control systems for bench testing of vibration isolators based on the analysis of their operational loads.
 METHODS: Based on the analysis of the operational loads of vibration isolators of suspension systems for cabins of wheeled and tracked vehicles, technical solutions for loading devices of rigs and load mode control systems have been developed that make it possible to reproduce load modes with parameters statistically equivalent to operational load modes on the tested vibration isolators.
 RESULTS: The technical solution of the rig for durability testing of rubber-metal vibration isolators with reproduction of operational loads in the vertical, longitudinal and lateral directions on the tested vibration isolator is proposed. A technical solution for the rig ensuring reproduction of load modes at durability testing of vibration isolators, in which the dynamic component of the load contains forced and natural vibrations of the protected object, is also proposed. Load mode control of the proposed rigs ensures more reliable test results due to the approximation of the load conditions of vibration isolators on the rigs to the operational ones.
 CONCLUSION: The practical value of the study lies in the opportunity of using the proposed technical solutions of test rigs and load control systems for testing vibration isolators of the suspension system for cabins of wheeled and tracked vehicles with an increase in the degree of reliability of their results due to the approximation of load conditions to the operational ones.

Optimal model-based control for automated robotized abrasive blasting system

In robotic abrasive blasting operations, achieving the required surface roughness and cleanliness relies heavily on manually pre-set operational parameters. These parameters, such as stand-off distance, blasting angle, inlet air pressure, abrasive flow rate, and particle size, are set based on operator experience. However, given that optimal values for these parameters vary depending on specific blasting conditions and surface requirements, the pre-set values often fail to deliver both the desired surface quality and productivity. To address these challenges, we propose a solution employing a set of proxy models and a model predictive control system to achieve optimal operational outputs. For energy efficiency and productivity maximization, we utilize computational fluid dynamics with a multiphase flow solver to determine the optimal stand-off and offset distances, thus controlling the blasting nozzle effectively. Additionally, we build a data-driven model to obtain the optimal reference set point of air pressure at the sensor location based on the desired surface roughness. Moreover, we develop a dynamic process model to link the inlet air pressure and abrasive flow rate to the air pressure at the sensor location, which facilitates the development of a model-based control system. By applying this comprehensive approach, we evaluate and optimize the control and operational parameters to achieve the desired surface roughness and productivity targets. To validate the effectiveness of our newly developed control system and models, extensive tests are conducted both virtually (in silico) and on-site. The results confirm the stability and accuracy of the control system. In on-site reliability tests, the automated blasting system successfully delivers the desired surface roughness with a relative error of less than 5 % and a remarkable 30–50 % improvement in productivity. Overall, our innovative control system and models offer a reliable and efficient solution for robotic abrasive blasting, ensuring consistent surface quality and productivity enhancements.

PerfECT Design Tool: Electric Vehicle Modelling and Experimental Validation

This article addresses a common issue in the design of battery electric vehicles (BEVs) by introducing a comprehensive methodology for the modeling and simulation of BEVs, referred to as the “PerfECT Design Tool”. The primary objective of this study is to provide engineers and researchers with a robust and streamlined approach for the early stages of electric vehicle (EV) design, offering valuable insights into the performance, energy consumption, current flow, and thermal behavior of these advanced automotive systems. Recognizing the complex nature of contemporary EVs, the study highlights the need for efficient design tools that facilitate decision-making during the conceptual phases of development. The PerfECT Design Tool is presented as a multi-level framework, divided into four logically sequential modules: Performance, Energy, Currents, and Temperature. These modules are underpinned by sound theoretical foundations and are implemented using a combination of MATLAB/Simulink and the vehicle dynamics software VI-CRT. The research culminates in the validation of the model through a series of experimental maneuvers conducted with a Tesla Model 3, establishing its accuracy in representing the mechanical, electrical, and thermal behavior of BEVs. The study’s main findings underscore the viability of the design tool as an asset in the initial phases of BEV design. Beyond its primary application, the tool holds promise for broader utilization, including the development of active control systems, advanced driver assistance systems (ADAS), and solutions for autonomous driving within the domain of electric vehicles.

Development of Adaptive Control System for Aerial Vehicles

This article represents and compares two control systems for a vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV): a sliding proportional–integral–derivative (PID) controller and an adaptive L1 controller. The goal is to design a high-performing and stable control system for a specific VTOL drone. The mathematical model of the unique VTOL drone is presented as a control object. The sliding PID and adaptive L1 controllers are then developed and simulated, and their performance is compared. Simulation results demonstrate that both control systems achieve stable and accurate flight of the VTOL drone, but the adaptive L1 controller outperforms the sliding PID controller in terms of robustness and adaptation to changing conditions. This research contributes to ongoing work on adaptive control systems for VTOL UAVs and highlights the potential benefits of using L1 adaptive control for this application.

Proposals for Development of the Prospective System for Optical Quality Control of the Assembly of Microelectronic Devices

Proposals for Development of the Prospective System for Optical Quality Control of the Assembly of Microelectronic Devices

DEVELOPMENT OF AN ACCESS CONTROL AND MANAGEMENT SYSTEM USING A SOFTWARE APPLICATION

The administration of educational institutions has several multi-storey buildings, in which it is necessary to carry out a set of technical and organizational measures to control visitors by security personnel. The lack of the possibility of registering students does not allow for the identification of their identity, which makes it difficult to investigate incidents of discipline violations and location. Registration of passport data of visitors with a small number of supervisory personnel is not suitable for the business processes of educational institutions. Measures to ensure the safety of visitors are carried out in educational institutions by selective control of visitors by security personnel, installation of remote control systems, video surveillance equipment. Functional modeling methods and programming were used to implement the identification and authentication method in the access system. The use of mobile devices, cards with a chip with a set of identification data implements the technology of their transmission, automating the access regime in educational institutions. The materials are compiled based on the results of research and development of an access control and management system using a MySQL, Python based software application. The article presents an analysis of the technology for developing a control and access system developed on the basis of Proximity. An experimental test of the software application obtained during the study was carried out, which implemented technologies for organizing communication with network devices, automatic detection of mobile devices in the database, user recognition by identification code. The software application interacts with other applications and chips, exchanges information, unidirectional communication with data stored on the server. A software application using PHP and MySQL database for student access control based on mobile devices can be used to determine the location of students who have passed the control.

Development of smart control system for leakage warning in compact roofs

Smart Sensor technologies to monitor temperature and moisture conditions in building components, can be used to give automatic warnings for abnormal high levels of moisture. Flat compact roofs are of particular interest, especially due to their vulnerability to rain leakages through the roofing membrane. Installing moisture sensors in such a roof measuring relative humidity (RH) or free water may give an early warning of rain leakages or condensation due to air leakages from indoors – before they start to get problematic. One challenge is, however, that normal moisture redistribution in the insulation layer over the season or day may give very high levels of RH in the top or bottom part of the insulation. The sensor system must be able to distinguish between these normal levels and leakage events. Together with a sensor technology and control system producer we have previously developed a semi-quantitative system that defines typical or normal RH levels in the insulation layer during the year. This system was based on hygrothermal simulations for various conditions, such as different exterior climate and levels of built-in moisture. This paper presents the preliminary findings from the further development of the system using real measurements from two pilot buildings located in Norway.

Intelligent Control Systems for Autonomous Re-entry and Landing of Reusable Rockets

The project requires integration of cutting-edge technologies such as sensor integration, trajectory planning, control system, and safety measures to ensure safe and exact landing. The research presents a development and application of intelligent control system for autonomous re-entry and landing that is specifically created for reusable rocket. The primary goal of our research is to develop an intelligent control system that can autonomously guide reusable rocket through the challenging process of re-entering the atmosphere and landing. Advance sensor integration is essential for gathering real-time data from various sensors and enabling the control system to make decisions during crucial descent stages. In order to lessen risk to the rocket and its payload, it also covers trajectory planning, which optimizes the flight route to assure precision upon landing. Safety is the first priority throughout the project, with strong safety measures being implemented to reduce potential risk and assure protection. An intelligent control system that has been designed and built can autonomously direct a reusable rocket through the difficult re-entry and landing process. This work offers a reliable and efficient method for the autonomous re-entry and landing of reusable rockets, making a substantial addition to the field of rocketry. By running efficiently and sustainably, the intelligent control system created here has the potential to revolutionize the space sector.

DNA Conserved in Diverse Animals Since the Precambrian Controls Genes for Embryonic Development.

DNA that controls gene expression (e.g. enhancers, promoters) has seemed almost never to be conserved between distantly related animals, like vertebrates and arthropods. This is mysterious, because development of such animals is partly organized by homologous genes with similar complex expression patterns, termed "deep homology." Here, we report 25 regulatory DNA segments conserved across bilaterian animals, of which 7 are also conserved in cnidaria (coral and sea anemone). They control developmental genes (e.g. Nr2f, Ptch, Rfx1/3, Sall, Smad6, Sp5, Tbx2/3), including six homeobox genes: Gsx, Hmx, Meis, Msx, Six1/2, and Zfhx3/4. The segments contain perfectly or near-perfectly conserved CCAAT boxes, E-boxes, and other sequences recognized by regulatory proteins. More such DNA conservation will surely be found soon, as more genomes are published and sequence comparison is optimized. This reveals a control system for animal development conserved since the Precambrian.