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• INVESTIGATION OF A DISTRIBUTED SYSTEM OF CHARGING STATIONS FOR THE POWER SUPPLY OF A GROUP OF MULTICOPTER-TYPE UAVS

  V.А. Kostyukov, М.Y. Butenko, V.G. Gistsov, I.D. Evdokimov

  2024-01-05

  Abstract ▼

  Due to the accelerated growth in the use of groups of autonomously functioning unmanned
  aerial vehicles (UAVs) in various environments, solving the problem of optimizing the functioning
  of groups of such vehicles according to the criterion of the minimum energy consumed is an urgent
  scientific task. In this article, a new approach is being developed to ensure energy saving of a
  group of unmanned aerial vehicles (UAVs) by using a distributed system of UAV charging modules
  that provide the necessary versatility in servicing different types of vehicles. It is assumed that
  the charging modules are installed at a subset of service stations, between which multicopter-type
  UAVs ply, carrying out a cargo delivery mission. It is necessary to determine such a number and adirectly specified subset of service stations equipped with such modules that would deliver the
  optimum of some quality functional characterizing the functioning of a group of UAVs. The article
  suggests as such a functional the ratio of the number of UAVs that have successfully fulfilled the
  tasks assigned to them for the delivery of goods to the number of stations with charging modules.
  The model of UAV movement between destinations assumes taking into account not only the cruising
  mode, but also the maneuvering of the device during takeoff and landing; the dependence of
  the energy consumption rate on the current kinematic values of the device is also taken into account.
  It is envisaged that the device will fall if it consumes energy below the maximum threshold
  value. A simplified model of a service station with a charging module (CM) has been developed,
  implying the replacement of discharged batteries. The waiting mode of the UAV in the queue is
  taken into account. To study the developed algorithms for motion planning and choosing the optimal
  distribution of charging modules across service stations, software based on the Unity environment
  has been created and tested. The flexibility of the latter allows modeling various algorithms
  of information interactions of elements within a group of UAVs, a group of CM, as well as
  cross-interactions between UAVs and CM.

• DESIGN OF HYBRID CONTROL SYSTEM FOR NONAFFINE OBJECTS

  А.R. Gaiduk, Ali El A. Kabalan, V.K. Pshikhopov, М. Y. Medvedev, V.G. Gistsov

  2023-04-10

  Abstract ▼

  In the theory of automatic control, an urgent problem is the development of design methods by
  nonaffine control systems. In such systems, the control affects the input of the plant nonlinearly, so it
  affects the state variables non-additively. The purpose of this article is to develop a design method that
  ensures the stability of the zero equilibrium position of a closed control system in a certain area.
  The object described by a nonlinear system of differential equations with one control is considered.
  A restriction is introduced, consisting in the differentiability of the right part of the differential equations
  for all state variables. The task of designing control in the form of a function of the reference signal, a
  vector of state variables and control values at previous points in time is set. This problem is solved using
  a quasilinear model of the control plant. This model of description allows you to preserve all the features
  of a nonlinear plant without simplifying them. In the quasilinear model, matrices and vectors are
  functions of the variables of the state of the control plant. The control is performed using an algebraic
  polynomial matrix method. This method allows you to find control when the control condition of the
  plant are met in the form of inequalities. This article presents the expressions for calculating the control
  according to the polynomial matrix method. Based on the given coefficients of the desired polynomial,
  as a result of solving an algebraic system of equations, coefficients are found that are a function of control
  and state variables. At the same time, the fulfillment of the controllability condition guarantees the
  existence of a solution of the specified algebraic system. An expression has been found that allows calculating
  the control by the coefficients found. The article also finds a condition for the possibility of
  providing a non-zero value of the output controlled quantity of a nonlinear Hurwitz system in a steadystate
  mode. Under this condition, a zero value of the static error for the setting effect can also be provided.
  Further, the transformation of the obtained continuous control into a discrete one is proposed, which
  is implemented in a digital computer. The article also provides a numerical example of the control design
  of a second-order nonlinear control and the results of modeling a closed nonaffine system.
  The given example confirms the theoretical results obtained. Thus, the proposed approach makes it possible
  to design stable Hurwitz control systems for nonaffine objects using the algebraic polynomial matrix
  method with sufficiently small sampling periods of variables of the control object and small modules of the
  roots of the characteristic polynomial of the matrix of a closed system in its quasilinear model.

• THE CONCEPT OF CREATING A PROMISING SYSTEM FOR RECHARGING AN AUTONOMOUS GROUP OF UAVS

  М.Y. Medvedev, V.А. Kostyukov, М.Y. Butenko, V.G. Gistsov, I.D. Evdokimov

  2023-02-17

  Abstract ▼

  Due to the accelerated growth in the use of groups of autonomously functioning unmanned aerial
  vehicles (UAVs) in various environments, solving the problem of optimizing the functioning of groups of
  such vehicles according to the criterion of the minimum energy consumed is an urgent scientific task. In
  this article, a new approach is being developed to ensure energy saving of a group of unmanned aerial
  vehicles (UAVs) by using UAV charging stations that provide the necessary versatility in servicing different
  types of vehicles. The most effective variants of landing systems, precise positioning, power generation
  at the station are considered, and a hybrid charging system combining contact and contactless methods is also justified. A generalized scheme of multi-stage interaction of the UAV with the charging
  station is given, which provides for the possibility of repeating one of the stages if it is not fully completed
  within certain time intervals, and also takes into account the peculiarities of interaction between
  agents through the communication channels available to them. The problem of optimal distribution
  according to the energy criterion of the group's UAVs between destinations (PN) combined with charging
  stations (SP) has been set and solved. Both the cruising mode and the maneuvering of the vehicle
  during takeoff and landing, when the power consumption increases, are taken into account. The concept
  of the effective distance to the destination is introduced, taking into account the estimated energy costs
  of each UAV to reach this destination, taking into account its arbitrary current position and the available
  queue of tasks at the moment. To study the developed approaches and algorithms for targeting and
  planning the movement of the group's UAVs, software based on the Unity environment was created and
  tested. The flexibility of the latter allows modeling various algorithms of information interactions
  of elements within a group of UAVs, a group of charging stations, as well as cross-interactions
  between UAVs and charging stations. In particular, the software allows you to determine at each
  discrete moment the degree of charge of each UAV, the queues of destinations for each UAV, its
  history of recharge at stations.