### AUTOMATIC CONTROL SYSTEMS

INCREASE IN ACCURACY OF ESTIMATION OF SINUSOIDAL SIGNAL FREQUENCY WITH
THE USE OF NONLINEAR FILTER
Bobtsov Alexey Alexeevich, Andrey V. Krylov, Pyrkin Anton Alexandrovich

7

A new frequency identification scheme for sinusoidal signal with the use of a nonlinear filter is considered. Compared to existing approaches, the proposed algorithm allows the accuracy to be improved in a shorter time.

SYNTHESIS OF HYBRID OBSERVER FOR LINEAR OBJECT UNDER HARMONIC
DISTURBANCES
Aranovskiy Stanislav V., Bobtsov Alexey Alexeevich, Pyrkin Anton Alexandrovich

13

The problem of synthesis of hybrid observer of variable parameters of linear object state are analyzed for the case when the measured output signal and the object are affected by unknown harmonic disturbances. The problem in question is complicated by the fact that the control action gain factor is not known.

DESIGN OF STATIC REGULATOR FOR DISCRETE SYSTEMS WITH PERIODICALLY
VARYING COEFFICIENTS
Bystrov Sergey V., Grigoriev Valeriy V., Olga K. Mansurova, Yevgeniy Rabysh, Valentine Yu. Ryukhin, Nikolay Cherevko

18

Procedure of synthesis of static regulator is developed for linear discrete systems with periodically varying coefficients on the base of the local optimization method. The procedure is reduced to solution to a system of matrix algebraic equations of Riccati type, the number of equations corresponds to the number of discrete intervals in the period of the system parameters variations. Synthesis of a proportional regulator is carried out with use of the theoretical results.

QUALITY ASSESSMENT OF DYNAMIC PROCESS BASED ON QUALITATIVE EXPONENTIAL
STABILITY
Grigoriev Valeriy V., Bystrov Sergey V., Alla K. Naumova, Yevgeniy Rabysh, Nikolay Cherevko

24

On the base of Lyapunov direct method and conditions of the exponential and the qualitative exponential stability, a method is proposed for analysis of basic dynamic parameters of continuous and discrete dynamical systems. The parameters in question include transient and overshoot time to characterize oscillatory processes in the system.

UTILIZATION OF HEAT AT CONTACT WELDING
Vladimir F. Antonov, Bystrov Sergey V., Grisimov Vladimir N

30

A system of recycling of thermal energy emitted at contact welding is considered. Mathematical models of thermal processes are described, and quantitative estimations of thermal energy are obtained for various capacities on contact welding electrodes.

THE GRAMIAN-BASED APPROACH TO ESTIMATION OF ENERGY EXPENDED IN CONTROL
OVER CONTINUOUS SYSTEMS UNDER STATIONARY STOCHASTIC EFFECTS
Dmitriy Biryukov, Ushakov Anatoly Vladimirovich

36

The problem of estimation of energy expenditure in control over a continuous system is considered. The case of input stochastic action of the type of exponentially correlated noise is analyzed. Interpretation of stochastic system characteristics based on Gram matrix theory is presented. An algorithm is proposed for energy consumption estimating by control dispersion in relative numbers.

### COMPUTING TECHNIQUE

PRIORITY-BASED STRATEGIES OF TRAFFIC MANAGEMENT IN MULTISERVICE
COMPUTER NETWORKS
Aliev Taufic Ismailovich, Muravyeva-Vitkovskaya Ludmila A

44

Представлен обзор результатов разработки бескарданной инерциальной системы на электростатических гироскопах для орбитальных космических аппаратов. Приведены результаты разработки электростатического гироскопа со сплошным ротором и построенной на его базе инерциальной системы для решения задачи ориентации космических аппаратов дистанционного зондирования Земли. Рассмотрены вопросы обеспечения точности системы, изложены особенности разработанного математического обеспечения системы и приведены некоторые результаты летных испытаний.

APPLICATION OF CHARACTERISTIC POLYNOMIALS OF M-SEQUENCES TO PSEUDORANDOM
CODE SCALE CONSTRUCTION
Ilya Zakharov, Ozhiganov Aleхander A.

49

The paper provides the characteristic polynomials construction method for M-sequences of the same span, via only one predefined polynomial. At the basement of the proposed method lies the usage of M-sequences’ decimation property and Berlekamp — Massey algorithm.

METHODS OF RECORD RETRIEVAL IN PRODUCTION SYSTEMS
Bessmertny Igor Alexandrovich

56

A review of investigation lines and main results in inference engines design for production systems is presented. The problems under consideration include facts indexing and pre-selection, application of relational algebra methods for reasoning are presented, implementation of database management systems in Prolog environment.

ANALYSIS OF TRIANGULAR DYNAMIC STRUCTURES
Bushuev Alexander B., Bystrov Sergey V., Grigoriev Valeriy V.

59

The problem of system effect is considered for structure of three elements bounded by dynamic relations.

### GYROSCOPIC AND NAVIGATION SYSTEMS

CARDAN-LESS INERTIAL ORIENTATION SYSTEM WITH ELECTROSTATIC GYROSCOPES
FOR ORBITAL SPACESHIP
Boris E. Landau, Stanislaw S. Gurevich, Emelyantsev Gennady Ivanivich, Sergey L. Levin, Svetlana G. Romanenko

66

Results of development of cardan-less inertial orientation systems with electrostatic gyroscopes for orbital spaceships are reviewed. Construction of electrostatic gyroscope with solid rotor is described, and inertial system designed on the base of the gyroscope for orientation of space vehicles for remote sensing of the Earth is presented. The problem of system accuracy is considered, special features of software developed for the system are described. Some results of the system flight tests are demonstrated.

БЕСКАРДАННАЯ ИНЕРЦИАЛЬНАЯ СИСТЕМА ОРИЕНТАЦИИ
НА ЭЛЕКТРОСТАТИЧЕСКИХ ГИРОСКОПАХ
ДЛЯ ОРБИТАЛЬНОГО КОСМИЧЕСКОГО АППАРАТА
Evstifeev Michail I.

75

Principle stages of theoretical investigations and practical developments of domestic micromechanical gyroscopes are reviewed. Achievements of Russian manufacturing companies and universities in creation of new generation of the sensors are described. Some peculiarities of the design accounting for specific character of applied materials and technologies are considered.

### PRECISION ELECTRIC DRIVE

PRECISION ELECTRIC DRIVE FOR OPTICAL SPACE CONTROL SYSTEMS
Mikhail A. Sadovnikov, Tomasov Valentine S, Tolmachov Valeriy

81

Requirements are formulated to accuracy characteristics of pointing systems for modern high-precision optical space control complexes. Main problems related to realization of tracking electric drives for the systems are discussed. Some approaches to development of energetic and informational subsystems of the drives are described.

SYNTHESIS OF LQG-CONTROLLER OF PRECISION TRACKING ELECTRIC DRIVE FOR
TRAJECTORY MEASURING TELESCOPE AXIS
Aglaya Ilina, Lovlin Sergey Y, Sergey Tushev

86

Synthesis of linear-quadratic-Gaussian (LQG) controller used in automatic system control of telescope axis precision tracking electric drive is considered. Application of LQG-controller is shown to afford higher accuracy of the system due to robustness to object process noise.

MATHEMATICAL MODEL OF BRUSHLESS DIRECT CURRENT MOTOR OF TELESCOPE
TURNTABLE
Igor Ovchinnikov, Alexey V. Egorov

91

A mathematical (simulation) model is proposed for brushless direct current motor of telescope turntable. Stator windings of the motor are divided into three independent winding sections. Each winding zone is supplying from own inverter. These sections interact with a general permanent magnet rotor. Influence of stator windings asymmetry on motor static characteristics is studied.