The article describes the peculiarities of determining the characteristics of inertial stabilized platforms operating on land-based moving objects. A method for estimating the dynamic error and the influence of the unbalance moment is proposed. The possibilities of different ways of setting control signals during semi-natural tests were investigated. The results of experimental tests of inertial stabilized platforms intended for operation on ground moving objects are presented. The proposed approaches are important for evaluating the characteristics of the motion control system of the stabilized platform after performing its synthesis and organizing the process of semi-natural tests. The obtained results can be extended to inertial stabilized platforms of a wide class.
The article deals with the approach to designing control laws of tracking and stabilization loops of inertially stabilized platforms operated on moving objects. The phases of designing controller are described. The process of choosing PID controller is represented. The ways of designing discrete controllers are shown and analysed. The possibility of using PID tuner by means of MatLab is represented. The necessity to use additional techniques of controller synthesis is grounded. The procedure of the structural robust synthesis based on the mixed sensitivity method and loop-shaping is represented. The technique of determining stiffness of the platform is proposed. The simulation results including step and impulse responses and sensitivity functions are shown. The possibility of industrial realization of controllers is considered. The proposed approach can be useful for designing stabilization systems of the wide class.
Bee breed is an important factor in determining bee family development and productivity, as it affects honey production, disease resistance, climate adaptation, and bee behaviour characteristics. The purpose of the study was to establish the relationship between the methods of mating queens and the morphological characteristics of bees of the Ukrainian steppe breed and the productive indicators of bee colonies. To conduct the research, 43 bee colonies with queen sisters of the Ukrainian steppe breed mated by different methods of natural mating were established in the Vinnytsia oblast. According to the results of mating, there were 22 queen bees in the control group, and 21 queen bees in the experimental group. The queens of the first control group mated in a normal natural way without any restrictions. The queen bees of the experimental group mated under time and space control. Based on the results of the research, the relationship between the integrity of the colony and its morphological features and productive indicators was established. Thus, experimental families have different degrees of belonging to the Ukrainian steppe breed, control – 59% and experimental – 87.2% (p < 0.001). According to the cubital index, the advantage was 8.2% (p < 0.001) in favour of the experimental group. The best family integrity on the hantel index was observed in families in which queens were mated in a controlled time and space, with a difference of 3.32% (p < 0.001). In the control group, where uncontrolled mating of queens was performed, more bees were found for discoid displacement with an excess of the standard indicator for the breed. Families in the experimental group were stronger by 14.5% (p < 0.001) compared to the control group. They provided 41.9% more honey, built 22.1% more honeycombs (p < 0.01), and the need for Kandy feeding was 31.8% less (p < 0.001). In addition, the bees of the experimental group had pronounced hygienic behaviour and required less labour costs. The practical significance of the study lies in the possibility of establishing patterns of action of factors on a particular breed and confirms the need to implement breeding programmes in beekeeping
The article deals with the description and analysis of the possible realization of inertial stabilized platforms intended for the operation of equipment installed on aircraft. The kinematic scheme of the two-axis gimballed inertially stabilized platform is represented. The generalized structure of the inertial stabilized platform is presented and researched. Basic components of the generalized structure and their connections are described. The different modes of functioning inertially stabilized platforms are listed and characterized. The basic stages of designing optimal inertially stabilized platforms are represented. The approaches to designing robust systems of the platform’s motion control are represented. The appropriate software in MatLab system is characterized. Simulation of stabilization processes in an inertial platform was performed. The obtained results are useful for inertial stabilized platforms intended for operation on moving objects of a wide class.
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