Кваліфікаційні роботи здобувачів вищої освіти кафедри аерокосмічних систем управління

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Adaptive system of automatic control of an unmanned aerial vehic
(National Aviation University, 2024-06-14) Chaika, Dmytro Mykolayovych; Чайка, Дмитро Миколайович
Multicopter- unmanned aerial vehicle which have two or more rotors that generate lift force. One of the most common types of multicopter is quadrocopter, its a multicopter with four propellers usually placed in a square formation. Control of quadcopter is interesting and at the same time difficult problem because this rotors have 6 degrees of freedom but only four inputs. But mostly used models QuadX and Quad+ they are quite easy at usage and construction. Model X allows to gain more speed than + model because of placement of its rotors, In + model only one of them is responsible for movement in the horizontal direction while X have two of them. At this work speed doesn’t matter so we will be using model + to complete this task easier, in this model only one pair of rotors used in changing position of the copter in relation of its axes. Each engine with a supporting screw is located on the vertices of an imaginary square, so each pair of diagonally placed screws has opposite rotation direction to other pair. At this placement the torque created by screws is compensated, if we make all screws turn in one side than our quadcopter will start turning to opposite direction. Position of quadcopter relative to connected to it coordinate system is determine by angles, to be more precise there are three angles: roll, pitch and yaw. ● roll - angle of rotation of the longitudinal axis; ● pitch - angle between the longitudinal axis of the aircraft and the horizontal plane; ● yaw - angle relative to the vertical axis. Quadcopter can fly in four modes such as: roll, pitch, yaw and to this also add hover. To gain altitude all engines should increase power by the same amount. Control of the roll and pitch angle can be carried out by the increase of the power of one engines while decreasing it in the opposite one. While xis roll and pitch depend on the initial choice of direction of movement. Yaw angle control is carried out by adding power to the engines, that rotates in the opposite direction to other two engines the power of which will be decreased. At the same time, altitude gain is not performed, since total power of the engines does not change Hover mode is used when thrust of engine will balance the force of gravity acting on the quadcopter, while roll and pitch angles must be close to zero. For determination of angles of quadcopter it has installed on-board control system, which is equipped with position sensors. It’s main task is tracking orientation of the device in space and stabilizing its flight by changing speed of rotation of corresponding screws. The first four rotor aircraft shown themselves early starting from 1907. August this year first aircraft with such design lifted off the ground by two feet. It was created by Louis Charles Breguet, it was lacking at stability and control and its motion was limited by four tethers. In 1921 more successful program was funded in USA. In addition to four main rotors they used two propellers for control of direction, and two more placed above engine to help lift it higher and cool engine. By conducting over 100 test flights Dr. George de Bothezat’s model proved to be more stable while flying with three men which provided an asymmetric weight distribution and could rise to maximum height of 1.8 meters and be in the air for 1 minute and 42 seconds.He was provided with additional funding but when test didn’t provide needed result program was canceled i Later, on April 1924 Etienne Oehmichen broke existing record for helicopter flight by lifting by 360m and flying for 525m. He went to fly over thousand test flights using his model of quadrotor with additional propellers for control. In the last years technology evolved to such extent that it is possible to build much better quadcopters and different types, smaller ones which can serve both professional and recreational purpose and big ones mainly used in army for transporting troops.
Adaptive system of automatic control of ground unmanned platform
(National Aviation University, 2024-06-14) Glukhykh, Danil Oleksandrovich; Глухих, Даніл Олександрович
In today's world, unmanned ground platforms are increasingly used in various industries, from military and security to agriculture and logistics. The relevance of research in the field of automatic control of such platforms is due to the need to ensure their high maneuverability, reliability, and adaptability to changing environmental conditions. The aim of the study is to create an effective system capable of autonomous movement in complex and dynamically changing environments, taking into account the presence of various obstacles and route changes. To achieve this goal, several algorithms for finding paths and modeling the behavior of a ground platform were considered and implemented. In particular, the A* and D* algorithms were studied in detail, which are noted for their effectiveness in finding optimal routes in discretized space. These algorithms were integrated into the developed control system and tested in various scenarios. The implementation of the developed adaptive automatic control system for a ground unmanned platform will increase the efficiency and reliability of platforms in various industries, ensuring their safe and autonomous operation in difficult conditions. Thus, this thesis makes a contribution to the development of automatic control technologies for ground unmanned platforms and opens up new prospects for their further improvement and practical application.
Amplitude demodulation of variable frequency digital signals
(National Aviation University, 2023-06-22) Gorshkova, Kateryna; Горшкова, Катерина Андріївна
Undoubtedly, we present an introductory discourse for a diploma thesis concerning the amplitude demodulation of variable frequency digital signals. The present study aims to provide a comprehensive analysis of the topic at hand. This introductory section serves to offer a glimpse into the study's overall objective and intended approach, in an effort to articulate the relevance and importance of the topic to the reader. By contextualizing the subject matter within existing scholarly literature and established theoretical frameworks, this study seeks to contribute new insights and perspectives to the discourse. In contemporary times, in light of advanced communication systems and the emergence of digital signal processing, precise demodulation of variable frequency digital signals is of utmost significance. Amplitude modulation (AM) is a modulation technique that is extensively employed for the transmission of information through a carrier signal. The process entails modulation of the amplitude of the carrier signal in accordance with the underlying digital data intended for transmission. Nonetheless, the demodulation of signals featuring varying carrier frequencies presents noteworthy complexities that arise from the dynamic nature of the carrier frequency. The process of demodulation is a vital aspect in the retrieval of the original digital information from the modulated signal. The process of amplitude demodulation involves the extraction of amplitude variations imposed by the modulation process, with the specific aim of recovering the underlying digital signal. The signal that has been demodulated is a true and accurate indication of the initial digital information, thereby facilitating subsequent examination, interpretation, and application. The objective of this thesis is to explore and advance methods pertaining to the process of amplitude demodulation of digital signals that exhibit variable frequency characteristics. The primary aim is to develop algorithmic solutions that are efficient and dependable in accurately demodulating signals characterized by fluctuating carrier frequencies, notwithstanding the presence of noise, interference, and other transmission obstacles.
Automatic ground vehicle control system in obstacle avoidance mode
(National Aviation University, 2024-06-14) Moskalenko, Nikita Oleksandrovich; Москаленко, Нікіта Олександрович
In the modern world, the automation of ground moving objects, such as robots, cars, and drones, is becoming increasingly important. However, one of the main problems with automated movement is the need for effective obstacle avoidance, such as other objects, people, vehicles, or even natural barriers. In some situations, obstacles may appear unexpectedly or change their position, complicating the task of trajectory planning. For example, in urban environments, cars must react quickly to other vehicles, pedestrians, and obstacles on the road to avoid accidents. It is also important to consider that control systems must be able to operate in real-time and reliably respond to changes in the surrounding environment. This creates a need for the development of efficient and reliable automatic control systems that ensure the safe movement of the object around obstacles. The research goal is to develop and test an automatic control system for ground moving objects in obstacle avoidance mode. Specific objectives aimed at achieving this goal may include: 1. Development of obstacle avoidance algorithms: Creating effective algorithms that allow the object to automatically determine the optimal path for avoiding obstacles in various conditions. 2. Sensor integration: Developing obstacle detection systems for the object's path using various sensors such as radars, LiDARs, cameras, etc. 3. Implementation of control system: Creating software and hardware for effective real-time control of the ground object's movement. 4. Testing and validation: Conducting system tests on specially created test sites or in simulators to verify its functionality and reliability. 5. Performance evaluation: Analyzing test results to evaluate the speed, accuracy, and safety of the system under different conditions and scenarios. 6. Capability demonstration: Demonstrating the operation of the developed system in real conditions or on virtual platforms. Relevance of the automatic control system for ground moving objects in obstacle avoidance mode: 1. Safety and accident avoidance: In a world where automotive vehicles, robots, and other moving objects coexist closely with humans and other obstacles, effective accident avoidance and safety become critically important tasks. 2. Increased productivity: Automatic control allows moving objects to work more efficiently and effectively in conditions of limited space and time. 3. Technological development and artificial intelligence: The development of automatic control systems stimulates the advancement of advanced technologies and methods of artificial intelligence, which can have broad applications in other fields. 4. Modernization of the transportation system: In the modern world, the need for modernization of transportation infrastructure and management systems to ensure an efficient and safe transportation system becomes increasingly evident. 5. Economic benefits: Reducing the number of accidents and improving productivity can lead to economic benefits for companies and society as a whole.
Autonomous navigation system of a wheeled robot
(National Aviation University, 2024-06-14) Gulbinas, Elizaveta Serhiivna; Гульбінас, Єлизавета Сергіївна
The problem of creating a navigation system that allows moving objects to move autonomously in real environments is very important in the modern world. More and more tasks are being performed by some service robots instead of people. Over time, most processes for the production of material assets, exploration of new territories (including in space) and servicing people will be performed by autonomous robots. Mass production of autonomous robots capable of working in difficult conditions will greatly simplify people’s lives. No one should have to risk their life doing the job. Creating some universal method that can automate robot movement in various environments will be a huge step towards creating fully autonomous and multifunctional robots. In this regard, this task is currently truly relevant and requires finding more optimal solutions in many respects, such as reducing the error in calculations by sensors of distances to environmental objects and the ability to create groups of robots that can jointly perform one task that a mobile robot cannot can do it alone.
Complementary filter for determining the orientation of the UAV
(National Aviation University, 2023-06-22) Habliuk, Yevhen; Габлюк, Євген Олександрович
The latest developments in autonomous vehicle technology have made unmanned aerial vehicles (UAVs) a highly desirable option for modern military and civilian applications. These include aerial photography, pipeline and power line inspection, disaster assessment, remote sensing and cruise missile deployment. In order to operate unmanned aerial vehicles (UAVs), whether manually or with computer assistance, it is crucial to have knowledge of their orientation, velocity, and position. However, when cost or weight limitations is an issue, the use of high-precision inertial navigation systems becomes impractical. As a result, low-cost alternatives have gained popularity, employing inertial sensors based on microelectromechanical systems (MEMS). These MEMS-based systems offer a cost-effective solution but come with certain limitations. They are inclined to increased sensor noise, drift, and impulse accelerations, which can result in potential errors in reporting roll, pitch, and yaw angles. Despite these drawbacks, inertial navigation system remains a critical component for ensuring the safe and reliable flight of UAVs, providing essential information about their orientation in three-dimensional space. Inertial Navigation Systems (INS) performed as the fundamental on-board navigation equipment for different vehicles [6,7]. They provide comprehensive information regarding the present orientation, motion characteristics, and position of a moving object. INS incorporates sensors that measure linear acceleration and angular velocity. These sensors aid in determining the discrepancy between the coordinate system of the instrument body and the Earth coordinate system, thereby providing orientation angles such as roll, pitch, and yaw. By integrating the readings from the accelerometer, the INS enables the calculation of the positional deviation in terms of latitude, longitude, and altitude.The key feature of a non-platform Inertial Navigation System (INS) is the rigid attachment of the inertial sensor block to the object's axes within the body. In this case, the geographic coordinate system is not physically modeled by a gimballed platform, but is calculated analytically, requiring higher accuracy inertial sensors than platform-based systems regardless of their type.
Discrete complementary filter for determining orientation
(National Aviation University, 2024-06-14) Granovsky, Mykyta Evgenovich; Грановський, Микита Євгенович
In the modern conditions of the development of aviation and cosmonautics, determining the orientation of a moving object is one of the key tasks. Flight safety, navigation accuracy, and the efficiency of managing moving objects depend on the accuracy and reliability of the orientation determination system. Modern measurement systems such as gyroscopes and accelerometers provide a high level of accuracy, but they have their limitations and can be subject to various types of noise and errors. Complementary filters, in particular discrete complementary filters, are effective tools for combining data from different sensors to improve the accuracy of orientation determination. The use of such filters makes it possible to compensate for the shortcomings of individual measuring devices and obtain more accurate results. This is especially important in conditions of dynamic changes, when the object is in motion, and its orientation can change quickly and unpredictably. The use of discrete complementary filters in aviation makes it possible to increase the accuracy of navigation and control systems of aircraft. This has a direct impact on flight safety, reducing maintenance and operation costs, as well as on the development of new technologies in the field of avionics. Thus, the topic of the thesis "Discrete complementary filter for orientation determination" is relevant and timely. It is aimed at solving important practical problems in the field of aviation technologies and has significant potential for further research and improvement of data processing methods from various measuring devices.
Estimation of zero offset components of modern gyroscopes using Allan dispersion
(National Aviation University, 2024-06-14) Sharandak, Oleksiy Ruslanovych; Шарандак, Олексій Русланович
Modern high-precision gyroscopes are essential components in various technical systems that require high stability and measurement accuracy. They are extensively utilized in contemporary aviation systems, space research, robotics, and other high-tech industries. The accuracy in determining the zero offset components is a critical measure of their efficiency and dictates their applicability in critical environments where navigation and orientation accuracy is paramount. Therefore, investigating these components and developing methods for their evaluation is a pressing scientific and technical challenge with significant practical potential for advancing control and navigation technologies. Scientific and technical issues related to the evaluation of the zero offset components of high-precision gyroscopes are addressed across a broad spectrum of applications, including navigation systems, aviation technologies, space research, and industrial applications. The current state of research in this field underscores the importance of gyroscope accuracy and reliability for modern technologies and scientific advancements. The primary foundational data for developing this topic includes an understanding of the principles of high-precision gyroscopes, methods for estimating their parameters, and knowledge of the Allan variance method and its application to gyroscope analysis. The necessity for this study lies in enhancing the accuracy and reliability of high-precision gyroscopes, which are pivotal components in numerous modern control and navigation systems. Evaluating the zero offset components will enable the identification and correction of deviations that occur under real operating conditions. Research on the evaluation of zero offset components has already yielded some practical results, highlighting an active interest in this issue and the potential for using the obtained data to improve technical systems. At the world level, there is a constant development of methods for evaluating and correcting the zero offset components of gyroscopes. This indicates the relevance of the topic and the need to constantly update knowledge in this area. The aim of this work is to evaluate the components of the high-precision gyroscopes bias using the Allan variance method, as well as to determine their impact on the accuracy and reliability of control systems. The feasibility study is to identify opportunities to apply the results obtained to improve the efficiency of technical systems and reduce the cost of their operation.
Manipulator robot hand control system
(National Aviation University, 2024-06-14) Pashkovska, Yulia Oleksandrivna; Пашковська, Юлія Олександрівна
Currently, the field of robotics is actively developing: new models of robots are regularly created and already created models of robots are released. First of all, we are talking about the production of industrial robots that can significantly facilitate and speed up the production process in any field of activity. Their application is not limited only to the field of production. Military and security companies actively use robots for perimeter protection, as well as for activities dangerous to human life and health, such as demining fields. Robots are also used in cosmonautics as explorers of other planetary systems. The development of robots is not limited to the creation of simple artificial intelligence to carry out simple commands. The creation of neural networks is actively developing, which can significantly increase the potential of robots in areas that require non-standard solutions and creativity. It should also be said that robots are able to exchange information with each other or transfer data to a personal computer, providing a person with the necessary information. The modern level of development of robotics makes it possible to equip robots with a wide range of additional equipment, such as cameras, navigation systems, motion, light, sound, etc. All this allows you to significantly expand the capabilities of robots and thereby expand the scope of their application. With the development of robotics, three types of robots were defined: with a rigid program of actions; manipulators controlled by a human operator; with artificial intelligence (in some cases called integral), functioning purposefully ("intelligently") without human intervention. Most modern robots (absolutely all three types) are manipulator robots. An industrial robotic manipulator contains a "mechanical arm" (one or more) and a remote control or embedded software control device, less commonly an electronic computing machine. A manipulator is a complex of spatial lever mechanisms and actuators that, under the control of a programmable automatic device or a human operator, perform influences (manipulations) similar to the operations of a human hand. Industrial works are designed to replace man. In this case, an important social goal is solved - to free a person from work harmful to health or hard physical work, as well as from simple monotonous actions that do not require significant qualifications. Flexible automated production, formed on the basis of industrial robots, allows you to solve automation tasks at enterprises with a wide range of products in small-scale and artificial production. Computer modeling of robotics concepts plays a huge role in the fields of science and technology.
Nuclear Reactor Rods Position Control System
(National Aviation University, 2023-06-23) Suprunets, Roman; Супрунець, Роман Петрович
The discovery of nuclear fusion in December 1938 by chemists Otto Hahn and Fritz Strassman was a sign of epochal significance because it opened for humanity new sources of internal energy. It was an important discovery in the first path of the XX century because the World population is growing, as is energy consumption, so fossil fuels could be exhausted by 2050[1]. So the next step was development a such system which can provide safety transformation of the heat energy from fission reaction into electrical. The first usage attempt of nuclear energy was the Manhattan Project 1942–1946, initiated during World War II, brought together leading scientists to develop the first atomic bomb and marked a significant turning point in nuclear research The Chicago Pile-1 (CP-1), built under Fermi's leadership, achieved the first controlled nuclear chain reaction in 1942, demonstrating the feasibility of sustained nuclear reactions.The Experimental Breeder Reactor-I (EBR-I), constructed in Idaho in 1951, became the first nuclear reactor to produce electricity. The Shippingport Atomic Power Station, operational in 1957, marked the transition from experimental reactors to commercial-scale nuclear power production. Pressurized Water Reactors (PWR) and Boiling Water Reactors (BWR) became the dominant designs for commercial nuclear power plants, offering enhanced safety and efficiency. Liquid Metal Fast Breeder Reactors (LMFBR) were developed to utilize plutonium more effectively and achieve sustainable nuclear fuel cycles. High-temperature gas-cooled reactors (HTGR) utilized helium as a coolant, enabling higher operating temperatures and potential applications such as hydrogen production and process heat. Nuclear power plants (NPPs) produce about 53% of the country's electricity. Totally there are four nuclear power plants in Ukraine: Zaporizhzhya, Rivne, South Ukraine, and Khmelnitsky, with 13 power units of WWER-1000 type (water-water energetic reactor) and two power units of PWR-440 type with a total capacity of 13880.
Object Tracking System for Quadcopter
(National Aviation University, 2024-06-13) Gladchenko, Valery Hryhorovych; Гладченко, Валерій Григорович
In the 21st century quadcopters are gaining popularity every year and become an indispensable tool in various spheres of activity, from aerial photography, to search and rescue victims of various natural or man-made disasters. The system of recognizing and following objects is the key in such tasks. It also ensures the efficiency and autonomy of quadcopters. The relevance of the qualification work "Object tracking system for quadcopter" is due to the wide demand for systems of this type. Such systems can be used in agriculture to accompany the movement of livestock, in film production - to shoot dynamic scenes in open spaces, where the rental of a specialized helicopter is very costly, and in closed spaces, where a compact drone with a good camera is suitable. It can also be used in security and rescue operations, where timely detection of a person plays a crucial role. The object of study in this paper is the Tello programmable quadcopter from Ryze in collaboration with DJI. The object tracking system will be implemented on it. The aim of the qualification work is to develop an object tracking system for a quadcopter that will be able to recognize, classify and track various objects in real time, providing fast and accurate object tracking. In this work, it was decided to choose a human face as an example of a tracked object. In the process of work will be considered various methods and approaches in the field of computer vision, machine learning, as well as automatic control systems for the realization of the task. In order to achieve the set goal, the following tasks will be realized in the paper: 1. Analyzing the technical characteristics of the object of study; 2. Study of popular methods in the field of computer vision and automatic control theory; 3. Design and implementation of object detection and quadcopter control system; 4. Laboratory testing and analysis of results.
Orientation detection system with auto-compensation of measurement errors
(National Aviation University, 2024-06-14) Kohut, Artem Vitaliyovych; Когут, Артем Віталійович
The development of modern technologies requires the creation of increasingly accurate and reliable systems for determining the spatial orientation of objects. This is especially true for the aviation, space, automotive, and robotics industries. One of the key aspects of such systems is the accuracy of determining the orientation parameters, which significantly depends on the quality of measurement error correction. The problem of measurement errors is an integral part of the orientation determination process. These errors can be caused by various factors, including sensor noise, external influences such as magnetic fields, atmospheric interference, and other dynamic changes in the operating conditions of the equipment. Therefore, the development of effective methods for auto-compensating for these errors is an urgent task. This thesis is devoted to the development of an orientation determination system with autocompensation of measurement errors. We will focus on analyzing the main sources of errors, developing a mathematical model for autocompensating these errors, and verifying the model in practice. An important part of the work is the study and modeling of orientation measurement processes, as well as the development and testing of algorithms for correcting measurement errors. The aim of the thesis is to create a reliable and efficient system capable of providing high accuracy of orientation determination in various operating conditions. The implementation of this system involves the integration of theoretical developments with experimental studies, which will provide a deep understanding of error compensation mechanisms and increase the efficiency of the system in real conditions. The results of this work can be used to increase the accuracy of navigation systems, improve motion control systems for robots, cars, aircraft, and other mobile objects, and optimize the operation of industrial automatic control systems. Thus, the thesis is aimed at solving important applied problems and contributes to the further development of research in this area. In the course of the work, a thorough analysis of existing methods will be carried out, new algorithms for efficient auto-compensation of errors will be developed, and their effectiveness will be investigated on real and test data. Considerable attention will also be paid to verification of theoretical developments using experimental methods, including the implementation of system prototypes and their testing under controlled conditions.
Satellite orientation system using magnetometer and Earth sensor
(National Aviation University, 2024-07-14) Ryzhkov, Oleksandr Oleksiyovich; Рижков, Олександр Олексійович
Small spacecraft (SC) are becoming more and more common nowadays. In particular, nanosatellites are used to develop the latest technologies, methods and software and hardware solutions, as well as for educational programs, remote sensing of the Earth and space observations. Due to their small dimensions, weight and cost, as well as a wide range of applications, they have become an integral part of the scientific and space world. Conducting most scientific and applied research in space involves ensuring a certain orientation of the angular position of the nanosatellite in space. To ensure the necessary orientation of the nanosatellite, an orientation system is created, which consists of an algorithm for determining angular values and a regulator that creates a control moment. In this paper, only the algorithm for determining the orientation due to information from the magnetometer and the Earth sensor is considered. Thanks to the use of this pair of sensors, the creation of an orientation system becomes simpler and more reliable. That allows you to be sure that the assigned mission has been solved. Despite the large volume of research, in the created algorithms for determining the orientation of a nanosatellite, as a rule, they are built on the basis of the use of two-vector methods [1, 2], since they are easy to establish and sufficiently reliable. Among such algorithms, the TRIAD algorithm [1], which simultaneously determines three orientation angles, has become more common. But when using the data of the meters, it is not optimal, since the Earth sensor provides information about two angles, and the angle that is in the plane perpendicular to the orbital plane remains unknown. Based on this, there is redundant information. It should also be taken into account that the magnetometer is a less accurate meter than the Earth sensor, which also affects the accuracy of the orientation determination by the TRIAD algorithm. Solving the problem of eliminating redundant information, as well as reducing the influence of a less accurate sensor on the determination of the three orientation angles of a nanosatellite, is an actual direction of research. Solving this issue makes it possible to reduce the load on the on-board computer, as well as to eliminate the cross-influence of the gauges on the orientation accuracy. Which, in turn, will reduce the cost of the finished product due to the use of a weaker calculator, and increase the overall accuracy of determining the angular position. The orientation system of the nanosatellite consists of three main elements, these are the meters of certain physical quantities (orientation sensors), the processing of information sent to the on-board computer (in which the orientation determination algorithm and the control signal generation algorithm are embedded) and the regulator that creates the control moment. The basic quality of determining the angular position of the spacecraft depends on the accuracy of the installed sensors, as well as the orientation algorithm. Determining the orientation of small spacecraft is often accomplished with instruments such as sun sensors and magnetometers. However, these sensors have various disadvantages. For example, solar sensors lose their functionality during periods of solar eclipse in orbit. Magnetometers cannot achieve high accuracy in determining the projection of the intensity of the Earth's magnetic field, due to its constant change. The sensors of the Earth's horizon appeared as an effective and relatively inexpensive meter to ensure accurate determination of the orientation of small spacecraft during low-orbital motion, their accuracy can reach 〖0.1〗^°. Due to the low cost and acceptable accuracy of determining the orientation, the choice was made to use a magnetometer and an Earth sensor as part of the orientation system. We will analyze the existing orientation systems built on the basis of the Earth sensor and magnetometer.
Simulation of the rate-integrating mode of operation of a micro-electro-mechanical gyroscope
(National Aviation University, 2024-06-14) Terelyak, Maksym Stefanovych; Тереляк, Максим Стефанович
Gyroscopes based on microelectromechanical systems, MEMS gyroscopes, are miniaturized variants of Coriolis vibratory gyros (CVG). Miniaturization is when a vibrating structure is made of a thin film of different materials. Because MEMS technology was borne inside the semiconductor integrated circuit industry, they are, first of all, silicon, polysilicon, amorphous silicon, and quarts materials which are usually deposited as thin films. Apart from these, silicon-compatible materials like silicon dioxides, silicon nitrides, carbides, glasses, and metals such as aluminum, titanium, tungsten, and copper are also used. Moreover, polymers such as photoresist and polyimide and other new materials appearing in new designs suitable for different applications are actively used in this industry, as well. MEMS gyroscope’s sensing elements (SE) look like microcircuits and are amenable to mass production, borrowing technological processes from the semiconductor industry. Mass production of such gyros gives low-cost and miniature size expands applications and initiates big sales, even if the performances are moderate. There are many practical implementations of the MEMS gyros, which can be used to produce a gyroscope as a rate sensor. However, it is expedient to overview in this section three types of them – tuning fork as one of the popular designs, flat highly symmetric vibrating ring designs, and as a modern technological achievement vibrating shell designs. By correct design of a highly symmetric shell or ring resonator, it is possible to overcome problems of its resonator sensitivity to imperfect mounting it to the casing experienced by more simple oscillators and thus improve bias performance, and greatly reduce sensitivity to shock and vibration. As a device for measuring the angular rate of moving objects, the gyroscope is widely used in civil and military areas, such as aerospace, automobile, consumer electronics, ship navigation, and guided ammunition. Motivated by high performance large-scale gyroscopes, with the emergences and developments of micro-electro-mechanical system (MEMS) and micro-opto-electro-mechanical (MOEMS) system technologies, a new generation of the micro-gyroscope based on such MEMS technologies has become one of the focused development directions in the academic and industrial areas. MEMS/MOEMS gyroscopes have developed rapidly since the Draper Laboratory produced the first non-rotor silicon micromechanical gyroscopes in 1988. In the past several years, with the continuous developments of MEMS processing technologies, the performances of silicon MEMS gyroscopes based on different principles, structures, and materials have been greatly improved, mainly including the mechanical micro-gyroscopes based on Coriolis principles or angular momentum conservation.
Synthesis of PD-controller for Position Control of Nuclear Reactor Rods
(National Aviation University, 2024-06-14) Kryvosheia, Nika Ihorivna; Кривошея, Ніка Ігорівна
Control of nuclear reactors is one of the most important aspects of ensuring their safe and efficient operation. Nuclear reactors play a significant role in electricity generation, scientific research and other industries. Their operation is based on complex physical processes, such as uranium fission and absorption, which require careful monitoring to ensure stability and safety. Nuclear power has a rich history that began with the discovery of nuclear fission in 1938. The first nuclear reactor was created in 1942 under the leadership of Enrico Fermi, and the commercial use of nuclear energy for electricity generation began in the 1950s. Today, nuclear reactors provide a significant portion of the world's electricity generation, offering a reliable and environmentally friendly source of energy. The purpose of this thesis is to investigate the control theory of nuclear reactor rods and synthesize a PD-controller to control their position. In the first part of the work, the concept of a nuclear reactor, its operating principles, uranium fission and absorption processes, and the theory of reactor rod control will be considered. Particular attention will be paid to identifying the main problems that arise in the control of nuclear reactor rods. The control of nuclear reactor rods is a critical aspect, as it affects the safety and stability of the entire reactor. The rods are used to regulate the fission reaction by controlling the number of neutrons that cause the uranium to fission. Therefore, the accuracy and reliability of the rod control system directly affect the safety of the nuclear reactor. The second part of the paper will be devoted to the study of the structure of PID-controllers and their impact on dynamic systems. Different methods of PID-controller synthesis will be considered, in particular, methods based on the Nichols diagram. Particular attention will be paid to the synthesis of a PID-controller for controlling the position of nuclear reactor rods. In the third part of the work, the model of nuclear reactor rods without a controller will be analyzed, a PD-controller will be synthesized using the Nichols diagram, and a model of a nuclear reactor with a PD-controller will be analyzed. Based on the analysis, a comparison of the models of nuclear reactor rods without and with a PID-controller will be made. The final section of the thesis will summarize the results of the study and provide conclusions on the effectiveness of the proposed methods for controlling nuclear reactor rods. Thus, this thesis contains a comprehensive analysis of the theory and practice of nuclear reactor core control, with an emphasis on the use of PD-controllers to improve the efficiency and reliability of their operation.
System of initial angular stabilization of the satellite
(National Aviation University, 2023-06-23) Popovych, Andrii; Попович, Андрій Романович
The tasks and missions of artificial satellites are diverse and continue to evolve with technological advancements. They have transformed numerous aspects of our lives, from global communications and weather forecasting to environmental monitoring and space exploration. As our understanding of the universe expands, satellites will undoubtedly play an even more critical role in furthering scientific research and exploration beyond our planet. The System of Initial Angular Stabilization of a satellite plays a crucial role in ensuring the successful operation and functionality of spaceborne missions. Satellites are deployed in various orbits around the Earth for a wide range of purposes, such as communication, weather monitoring, scientific research, and surveillance. To accomplish their intended objectives, satellites must maintain a stable orientation and control their angular motion. The System of Initial Angular Stabilization (SIAS) is designed to address the challenges associated with the initial phases of a satellite's deployment and operation. When a satellite is first launched into space, it experiences significant disturbances and uncertainties that can affect its attitude and stability. Factors such as residual atmospheric drag, release mechanisms, and launch vehicle-induced vibrations can cause unwanted rotations and oscillations, jeopardizing the satellite's mission objectives. The primary objective of SIAS is to counteract these disturbances and establish a controlled and stable attitude for the satellite. It involves a combination of hardware and software components, including sensors, actuators, and control algorithms, to measure, analyze, and correct the satellite's angular motion. The system utilizes various techniques to achieve angular stabilization, such as reaction wheels, magnetic torques, thrusters, and momentum management. One of the key components of SIAS is the attitude determination and control system (ADCS), which provides real-time information about the satellite's attitude and helps in maintaining the desired orientation. ADCS utilizes sensors such as sun sensors, star trackers, magnetometers, and gyroscopes to accurately measure the satellite's attitude with respect to Earth's reference frame. This information is then processed by onboard algorithms, which calculate the necessary corrections and commands to the satellite's actuators. The SIAS also takes into account external factors such as solar radiation pressure, gravity gradients, and magnetic field interactions that can affect the satellite's stability. These factors are continuously monitored, and appropriate control strategistrategies are implemented to counteract their effects and maintain the desired angular stability.
The bias correction in a vibratory gyroscope operating in the rate-integrating mode
(National Aviation University, 2023-06-23) Starozhytnyk, Dmytro; Старожитник, Дмитро Михайлович
The gyroscope is an inertial sensor that is used for the measurement or control of the orientation and rotational velocity of a body. In the early 17th century, people occasionally used spinning mass objects for navigation purposes. The spinning mass gyroscope concept was first developed by French scientist Jean Bernard Leon Foucault in 1852 [1]. In the late 18th century, the usage of the gyroscope was extended to ship navigation at sea. At the beginning of the 20th century, the traditional spinning mass gyroscope started to be used in aircraft [2]. In the 1960s, the concept of optical lasers for gyroscopes was introduced, which provided higher precision and better sensitivity and brought a tremendous leap forward for aerospace and military applications [3]. However, the costs associated with optical gyroscopes were quite high, and this provided motivation for the development of micro-electromechanical systems (MEMS) vibrating gyroscopes. Over the past few decades, a large number of MEMS gyroscopic technologies have been developed with high sensitivity, high scale factor, and reduced fabrication costs [4]. Nowadays, in our daily life routine, smart devices are commonly used for tracking and their navigation capability requires global positioning systems, such as mobile phones, smartwatches, and vehicles. The navigation systems comprise inertial measurement units (IMU) [5], which are installed in the smart electronic devices [6]. The IMU typically consists of multiple inertial sensors, including a gyroscope, accelerometer, and magnetometers. All of these sensors work from different scientific principles: the gyroscope is a rotational motion inertial sensor that detects the change of position when rotation occurs, the accelerometer is a translational motion sensor that detects linear acceleration [7], and the magnetometer gives guidance in the coordinate system [8]. The usage of the MEMS gyroscope has increased enormously over the last 20 years. These sensors have been extensively used in smart devices, automotive industries, household applications, aerospace, military applications, and so on [9,10]. The research on the MEMS vibratory gyroscopes started gaining maturity and moved towards practical designs at the start of the 21st century. In the early stages, only a few research groups tended to research in this area. However, at the beginning of the 2000s, more research groups showed interest and developed a variety of designs for MEMS vibrating gyroscopes [11]. The gyroscope’s sensitivity and performance degrade when it is exposed to an unwanted atmosphere. Some of the prominent issues that deteriorate the stability and reliability of MEMS for gyroscopes range from microfabrication process stability (beam stiffness, material properties, and critical dimension losses) to exposure to harsh environments (space, elevated temperature, radiation) and external vibrations. A Vibratory gyroscope overview is presented in this work. The operation principle of the rate and rate-integrating (or whole angle) modes, with a focus on the rate-integrating mode, are presented. The rate-integrating vibratory gyroscope periodic error is considered and shown graphically in a simple example under the real gyro's constant angle rate rotation. To build the periodic error mathematical model, an approximation of the real gyro's error is fulfilled. After correction, the residual error is graphically presented. The gyro accuracy increase is calculated by the results of the correction of the periodic error.
The determination and analysis of microelectromechanical accelerometer bias drift components using the Allan varianc
(National Aviation University, 2024-06-14) Zherevchuk, Vadim Vasyliovych; Жеревчук, Вадим Васильович
High performance capacitive MEMS accelerometers are increasingly being used in various motion sensing applications including medical, industrial, and military requiring measurement of acceleration, vibration, shock, tilt, rotation etc. In a wide range of inertial navigation applications, tactical grade MEMS accelerometers are already the preferred solution due to their small size, low power consumption, and convenient price; however, in Inertial Measurement Units (IMU) and Inertial Navigation Systems (INS), which are designed for navigation grade applications, conventional non-MEMS accelerometers are generally used, such as electromechanical servo and bulk piezoelectric accelerometers. During the past decade, design and initial measurement results of closed-loop MEMS accelerometers were presented, showing the potential of the MEMS technology to deliver a smaller and cheaper sensor while realizing inertial navigation grade performance. In order to achieve navigation grade performance, high linearity (<0.1%) is an important parameter to satisfy. Linearity may be limited by the capacitive nature of MEMS sensors in which output is inversely proportional to the gap change in the sense capacitor. Closed-loop MEMS accelerometers, which use electrostatic force feedback, balance the sensor structure around its nominal position, neutralizing the influence of the sense capacitor nonlinearity. There is a variety of system design challenges towards attaining navigation-grade level. Firstly, a linear and stable feedback pass must be established. In addition to the improved linearity, other parameters such as short- and long-term bias, scale factor stability, and vibration rectification error (VRE) need to be addressed from the design level in order to satisfy all the requirements during the integration of the sensor system. In today's technological world, microelectromechanical accelerometers (MEMS accelerometers) occupy a special place among sensors, playing an important role in many areas of science and technology. Their applications range from consumer electronics devices to industrial systems, from medical equipment to autonomous vehicles. MEMS accelerometers can measure acceleration with high accuracy and speed, making them indispensable for many applications where measurement accuracy and device miniaturization are important. This paper is devoted to an overview of the types of MEMS accelerometers, including pendulum and vibration accelerometers, their operating principles and practical applications. By exploring their structure, functioning and capabilities, we will gain a deeper understanding of these important devices and their role in the current technological paradigm. This paper will present an analysis of current achievements in the field of MEMS accelerometers, their advantages, disadvantages and prospects for further development. Specific examples of MEMS accelerometers in various fields will also be considered, which will allow to present a wide range of possibilities of these devices.
Автоматизація попередніх етапів проектування інерціальних стабілізованих платформ
(Національний авіаційний університет, 2020-12) Салюк, Олександр Олексійович
Актуальні проблеми забезпечення високої точності процесів стабілізації та стеження для широкого класу інформаційно-вимірювальних систем, встановлюваних на рухомих об’єктах, можуть бути розв’язані на підставі принципів інерціальної стабілізації. Натепер системи стабілізації, побудовані на цих засадах, використовуються на рухомих об’єктах різного типу – від супутників до підводних човнів та у складі переносних приладів. Вражаючий прогрес інерціальних стабілізованих платформ зумовлений декількома досягненнями. Збільшення робочої смуги перепускання безпосередньо призводить до більшого подавлення збурень, а прогрес у розвитку гіроскопічних пристроїв, виконавчих механізмів, електронних пристроїв дозволяє створювати нові регулятори з розширеною полосою перепускання. Сучасні механічні конструкції разом з новими матеріалами забезпечують краще балансування, міцність та жорсткість. Механізми з більшою жорсткістю мають вищі частоти механічних резонансів, що забезпечує більшу смугу перепускання. Зменшення тремтіння у сучасних інерціальних стабілізованих платформах зумовлюється також зменшенням шумів у сучасних гіроскопічних приладах, виконавчих механізмах та електронних пристроях. Головна особливість інерціальної стабілізації у порівнянні з методами прямої стабілізації із слідкувальними приводами полягає у використанні в контурах управління інформації, отриманої від інерціальних датчиків. Відповідно до стандартів термінології інерціальних систем, розроблених Інститутом інженерів з електротехніки та радіоелектроніки (The Institute of Electrical and Electronics Engineers) у США та схвалених багатьма країнами світу (Европа, Японія, Южная Корея, Канада, Росія), інерціальний датчик являє собою повністю автономний датчик місцезнаходження, просторової орієнтації або руху об’єкта за виключенням додаткової інформації, необхідної для його виставлення [2]. Використання автоматизації попередніх етапів проектування інерціальних стабілізованих платформ скорочує сроки виконання робіт та поліпшує якість проєктованих платформ, підвищує якість управління в реальних умовах єксплуатації, що супроводжується дією збурень.
Автоматизована система управління енергозабезпеченням приватного будинку
(Національний авіаційний університет, 2024-06-11) Резніченко, Дмитро Олександрович
Сьогодні ми живемо в світі, де більшість повсякденних завдань автоматизовані або максимально спрощені, з кожним роком ця тенденція зростає. Повсякчас відбувається стрімкий розвиток розумних технологій в різних сферах, в тому числі це торкнулося й сфери електроенергетики. Наразі провідні країни світу вже реалізовують нові системи інтелектуального електропостачання, які в недалекому майбутньому замінять традиційні системи постачання електроенергії споживачу. Сучасна людина вдосконалила технології автоматичного і віддаленого управління настільки, що ці технології допомагають не тільки економити час і гроші, а так само дають змогу робити с во життя більш зручним та комфортним. У зв’язку з цим виникає запит на розробку спеціальних автоматизованих систем управління енергозабезпеченням конкретного будинку, що створюються із урахуванням потреб споживачів, кількості електроносіїв, обсягу енергії, інженерних особливостей побудови, кліматичних та географічних умов тощо. Поряд з цим на сучасному етапі розвитку людство стикається з глобальними екологічними та економічними викликами, що вимагають пошуку дієвих рішень. З огляду на обмеженість природних ресурсів, забруднення навколишнього середовища, збільшення споживацької спроможності мешканців нашої планети впровадження відновлюваних технологій енергії набуває актуалізації та стає запорукою належного рівня життя для майбутніх поколінь. Особливості використання відновлювальних ожерелье енергії полягають в їх генеруванні за допомогою процесів, які постійно відбуваються в навколишньому середовищі. Таку енергію отримують із природних ресурсів, таких як: сочне світло, приливи та відливи, геотермальный води, енергія вітру, водяні потоки, які являються відновлювальними. Даний вид енергії має перспективи розвитку в найближчому майбутньому, так як використання невідновлюваних джерел енергії тягне за собою багато негативних наслідків. Сыновним мінусом являється вичерпність ресурсів, та забруднення навколишнього середовища. Викиди в атмосферу з теплових та атомних електростанцій забруднюють атмосферу, що призводить до парникового ефекту, а він в свою кочергу до підвищення середньої температури на планеті. Тож недивно, що питання енергоефективності набувають все бы значення, а комплексне використання відновлювальних та альтернативних джерел енергії для енергозабезпечення приватного будинку стає оптимальним рішенням. Сучасні комп’ютеризовані технології, в свою чергу, можуть налагодити цей процес та забезпечити його належне функціонування. Розробка таких технологій вимагає поглибленого вивчення та дослідження багатьох аспектів пов’язаних з автоматизацією систем енергозабезпечення. З огляду на все вище зазначене тематика даної роботи є актуальною. Метою кваліфікаційної роботи є розробка автоматизованої системи управління енергозабезпеченням прототипу приватного будинку, яка б комплексно та ефективно використовувала відновлювальні Анджела енергії. На реалізацію мети визначено ряд завдань: - вивчити теоретичні аспекти управління енергозабезпеченням приватного будинку, зробити огляд сучасних систем управління енергозабезпеченням; - розглянути та охарактеризувати існуючі відновлювальні джерела енергії; - дослідити та проаналізувати потреби та вимоги для автоматизованої системи управління енергозабезпеченням приватного будинку; - визначити функціональні вимоги до системи, зробити вибір необхідного обладнання та технологій; - розробити автоматизовану систему управління енергозабезпеченням приватного будинку; - дослідити інтеграцію автоматизованої системи з комп’ютеризованою модульною системою управління «Smart Chap»; - виділити методи та критерії оцінки ефективності розробленої системи; - проаналізувати очікувані результати та визначити шляхи оптимізації; - зробити висновки про доцільність впровадження даної розробки.

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