Automatic control system

FIELD: physics, control.

SUBSTANCE: invention relates to automatics and may be used in development of control systems of aviation objects, items of rocket-space engineering and robotic complexes operating under extreme conditions (wide range of temperature variation from -60 to +125°C, mechanical impact in the form of strikes and wideband vibration) in ionising radiation fields. The proposed system comprises actuating elements of a control object, an angular speed sensor, an acceleration sensor, an information collection unit, satellite navigation equipment, an inertial navigation subsystem, control computing devices, a sensor of external impact, a blocking signal generator, a memory with authorized access and actuating elements, a power supply subsystem, an image processing subsystem, a control unit and an optical correction subsystem.

EFFECT: improved efficiency of control system operation, namely, preservation of operability in case of any single failure in system equipment, and also preservation of functioning and accuracy of control in case of parametric changes in components caused by ageing, change of environmental temperature and dose factors of ionising radiation.

24 cl, 24 dwg

 

The present technical solution relates to the automatic motion control of a wide class of moving objects, both ground and aviation, as well as products of rocket and space technology, robotic systems, which require extreme precision control and reliability in extreme conditions and in the fields of ionizing radiation. The problem caused by the wide range of changes in the ambient temperature from - 60 to +125°C mechanical effects in the form of shock and broadband vibration.

Known automatic control system of the vessel (See. patent RU NO. 2248914, (VN 25/04) from 01.03.2004) containing the sensor and the unit rate, the angular rate sensor, the sensor aft of the control outputs are connected to the inputs of the first adder-amplifier, the output of which is connected to the input steering aft rudders, the angle sensor drift and sensor bow rudders, the output of which is connected to the first input of the second adder-amplifier. In addition, the system includes a sensor unit lateral displacement of the vessel, the unit allowable angle of drift, and the logic block containing the algebraic adder, the adder modules of the two signals, the diode and electromagnetic relays with normally-open and normally-closed contact groups. The disadvantages of this those who practical solutions are:

1. The instability characteristics. In connection with the use of analog components, which significantly depend on the operating conditions (primarily on the ambient temperature), there will be a drift of the system as a whole, which is aggravated by the action of ionizing radiation.

2. Lack of tolerance. The system does not provide for any means of neutralizing the failure of individual nodes, so the failure of any node will result in failure of the whole system.

3. Limited functionality. The introduction of additional control units or expansion of a set of sensors requires significant processing apparatus management system.

4. Fixed control algorithm. As in the case of extensions, as well as the implementation of the control algorithm requires processing equipment.

Task functionality, the application of different control algorithms and stability due to the presence of digital computer partially solved in the invention APPARATUS to AUTOMATICALLY control the MOVEMENT of the VESSEL (See. patent RU NO. 2221728, (B63H 25/04) from 13.05.2002), containing in addition to the transmitter unit track angle sensor rudder angle, the steering actuator, and supporting the antenna, the receiver of a satellite navigation system (CLOS), sum the ATOR, two integrator and differentiator. However, the disadvantage is the low tolerance of this equipment is still present, as any failure of a computing device entails the failure of the entire system.

At the same time, a catastrophic failure can be neutralized through the use of included in the system with redundant components, and parametric drift of individual nodes due to changes in temperature and ionizing radiation, can be neutralized by the restructuring of the modes of operation of electrical circuits, such as changing speed digital processing units and changing parameters, such as current values of currents and voltages in analog components and their measurement and subsequent accounting for these variations in the processing of data in the computing device. Most fully the task of neutralizing a single failure in the computing device, which is the basic part of the system, is solved in the invention, the CONTROL SYSTEM of the VESSEL (See. patent RU No. 242944), this decision can be made as a PROTOTYPE.

To neutralize the effects of single failures computing device and maintaining the operability of the control system in General, in the known system, there are three control computing device (IAD) with a common device is the synchronization, providing synchronous and in phase with the work of the evaluators, the output signals of which, before reaching the Executive bodies(IO) control object, pass through the node coincidence logic. This solution provides the neutralization of first refusal in any of the solvers. However, after the emergence of first refusal reliability further operation of the system decreases dramatically as the occurrence of any of the second failure in one of the two remaining healthy solvers leads to rejection of the whole system, and the intensity of the refusal of the two solvers, leading to loss of control under this option redundancy, two times more than with one remaining healthy computer.

It is advisable after the occurrence of first refusal to move from a structure with majoritatea to the structure in which the output is connected to one of the working computers, which requires the introduction of additional controls operation of computers and switch their output signals.

In addition, reliability reduces the presence of common synchronization device, the denial of which leads to malfunction of the IAC and the system as a whole. Device synchronization, in addition, implemented with a strict clock net, and when switching channels UVU changes the length of the chains passing information, and when the rigid grid of the sync Yes the data can be distorted. It is necessary to change the frequency synchronization with the restructuring, which causes the change of the delay circuits passing information based on the actual performance of the chains of transmission of information, which may change over time, under the action of ionizing radiation and temperature changes. In most computing devices running a long time in adverse external conditions and fields of ionizing radiation, there is a drift of elements, resulting in digital devices, as a rule, change the speed, and analog nodes to change the stability and accuracy of their work. At the same time, adjusting the frequency of the information processing in the digital nodes under the actual speed and the actual time information transfer their units, and taking into account the drift of analog nodes (for example, in analog-to-digital converters) can maintain efficiency and accuracy characteristics of the control system.

In addition, when creating a radiation resistant LSI for such systems, the developers of technological measures (for example, perilesional) produce the shift parameters of these BIS in the direction opposite to the change of their parameters when the set dose from ionizing radiation. Therefore, when the initial set of dose responsiveness of elements stored the BIS can grow. It seems appropriate to use the faster BIS to increase the performance of the IAC and the efficiency of the system as a whole by expanding the composition of the task and the accuracy of the calculations.

The solution of these problems requires substantial processing of the known solutions.

To improve the effectiveness of the management system and enlargement of interest for its application are invited

THE AUTOMATIC CONTROL SYSTEM.

The inventive device includes various sensors (angular velocity, acceleration and so on), satellite navigation equipment (ASN), the block of information gathering (Ufa science BSI), three control computing device (IAD), Executive bodies (IO) control object and subsystem inertial navigation (PIN).

In addition, the composition of the claimed device added switch channels (PC) IAC control unit (BC), a subsystem of optical correction (BOCOG), the engine power (PEP), the gauge of external influence (DWI), the driver signal (FS) block and non-volatile storage device with authorized access (ZU SD).

PIN contains an acceleration sensor and three angular rate sensor (respectively the yaw, rotation (roll and pitch). The outputs of the sensors are connected to the inputs of the first specialized computing device under the istemi inertial navigation (IEDs PIN) input-output of which is input-output subsystems connected via bidirectional navigation link to Ufa science BSI.

SVU PIN contains the processor, through which bidirectional communication is connected to the first specialized storage device. The input-output processor combined with input-output communication unit and an input-output IEDs. The output processor connected to the input of the first unit firmware management (BMU), the input of the synchronization unit and the input of the buffer register. The outputs of this register is connected to the n inputs of multipliers connected in series tires migration. The outputs of the multipliers are connected to the inputs of the adder, the output of which is connected to the input of the communication unit, the input-output of which is input-output IEDs and subsystems connected to the Ufa science BSI.

Subsystem of optical correction comprises n sensors infrared light and ultraviolet ranges, outputs connected to the inputs of the second IED subsystem of optical correction (IEDs CIP), connected to the entrance-exit through the bidirectional processing link to Ufa science BSI.

SVU POI comprises a control microprocessor connected to it via the first bidirectional communication second specialized storage device, to which through the second bidirectional communication is connected to the communication unit, the input-output which is an input-output IEDs and POI, connected to Ufa science BSI. In addition, the host microprocessor via a first line connected m computing microprocessor, is connected through a second line to the second storage device. In this installation the output of the control microprocessor connected to the set inputs of the second BMU and the synchronization device, the outputs are connected to firmware inputs and inputs the synchronization of all microprocessors and communication devices, the outputs of the signs are connected to the inputs of the signs of the second BMU.

Device synchronization and block synchronization implemented identical and each contains a tunable pulse generator, the installation log which is the same input device (block), and the output connected to the trigger input of the shift register, the output of the last category which is connected to its trigger input, and the outputs of this register are synchronizing outputs of the device (unit).

The block information collection contains serially connected registers, inputs and outputs which are inputs and outputs, diagram interchange and communication schemes, input-output which is the input-output unit connected to the IAC.

Subsystem power supply includes first and second primary energy sources, outputs connected to the first gruppovogo control unit and control (BKU) and respectively to the first and second inputs of the first switch. The outputs of this switch is connected to the inputs of the first and second batteries are connected the outputs of the second group of inputs BKU and respectively to the first and second inputs of the second switch, the outputs of which are connected to the input of the secondary source of power supply (power supplies), the installation log which is an installation log subsystem, connected to the computer, and combined with the installation of the input of the shaper clock (VIF), the three control output of which is connected to the control inputs of the power supplies. The outputs of the DC and pulsed power power supplies, clock outputs and outputs time stamp VIF are the same subsystem outputs connected to respective inputs of ASN, PIN, POI and SWSD.

Sensor external impact is designed as a blocking oscillator, to the base of transistor which is connected back-biased diode.

Shaper signal contains a stable oscillator, connected to the output of the interval counter, the output of which through the interval decoder connected to the reset input of the trigger ban, triggering input is combined with the triggering input of the interval counter and the first input of logic element whose output is the output of the shaper, the installation log which is the input register of the authorized code. O the waters of this register through an authorized decoder connected to prohibit input of logic element.

Storage device with an authorized admission includes first and second drives, blocking entrances which are blocking input device connected to the shaper's output signals. In addition, each of the drives, the first and second through its first temporary bidirectional communication is connected to its accumulator time, respectively, the first and second inputs which are input time stamp of the device, which, in addition, to each of the drives, the first and second through its second massive bidirectional communication is connected to its accumulator arrays, respectively, the first and second input-output of each of which bi-directional communication bus SUSD with a block of information collection.

The drive has a non-volatile memory element, in parallel to which to write buses connected field-effect transistor with built-in channel, the gate of which is connected a signal lock.

IWEP contains the module DC power (CMP) and the module pulse power (MIP), security, installation entrance and the three control input which is the same input power supplies.

CMP contains three converters, power and installation inputs which are the same inputs power supplies, and frequency output of each of the converters is connected to the frequency control unit and control BEECH), to the control input of which is connected to the outputs of the converters are also via the unit off (BO) is connected to the inputs of the block alignment (BV), the output of which is the output of the module and connected to the additional control input BEECH.

The Converter has consistently applied the filter, the inlet of which is a power input of the Converter, the protective diode, a transformer with a primary winding of a transistor - breaker, a rectifying diode and output filter, the output of which is the output of the Converter. This output is connected to the voltage Converter in frequency, the output of which is connected to the element isolation, the output of which is frequency output of the Converter and connected to the input of pulse-frequency modulator, the installation log which is adjusting the input of the Converter, and the output is connected to the base of transistor - breaker.

The MIP contains three branches, combined with each of the parties, one of which is a power input, the second output. In each branch consistently included two field effect transistor, and the three control signal is diluted so that each of them is connected to the gates of the two transistors mounted in different branches, forming a sample "2 of 3".

VIF contains first, second and third tunable pulse generators, ustanavochny the e inputs of which are installation input of the shaper. The outputs of each of the generators connected to the inputs of your power phasing, respectively, first, second and third, environment the output of each of which is connected to environment inputs of two other blocks and to the environment inputs of the coincidence logic unit, for synchronizing the clock input of which is connected to the outputs of blocks phasing, and the outputs of this block are the outputs timestamps, three control signals and clock unit and the driver.

Tunable pulse generator contains a first group of serially connected inverters connected the outputs to the inputs of the first multiplexer, the output of which is the output of the generator and is connected to the input of the first inverter group and the input of the frequency counter. The outputs of this counter are connected to first inputs of the first differential amplifier and to the second inputs of which are connected the outputs of the register code frequency, and increment and decrement outputs of the comparison circuit is connected to the same input of the first counter code frequency, the outputs of which are connected to the control inputs of the multiplexer. With this setup the input of the first counter code frequency and the setting input of the first register code frequencies are the installation of the generator input.

Block phasing contains the element And the first input of which is the entrance block, the connection is authorized to the output of the pulse generator, and the output element is connected to the input of the shift register and are logged on dynamic triggers dynamic counter whose outputs are connected through the decoder to the trigger input trigger stop, the output of which is environment output unit and connected to the second input element And the first input of the majority of the element to the other two inputs of which are connected the outputs of the triggers binding, Gating input which is combined with the first input element And, as the inputs are environment inputs of the block. Thus the outputs of the odd and even bits of the shift register are connected respectively to the trigger and reset inputs to f output triggers, the outputs of which are clock outputs of the block.

Pulse-frequency modulator is implemented analogously to the tunable pulse generator with the difference that the input of the frequency counter is not connected to the output of the multiplexer and an input of the modulator, connected to the output of element isolation, and, in addition, the main nodes: a group of inverters, a multiplexer, a frequency counter, the register code and frequency counter code frequencies are the second, not the first, as in the tunable pulse generator.

The system structure is shown in figure 1, where figure 1 shows sensors figure 1.1 - satellite navigation equipment, figure 1.2 subsystem inertial navigation and figure 1.3 the indicated subsystem of optical correction. Figure 2 indicated Ufa science BSI. Figures 3-1, 3-2 and 3-3 indicated UVU. Figure 4 - probe, figure 5 marked switch channels, figure 6 - control unit, figure 7 - ZU SD. Figure 8 designated authorities. Figure 9 depicts the signal shaper and figure 10 indicated sensor external influences.

The figure 2 shows the composition of the block of information gathering. The block contains the receiving registers 21, circuit junction 22 and the communication patterns 23.

The figure 3 shows the composition of the subsystem inertial navigation. Figure 31 marked the acceleration sensor, numerals 32-1, 32-2 and 32-3 identified three angular rate sensor (respectively the yaw, rotation (roll and pitch), 33 indicated a specialized computing device subsystem inertial navigation (IEDs PIN).

The figure 3-1 shows SVU PIN. Figure 310 denoted by the processor, numeral 311 designated buffer register, numeral 312 marked block firmware management figures from 313-1 to 313-m marked multipliers, numeral 314 denoted by the adder, and numeral 315 denoted by the communication unit.

Subsystem power supply is shown in figure 4. Here the numbers 41-1 and 41-2 indicated by the first and second primary energy sources, number 42 indicated by the first switch, numerals 43-1 and 43-2 indicated by the first and second batteries, numeral 44 denotes the second switch, numeral 45 - unit control and digits is mi 46 and 47 are marked VIF and power supplies.

The power supplies is shown in figure 40, where numerals 401 and 402 indicated module is constant and the pulse module power.

CMP is shown in figure 4-1. The figure numbers 411-1, 411-2 and 411-.3 designated first, second, and third converters, numeral 412 marked BEECH, numeral 413 - unit off and 414 marked block alignment.

Module pulse power is shown in figure 4-2.

The control unit and the control is shown in figure 4-3. Here the numbers 431-1, 431-2, 431-3 and 431-4 indicated by the first, second, third and fourth counters frequency. Figures 432-1, 432-2, 432-3 and 432-4 designated first, second, third and fourth adders. Numbers 433 and 434 are marked code register and the register of admission. Figures 435-1, 435-2, 435-3 and 435-4 indicated by the first, second, third and fourth schema matching. Figures 436-1 garbage, 436-2, 436-3 and 436-4 designated first, second, third and fourth trigger of failure, number 437 designated group of logic elements, numeral 438 labeled analog multiplexer and figure 439 indicated conversion device of the voltage-to-frequency.

This is shown in figure 4-4, where the numbers 441-1 and 441-2 marked filter and an output filter, numeral 442 - transformer, numeral 443 marked the voltage Converter in the frequency, number 444 denoted by the element isolation and the number 445 marked pulse-frequency modulator.

Tunable clock shaper is shown in figure 5, contains three pulser first 51-1, the second 51-2 and third 51-3, three blocks phasing - first 52-1, the second 52-2, the third 52-3 and the coincidence logic unit 53.

Tunable pulse generator is shown in figure 5-1, where the numeral 510 indicated by the first group of inverters, numeral 511 is the first multiplexer, numeral 512 indicated by the first counter code frequency. Numerals 513 and 514 marked the first comparison circuit and the first frequency counter, and numeral 515 marked the first register code frequency.

The synchronization unit is shown in figure 5-2, where numerals 520 and 521 are marked accordingly tunable pulse generator and shift register.

Block phasing is shown in figure 5-3, where the numeral 531 marked element And figures 532 and 533 marked shift register and dynamic counter. Figure 534 indicated decoder, numbers 535 and 536 are marked, respectively, a trigger stop and a trigger start, number 537 - majoritarian element. Figure 538 marked triggers binding and figures from 539-.1 to 539-.f marked triggers-shapers.

The figure 6 shows the channel selector.

Subsystem image processing is shown in figure 7, where the numbers from 71-1 to 71-n denoted by optical sensors. Figure 72 marked a specialized computing device subsystem image processing (IEDs CIP).

Figure 7-1 presents the specialization is automatic computing device subsystem image processing (IEDs CIP). Numeral 711 marked the second dedicated storage device, numeral 712 marked a control microprocessor, figures from 713-1 to 713-k denoted by computing microprocessor, numeral 714 designated communications device.

Storage device with authorized access (ZU SD) is shown in figure 8, where the numerals 81 and 82 indicated by the first and second drives, 83-1 and 83-2 indicated by the first and second adders time stamps and numbers 84-1 and 84-2 indicated by the first and second adders arrays.

The drive is shown in figure 8-1, where the figure is 80 designated non-volatile memory element.

Shaper signals is shown in figure 9. The former figure 90 marked stable oscillator, numeral 91 - interval counter, numeral 92 - interval decoder, numeral 93 is designated trigger the ban, figure 94 - register authorized code, figure 95 marked code decoder, and numeral 96 identified logical element.

Pulse-frequency modulator is shown in figure 10, where the numeral 101 marked the second group of inverters, numeral 102 is the second multiplexer, numeral 103 denotes the second counter code frequency, numeral 104 denotes the second frequency counter, numeral 105 denotes the second code register frequency and number 106 marked the second comparison circuit.

The figure 11 shows the external sensor environmenta is I (DWI), figure 11-1 shows a filter.

The figure 12 shows the dynamic trigger.

The inventive device can be implemented as follows.

The processor IED PIN is implemented on BIS 1867 WM, the first block of firmware control is implemented on the LSI series memory RE and BIS on the basis of the BMC series 1556 and 1557.

All microprocessors SVU POI are BIS 1825 S and unit firmware control is implemented similarly to the unit firmware control IEDs PIN.

Block shaper clock is implemented on BIS 1825 WB 1 and BIS on the basis of the BMC series 1556 and 1567, and dynamic counter is implemented on the basis of dynamic triggers. Converters and schema conversion of the voltage-to-frequency implemented on the basis of BIS ADFC32 of Analog Devices or its equivalent, such as CU 1801. Item interchange schema interchange is implemented optocoupler 249 LP or planar transformer, they are manufactured in the production of NPOA.

The block of information gathering, control unit, control unit and control unit and control are implemented on the LSI-based BMC ser. 1556 and 1557.

The secondary source of power, the gauge of external influence and the dynamic trigger is implemented in discrete and wrap products factory.

The system works as follows.

After power start working gene is the operators pulses VIF, block synchronization and device synchronization, through several periods of the high frequency output of VIF in the UVA and MP DM starts to act synchronously and in phase with the time stamp to the inputs of adders SUSD inputs and interrupts the IAC, as well as the synchronization signals on the state clock inputs UVU and other system modules. UVU begin to implement management programs, polling through the block of information gathering external sensors, PIN and correction subsystem (ASN)).

The calculation results are stored in the form of restartovan arrays in SUSD and issued through the channel selector switch on the Executive bodies of the control object, the output of all channels UVU is supplied simultaneously to the control unit, the control switch, which also receives fault signals generated by the built in each UVU apparatus control means, for example, mod3. You can designate the signals from these funds through Hiwhere i is the number UVU (1, 2 or 3). For logic switch channels UVU placed on the ring: (1, 2, 3, 1). Thus for UVU (i) WVU will have index i-1 and WVU will have an index i+1 and so on, When a fault is detected, the i-th UVU switch connects to the output signals of the previous number, i.e., (i-1)-th transmitter. In case of failure of the two solvers is connected to the output signals of Tretiak is healthy. Thus, after the occurrence of first refusal to the output signals are always connected to one transmitter, which significantly reduces the probability of failure of the system in the event of a second fault. In the case of the formation of the fault signals of the three solvers, which may be due to the limited reliability of built-in controls or schema comparison, the output remains connected to the last recognized good computer, which eliminates the uncertainty in the logic operation of the switch. Logic to generate fault signals UVU produced BKU, which switches channels can be represented as a logical formula

Let us denote:

Hi- failure of the i-th UVU,

Hi- failure of the same computer generated internal controls,

withi- failure of the same computer generated schemas comparison.

Then Hi=Ci/ Hi

Logic to generate a fault signal generated by the schema comparison, can be written as follows:

withi=(Andi/ Andi+1/ Ji-1/ Andi/ Andi-1/ Andi+1) / (Ji/ Ji+1/ Andi-1/ Andi/ Ji+1/ Andi-1/ Ji/ Ji-1/ Andi+1).

Thus, the introduction of the switch is with the control unit allows to neutralize up to two faults in computing devices and stores the probability of the health system in three faults UVU. The presence of VIF three pulse generators and three mutually fairway blocks phasing provides the neutralization as a permanent fault in the VIF and neutralization of intermittent failures (failures) in the shaper, which have the function of mutual phasing for 2-3 period of high frequency. Then begins the formation of synchronous and in-phase labels real-time, control signals and clock, which provides work SUSD, IWEP, the IAC and the system as a whole,

Introduction the frequency of the pulse generator included in the VIF, array and device synchronization allows for each time interval to set the synchronization frequency corresponding to the current speed of the digital nodes, the corresponding computing device that allows you not only to increase the reliability of the system when the performance items, but and to use emerging stock performance, which provides periodic software test checks the IAC and IEDs subsystems, allowing to evaluate the performance during the current or set the synchronization frequency.

To neutralize the parametric drift of analog components in the Converter and BUCK as the primary selected voltage Converter in the frequency with nesemann the m advantage the dependence of the accuracy and stability of its work is determined by two elements: the resistor and the capacitor, the choice of which types and their preliminary radiation and thermorunaway can provide the required stability for a long time interval in the fields of ionizing radiation. The instability of power supply required for powering subsystems and the IAC in the proposed system, is neutralized by the setting in the output circuit of the highly stable reference resistor, measuring the output voltage and which determines the current value of the output voltage, and after the necessary conversion of the results of the measurements and form a new setpoint to the converters in their pulse-frequency modulators.

The combination of the proposed solutions in the form of additional backup devices and units, organization restructuring patterns at failure, as well as neutralizing parametric care items as digital components and analog can increase the reliability and accuracy of the control system working for a long time under the influence of external destabilizing factors that significantly expands compared with the known solutions, the range of application of the system for different objects.

Thus, in the inventive device is e provided neutralization of any single point of failure through redundancy at various levels. Provided the neutralization of parametric changes in the elements due to temperature changes and dose effects of ionizing radiation and the inventive device can be used successfully for the management of aviation facilities, launch vehicles and spacecraft and robotic systems operating in extreme conditions and fields of ionizing radiation.

1. The automatic control system, containing the Executive bodies of the control object, sensors, outputs connected to the inputs of the block of information gathering, satellite navigation equipment and subsystem inertial navigation, connected via subsystem, respectively, and satellite navigation bi-directional communication to the unit collect information connected with access to three managing computing devices, characterized in that the composition additionally introduced sensor external influences, is connected by the output to the driver signal lock, the output of which is connected to the blocking input of the storage device with authorized access and Executive bodies, subsystem power subsystem image processing, connected through its manufacturing bidirectional communication to the unit gathering information, while the outputs of each of the control computing device the VA is connected to the inputs of the control unit and the input channel switch, the outputs of which are connected to the actuating, adjusting inputs subsystem inertial navigation subsystem of optical correction and engine power outputs constant and pulsed power, clock outputs and outputs a timestamp which is connected to the corresponding inputs of the control computing device, subsystem inertial navigation subsystem image processing devices and storage devices with authorized access.

2. The system under item 1, characterized in that the block of information collection contains a series of input registers, inputs and inputs and outputs which are inputs and inputs-outputs block diagram interchange and communication schemes, the group of input-output which is a subsystem inputs-outputs of the block, and the main entrance is the primary output of the block.

3. The system under item 1, characterized in that the storage device with authorized access includes first and second non-volatile storage devices, bypassing the input of which is a blocking input device and the input time stamp devices are connected to the inputs of the first and second adders timestamp, and each of the adders through his, respectively, the first and second temporary bidirectional communication is connected to the, respectively, first and second, the drive to Adamu of them through his accordingly, the first and second, massive bidirectional communication is connected to the first and second adder arrays connected by input-output to the bidirectional bus, which is sanctioned by the communication bus of the storage device.

4. The system under item 1, characterized in that the subsystem power supply includes first and second energy sources whose outputs are connected respectively to first and second inputs of the first switch and the first group of inputs of the control unit and control connected first control outputs to the control inputs of the first switch, the output of which is connected to the inputs of the first and second batteries, the outputs of which are connected respectively to first and second inputs of the second switch and the second group of inputs of the control unit and the control, the second control outputs of which are connected to the control inputs of the second switch, the output of which is connected to the power source input of the secondary power supply, the outputs of which are the outputs of the synchronization timestamp, continuous and pulsed power subsystem, and the installation source input combined with the installation of the input of the shaper clock, the three control output of which is connected to the three control inputs of the auxiliary power supply, and outputs clock pulses and match the time of the shaper clock are outputs of the subsystem.

5. The system under item 1, characterized in that the signal shaper contains a stable frequency generator, is connected by the output to the input of the counter interval, triggering input which is the input of the shaper and combined with the input trigger of the ban and the input of the logic element, and the output of the counter is connected to the inputs of interval decoder connected to the reset input of the trigger of the ban, the output of which is connected to the first input of the logical element to prohibit the entrance of which is connected to the output of the decoder authorized code inputs connected to the output of the register is authorized code, the entrance of which is authorized by the input of the shaper, the output of which is the output of the logic element.

6. The system under item 1, characterized in that the subsystem inertial navigation contains the first, second, and third sensors of angular velocity and acceleration sensor, and outputs connected to the inputs of the first specialized computing device, subsystem, the input-output of which is input-output subsystem.

7. The system under item 1, characterized in that the subsystem image processing comprises n image sensors, outputs connected to the inputs of the second specialized computing device, subsystem, the input-output of which is input / output is the home subsystem.

8. The system under item 1, characterized in that the sensor of the external exposure is implemented as a blocking oscillator, to the base of transistor which is connected aboutnomoney diode.

9. The system under item 4, characterized in that the clock shaper includes first, second and third tunable pulse generators, the installation log which is the same input of the shaper and the output of each of the generators connected to the input of their own, respectively, the first, second and third blocks phasing environment the output of each of which is connected to environment inputs of two other blocks phasing and environment inputs of the coincidence logic unit, for synchronizing the clock input of which is connected to the outputs of blocks phasing, and the outputs of the coincidence logic block outputs are time stamps, three control signals and clock.

10. The system under item 3, wherein the nonvolatile memory includes a memory block, parallel to the write buses which included field-effect transistor with built-in channel, the gate of which is connected to the input of the lock, which is the entrance of the drive.

11. The system under item 4, characterized in that the auxiliary power supply module contains a constant and the pulse module power supply, the power input of each of which is a power source input, and the mouth of the mounting module input DC power and the three control input module pulse power are the same input source, the outputs of the DC and pulsed power which are the outputs of the respective modules.

12. The system under item 6, characterized in that a specialized computing device subsystem inertial navigation contains the processor, the input angular rates and linear accelerations are the same input devices, input-output is the input-output device, combined with input-output communication unit, and the output processor connected to the input of the first block of firmware control and input register output connected to the inputs of the n series-connected buses transfer multipliers, connected the outputs to the inputs of the adder, connected by the output to the communication unit, connected to the first bi-directional bus to the first dedicated storage device that is connected, in addition, the second bi-directional bus to the processor, and input / output communication unit is the entrance-exit of a specialized computing device.

13. The system under item 7, characterized in that a specialized computing device subsystem image processing comprises a control microprocessor, input and input-output are respectively of sensor inputs and input-output devices, and through bidirectional communication is connected to the second are specialized in manufacturing the Noah memory device, through the first line connected k computing microprocessor, is connected through a second line to the second dedicated storage device, and the adjusting the output of the control microprocessor connected to the input of the second unit firmware control, the outputs of which are connected to the firmware inputs of all microprocessors.

14. The system under item 9, wherein the tunable pulse generator contains a first group of series-connected inverters, the outputs are connected to inputs of the first multiplexer, the output of which is the output of the generator and is connected to the input of the first inverter and the input of the first counter frequency outputs connected to first inputs of the first differential amplifier and to the second inputs of which are connected the outputs of the first register code frequency, and increment and decrement outputs of this circuit are connected to the same input of the first counter code frequency, the outputs of which are connected to the control inputs of the first multiplexer, moreover, the inputs of the first register code frequency and the first counter code frequencies are the installation of the generator input.

15. The system under item 9, characterized in that the block phasing contains the element And the first input which is the input block and the output is connected to the input of the shift register and in the ode dynamic counter, connected outputs through the decoder to the trigger input trigger stop, the output of which is environment output unit and connected to the second input element And the first input of the majority element, connected the output to the input of the trigger start, output connected to the reset input of the trigger stop, while the second and the third inputs of the majority element connected to the outputs of the triggers binding, the inputs of which are environment input unit, which outputs the even-numbered and odd-numbered bits of the shift register are connected respectively to the trigger and dropping the inputs of flip-shapers, the outputs of which are clock outputs of the block.

16. System on p. 11, characterized in that the module DC power supply includes first, second, and third converters, frequency outputs are connected to the control unit and control inputs via the switch off unit connected to the inputs of the block alignment, the output of which is the output of the module, with the installation of the inputs of the converters and power management and control are setup input module.

17. System on p. 11, characterized in that the pulse module power supply contains three parallel branches, the ends of which are United and one of them is the input of the power supply module and the second module output, when ETOPS each branch consistently included two field effect transistor, and three input control signal is diluted so that each of them is connected to the gates of the two transistors mounted in different branches, forming a sample "2 of 3".

18. The system under item 16, characterized in that the Converter has consistently included a filter, a transformer with a primary winding of a transistor-breaker, a rectifying diode, an output filter, the output of which is connected to the input of the voltage Converter in the frequency output connected to the input element of the junction, the output of which is frequency output of the Converter and connected to the input of pulse-frequency modulator, the installation log which is adjusting the input of the Converter, and the output is connected to the base of transistor chopper.

19. The system under item 16, characterized in that the power outage has three field effect transistor, the origins of which are inputs, runoff outputs and control signals are connected to the transistor gates.

20. The system under item 16, wherein the compensation block comprises three identical branches, each of which has a series-connected resistor and diode, and the first output of each resistor is the input unit, the second connected to the anode of the diode of this branch, and the cathodes of the diodes are combined and output block.

21. The system under item 16, characterized in that the block of the management and control contains a first second, third and fourth counters, inputs the first three of which are frequency unit, and a fourth input connected to the output of voltage conversion in the frequency input connected to the output of the analog multiplexer, the inputs of which are the control and auxiliary inputs of the unit, and the output of the first frequency counter connected to the first inputs of the first and second adders, the output of the second counter connected to the second input of the first adder and to the first inputs of the second and third adders, the output of the third counter connected to the second inputs of the first and third adders, and the output of the fourth frequency counter connected to the first input of the fourth adder, the second input of which is connected to the output of the register control code, the input of which is the installation of the entrance block and combined with the installation of the input register of the tolerance, the output of which is connected to the first inputs of the first, second, third and fourth circuits of the match, to the second inputs of which are connected the outputs of the first, second, third and fourth adders, and the output of each coincidence connected to the input of their own, respectively, first, second, third and fourth flip-flops of the fault, the outputs of which are connected to the group of logic circuits, the outputs are the outputs of the block.

22. Si is the topic under item 18, characterized in that the pulse-frequency modulator includes a second group of series-connected inverters connected the outputs to the inputs of the second multiplexer, the output of which is the output of the shaper, the entrance of which is the input of the second counter code frequency outputs connected to first inputs of the second differential amplifier and to the second inputs of which are connected the outputs of the second register code frequency, and increment and decrement outputs of the second differential amplifier is connected to the same input of the second counter code frequency outputs connected to the control inputs of the second multiplexer, the inputs of the second register code frequency and a second counter code frequencies are setup the input of the shaper.

23. The system under item 15, wherein the dynamic trigger is implemented as a transistor amplifier, to the base of transistor which in addition to the resistor divider as a memory element connected LC circuit, the inductance of which has an operating winding and wound on top of her counter compensation, the ends of which are short-circuited.

24. The system under item 18, characterized in that the filter includes included in the positive bus diode, the anode of which is the entrance, the cathode output of the filter, between the plus and minus tires installed low-pass capacitor, and each of the tires through the howl of the high-frequency capacitor connected to the bus of the earth.



 

Same patents:

FIELD: instrumentation.

SUBSTANCE: proposed system comprises intake-and-discharge sealed station equipped with two-way controlled orifice valve arranged at vessel bottom. It includes device for vacuum feed of samples to measuring device. Said device consists of interconnected intake commutator, flow measuring cell connected to vacuum-pressure control system of said intake-and-discharge vessel. Note here that measuring cell comprises bottom inlet-outlet of fluids and is located at top point of sample feed line to rule out the ingress of said products into the meter at breakage of the film and covered by protection film from above. Besides, this system comprises control, indication and data transfer unit including pneumoelectric and electric devices equipped with programmable logical controller and digital processing program. Note here that it incorporates extra intake-and-discharge station coupled with the first one to make the pump. Said intake-and-discharge stations are identical and consist of two-way orifice valves while top covers accommodate sample level pickups and vacuum and pressure feed valves. Union to feed material at rarefaction of two-way orifice valves of both stations are interconnected via T-bend and flexible hose and connected with top union of flow measuring cell while union to feed material under pressure are interconnected by T-bend with flexible hose to drain measured sample portion in accumulation tank. Accumulation tank comprises union at its top part to receive sample from primary sampling system, measured sample return line, air separator and flushing water feed valve. Its bottom comprises T-bend connected with controlled drain valve and flexible hose for connection with measuring cell bottom union. Note here that air separator is composed of diffuser provided with conical splitter.

EFFECT: higher accuracy of measurements, continuous sample mixing, sample feed at rarefaction.

1 dwg

FIELD: physics; control.

SUBSTANCE: invention relates to a system of situation-analytical centres of an organisational system. The system comprises a telecommunication network, a control centre, situation-analytical centres, control points of departments of the organisational system, two-way communication means, means of monitoring surveillance objects, which affect the state of operations of the organisational system, and enables automated generation of scenarios using computer systems of the control centre, situation-analytical centres and control points of departments of the organisational system, storage of data on the scenarios in a system for storing data for auditing operations of the organisational system, which is part of the control centre, transmission of data on the scenarios via equipment interfaces of the control centre, situation-analytical centres, control points of departments of the organisational system and over the telecommunication network to computer networks of the control centre, situation-analytical centres and control points of departments of the organisational system, to video systems and a computer for setting up the video system of the control centre and situation-analytical centres, to multimedia screens of the control centre, situation-analytical centres and control points of departments of the organisational system to make decisions based on the generated scenarios.

EFFECT: high efficiency of the decision-making process owing to automated generation of scenarios for solving problem situations.

21 cl, 1 tbl, 30 dwg

FIELD: physics; control.

SUBSTANCE: invention relates to a method of supporting operation of an organisational system. The method comprises steps of forming blocks of standardised data on the state of support objects and operation of the organisational system, critical and allowable performance indicators of the organisational system, control commands for setting support objects into standardised or allowable states depending on the actual situation, setting support objects into standardised states, determining the actual states of support objects, evaluating the actual performance of the organisational system, determining blocks of data on the control commands required in the actual situation, optionally setting the support objects into standardised or allowable states based on the effect thereof on the types of operation in subdivisions of the organisational system and operation of the organisational system as a whole.

EFFECT: high efficiency of controlling information support of operation of an organisational system through automated evaluation of performance indicators of the organisational system and automatic control of support objects of the organisational system based on said evaluation.

24 cl, 50 dwg

FIELD: electricity.

SUBSTANCE: invention relates to the field of electrical engineering and may be used in electric power systems. Smart electric power system intended for improvement of control for utility system includes sensors at different sections of the above utility system with use of data transfer technologies and computer technology such as auxiliary bus structures in order to modernise the electric power system so that it operates effectively and reliably and to support additional services for consumers. The smart electric power system can include a smart distributing device in the utility system (separate from the control centre smart tools) that consists of units generating data at different sections of the electric power system, analyse generated data and modify operation of the respective section automatically.

EFFECT: improved control of the power supply networks.

46 cl, 37 dwg

FIELD: instrument making.

SUBSTANCE: fuzzy adaptive position method of automatic control of objects with discrete executive devices is proposed, which is realised by means of a logic controller and consists in generation of control parameters according to fuzzy rules and feeding these control parameters to an object. Control parameters generation is divided into two levels, at the first of which with the help of fuzzy logic they localise (identify) the control range, where further adaptation will be carried out. Localisation of the control range is carried out by definition of the main (base) value of the control parameter of this range according to the formula: Uad1=Uo(1-β)+Ukβ, where Uad1 - adaptable control parameter, Uo and Uk - control parameters in two extreme (opposite) conditions B of the object, β - normalised equivalent of object condition (β=0 at Bo, β=1 at Bk, where Bo - initial condition of the object, Bk - final condition of the object), taken as the value of the parameter of the adaptive middle position at this range, and at the second level the value of the control parameter is defined with the help of the adaptive three-position control method.

EFFECT: simplicity of realisation, improved quality of control, higher reliability of functioning due to substantial reduction of number of rules and more efficient control.

2 cl, 5 dwg

FIELD: physics, communication.

SUBSTANCE: invention relates to remote control over rod pumps, displacement pump, variable-speed drive etc, for example, used for extraction of hydrocarbons and drainage for them to be optimised. Device and method uses independent network server computer integrated with pump controlled arranged at every well in oil field. Will controller controls downhole pump in situ, processes well and pump data, generates surface and well diagrams and transmits reports on extraction, recommendations on improvement of extraction and production statistics at remote locations in Internet. Said controller can make remote requests for output of aforesaid reports via email or Internet messages, for example, at default state.

EFFECT: better serviceability, lower hardware costs.

19 cl, 9 dwg

FIELD: physics; control.

SUBSTANCE: invention relates to automated control systems for technological processes during ground testing of space-rocket equipment and can be used in developmental testing of aviation and transportation equipment, as well as chemical plants. The technical result is achieved through the apparatus for synchronising the control system for stand tests of space-rocket equipment and includes, in the processor of each master controller, a unit for interfacing with a local area network, connected through a control unit to a cycle counter, a cycle duration timer, a transportation delay register and a correction period counter, connected to a correction time register.

EFFECT: providing universal time and synchronisation of operating cycles of a distributed network of homogeneous master controllers irrespective of their number, arrangement and back-up version.

1 dwg

FIELD: information technology.

SUBSTANCE: disclosed is a control system which comprises a controlled device which is controlled by a controller, having receiving means for receiving control signals, and having a first, second and third storage locations for storing a personal identifier (ID) or address (PID), network ID (NID), and the ID (RCID) of a remote control device, respectively; at least one user-controlled remote control device for transmitting control signals. A control signal comprises a target address code, a network ID code, a sender address code and a command code. Normally, the controller only responds to control signals if target address code, network ID code, and sender address code match the information in memory. The controller is capable of operating in a NO NETWORK mode, in which the controller responds to a reset command irrespective of target address code, the network ID code, and the sender address code.

EFFECT: broader functional capabilities of the lighting control system by switching said system to an operating mode where system components will receive a rest command from any remote control device.

8 cl, 5 dwg

FIELD: machine building.

SUBSTANCE: method for multialternative optimisation of automation modules of structural synthesis of mechatronic modular robots is proposed, in which at performance of synthesis of the multiinvariant model structure of mechatronic modular robots, and further fixation of obtained optimum solutions, a variety of design elements is considered and corresponding alternative variables are entered by presenting discrete numbers corresponding to those elements in binary notation; after that, the number of modules combined in one robot, mainly without distinct structure are marked, and connection of every new module is provided to earlier assembled ones along the chosen direction and coupling of its first interface platform is performed to one of the free ones on any other structural members occupying the closest extreme position in this or that row; after that, alternative variables are entered; at that, for optimisation structural synthesis there chosen are values of alternative variables x1*,x41n*¯ providing maximum value of function f.

EFFECT: enhancement of a synthesis process; improvement of operating reliability of mechatronic modular robots.

2 cl, 4 dwg

FIELD: electrical engineering.

SUBSTANCE: proposed is a device for radio control of electric devices including a housing (2) in the form of a box with buttons (3) accommodating an electronic board including an electronic receiver (51) and an electronic transmitter (52) for transmission of a single-digit code to the said electric devices, a microprocessor (4) whereto signals generated by pressing the said buttons (3) are delivered, the microprocessor controlling the said transmitter and receiver and determining the said single-digit code to be transmitted, and a DIP-switch (43), consisting of multiple switches with two or more positions and supplying the generated signal into the microprocessor; the DIP-switch is designed so that to enable one to mount a single-digit key thereon, such key forming a radio control group of one and the same type which type is stored in the microprocessor and subsequently deleted from the DIP-switch (43) so that not to be seen when the said housing is opened and the DIP-switch is accessed after the storage process completion.

EFFECT: enhanced protection of the radio control device against unauthorised access to the DIP-switch code due to the code stored in the microprocessor and removed from the DIP-switch.

6 cl, 2 dwg

FIELD: tire industry.

SUBSTANCE: proposed plant contains great number of working units operating successively. Plant is furnished with central processor made for setting successive execution of great number of operations at working stations. Each working station contains at least one unit of indicated working units according to one or several set sequences of tire types. Plant includes also local processor connected with each working station and made for determining type corresponding to drum found in each of said working units. Local processor provides selection of definite procedure from preset group of procedures for each of said working units designed for type of tire corresponding to drum to be used in operation. Invention reduces to minimum downtimes for changing type of tire to be manufactured and makes it possible to manufacture lots of tires of different types without changing equipment producing tire semifinished products.

EFFECT: provision of automatic manufacturing of different type tires.

9 cl, 3 dwg

FIELD: technology for controlling meteorological protection, possible use for actively influencing atmospheric processes to alter weather conditions.

SUBSTANCE: system for controlling meteorological protection of populated territories provides automated coordination of active point effects onto centers of micro-physical processes in atmosphere of protected populated territories in moments of their appearance, if locations of centers of these processes, fields of geo-potential and components of local data characterize processes as potentially dangerous.

EFFECT: increased level of meteorological protection of populated territories, provision of trustworthy advance notifications to population concerning insurmountable and potentially dangerous catastrophic atmospheric events, decreased costs of system installation and of system operation maintenance.

3 cl, 1 dwg

FIELD: technology for testing and controlling systems or elements thereof.

SUBSTANCE: spark-safe instrument for technical service in field conditions includes connectors, first and second elements for accessing data transfer environment, while first element for accessing data transfer network is made with possible communication in accordance to first industrial communication protocol standard, second element for accessing data transfer network is made with possible communication in accordance to second industrial communication protocol standard, processor, keyboard, display, and also either infrared port or replaceable memory block, or memory extension block. Invention includes diagnostic methods, realized by spark-safe instrument for technical service purposes in field conditions.

EFFECT: simplified display of diagnostic information.

11 cl, 7 dwg

FIELD: antitrouble control of electrical equipment and control of power flows in electric power supply networks.

SUBSTANCE: the station of automated control of electric power supply network has an automated controller's position composed of the central processor module, main and two auxiliary monitors, graphic manipulator, keyboard, printer, information processing unit, collective use panel, navigation receiver and a control unit, switchboard unit, communication panel, switchboard, VHF radio set with a receiver, feeder and an antenna, HF radio set with an antenna, information exchange device, data transmission equipment, operational communication equipment, power input unit with two AC external network channels connected to it, long-range communication adapter, lines input unit, long-range communication channels, connecting lines, customers service communication lines, automated manager's position comprising a central processor module, main and auxiliary monitors, graphic manipulator, keyboard, information processing unit, laser range finder and a control unit, as well as remote automated operator's positions.

EFFECT: enhanced efficiency of functioning and provided trouble-free operation of the electric power supply network.

4 cl, 4 dwg

FIELD: computer engineering.

SUBSTANCE: recharge unit emits infrared light from infrared unit in response to recharge request signal received from robot via wireless transceiver, and sends infrared radiation signal in accordance with infrared light radiation. The self-propelled robot communicates with the recharge unit using various data and sends recharge request signal to the recharge unit when accumulator charge level drops below a threshold level and moves back towards the recharge unit using image data input from camera unit as response to infrared radiation signal sent by the recharge unit. The robot has microprocessor for controlling robot movements for providing return to the recharge unit by processing data of infrared light position on picture introduced from camera unit when detecting infrared light presence in the picture.

EFFECT: accelerated return to recharge unit.

16, cl, 2 dwg

FIELD: electronics; computer technology.

SUBSTANCE: method is based upon following steps: reading calibration data out for calibration of industrial equipment in relation to half-finished products to be processed and reading data out on preset maximal number of items to be processed from external data carrier, delivered together with half-finished products; calibration of industrial equipment in correspondence with calibration data of half-finished products delivered; programming of industrial equipment for maximal admitted number of items while using the best possible calibration; comparison of number of items, produced beginning from authorized initial moment of time (real number), with maximal number of items and deliverance of message on maximal number is suppressed by real number.

EFFECT: elimination of processing of items being non-authorized for production.

20 cl, 2 dwg

FIELD: control of unmanned flying vehicles.

SUBSTANCE: proposed method includes delivery of control signal from panel for deviation of flying vehicle altitude controls in accordance with preset trajectory of flight, in-flight measurement, calculation of present vertical component of flying vehicle speed and sign of its change in accordance with measurement, comparison of actual measured altitude with preset magnitude; in case actual altitude is lesser than preset magnitude, control signal is corrected for compensation of deviation of altitude from preset magnitude with the aid of feedback signal of actual magnitude of altitude and present magnitude of vertical component of speed. Device proposed for realization of this method is provided with altitude sensor and microprocessor forming the correction signal for control signal.

EFFECT: avoidance of dangerous approach to earth surface.

8 cl, 2 dwg

FIELD: mechanical engineering.

SUBSTANCE: invention refers to the field of automatic control systems for testing machines and benches for endurance tests of mechanical structures. To solve defined task for each subgroup of local extrema (maxima and minima) including homonymous extrema of the same value, own accumulators of differences are used which provide correction of extrema for program control signal for each subgroup. Differences for each subgroup are accumulated until difference between feedback signal extremum and corresponding program signal extremum becomes equal to zero. To calculate true corrections correcting control signal extrema, the device has additionally included elements determining moments for calculating mentioned corrections and regulating order of information transmission between separate units of device. Such elements include service signals delays, service signal pulse width shapers, switches, registers containing updated from section to section of program information about extremum numbers and their ordinates, and memories successively storing after interpolation all intermediate points about currently generated program sections. To maintain constancy of average load rate, the device uses summing unit computing program section span, registers for temporary storing of this information and dividers dividing reference frequency depending on program section span value in such a way that constant average speed of each program section generation is provided independently from its span value change.

EFFECT: improvement of accuracy of loading for tested structures in the points of local extrema of testing program resulting in improvement of accuracy of products life time determination, as well as maintaining constant average loading rate for tested structures.

4 dwg

FIELD: mechanical engineering.

SUBSTANCE: invention refers to the field of automatic control systems for testing machines and benches for endurance tests of mechanical structures. It is achieved by means of the following: control signals at servo drive input are formed via setting extrema of program function, intermediate function values between extrema are interpolated, differences between actual load in local extrema and their program values are measured for each subgroup of the same local extrema. These differences are accumulated in several storages the number of which is equal to number of subgroups. Control signal extrema coming to servo drive are formed as sums of accumulated differences for each subgroup of local extrema and corresponding local extrema of the program. Span of each program section and arrival rate of all intermediate interpolated function values of this section to servo drive input is determined. It is determined as result of reference frequency division by the value proportional to section span.

EFFECT: lowering the loading error in extremum points of program to 0,1% and possibility to select optimal loading rate fro program sections with random span value.

4 dwg

FIELD: mechanical engineering.

SUBSTANCE: invention refers to the field of automatic control systems for testing machines and benches for endurance tests of mechanical structures. To solve defined task for each subgroup of local extrema (maxima and minima) including homonymous extrema of the same value, own accumulators of differences are used which provide correction of extrema for program control signal for each subgroup. Differences for each subgroup are accumulated until difference between load sensor signal extremum and corresponding program signal extremum becomes equal to zero. To calculate true corrections correcting control signal extrema, the device has additionally included elements determining moments for calculating mentioned corrections and regulating order of information transmission between separate units of device. These elements include service signals delays, shapers of service signals pulse width, switches, registers containing updated from section to section of program information about extremum numbers and their ordinates, To maintain constancy of average load rate, the device uses comparator computing program section span and frequency divider dividing reference frequency depending on program section span value in such a way that constant average speed of each program section generation is provided independently from its span value change.

EFFECT: improvement of accuracy of loading for tested structures in the points of local extrema of testing program resulting in improvement of accuracy of products life time determination, as well as maintaining constant average loading rate for tested structures.

4 dwg

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