Semenov

The article gives a description of the operating principle of the regulator in an axial piston pump with electric proportional control; a linear mathematical model of the regulator is also provided. It was shown that introduction of internal speed feedback could improve the dynamics of the regulator. The authors propose a way to implement this type of correction by introducing a nonlinear electric position feedback.

The paper describes the construction diagram of a hydroelectric drive with throttle control. The authors consider an algorithm for controlling the drive, which increases its efficiency. They provide a mathematical model of the drive. The authors propose an algorithm for synthesis of the control signal; the algorithm is based on applying the method of modified Lagrange function for constrained minimization. As a criterion to be minimized the authors selected the flow rate of the pumping station subject to the minimum unevenness of rotational velocity of the output link of the drive. Calculation of points for optimization was performed by the numerical solution of equations for a mathematical model. The modeling resulted in control algorithm that significantly improved energy efficiency of the drive.

The article describes a new method of automated building parameterized 3D-models of centrifugal pumps. The purpose of modeling is to provide source data for optimization of air-gas channels in type HM pumps by hydrodynamic simulation methods. The first element to be optimised was a volute pump. The algorithm for constructing 3D-models of the discharge device is based on the Bezier curves. Basing on the basic geometrical parameters of the drain, the proposed method allows to automatically create its geometry in the most popular graphics packages SolidWorks and CATIA, and to export the package simulation STAR CCM +.

The article presents analysis of hydraulic drive for auto wheels in terms of its energy efficiency. Three main control modes are described – by volumetric change of pump capacity per revolution and change of flow sections of common valve gap (with two types of pump regulators). The authors provide comparison of these modes and indicate areas of their efficient application.

The article deals with motion control actuator bipedal walking robot on the program of path. A mathematical model of the tree-actuator robot, recorded by the apparatus of the block matrices and graph theory, presented in a way traditional for actuators with a simple kinematic chain. Presented, developed by the authors, the algorithms forming the trajectory of the robot on a horizontal plane and the results of their implementation on the operating experimental two-legged walking robot with electrohydraulic actuators .An algorithm for stabilizing the movement of the actuator robot controlled by changes of the moments on the feet and the block diagram of the stabilization system, which implements this algorithm. The results of experimental studies robot walking on a horizontal surface.

The way of synthesis of functions of traffic control of the biped walking robot in a mode of dynamic walking on an equal horizontal surface by means of the simplified mathematical model is presented.

And positions of the concept of construction of system of electrohydraulic drives of the biped walking robot (ДШР) for the extreme conditions, received by authors on the basis of experience of creation laboratory ДШР main principles are presented to MGTU of N.E.Baumana