DEVELOPMENT TOOLS OF THE INTELLECTUAL SELF-ORGANIZED SYSTEMS OF AUTOMATIC CONTROL

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1 DEVELOPMENT TOOLS OF THE INTELLECTUAL SELF-ORGANIZED SYSTEMS OF AUTOMATIC CONTROL M.F. Stepaov 1, A.M. Stepaov 2, M.A. Pahomov 1, A.R. Salhova 1, L.S. Mhaylova 3 1 Yury Gagar State Techcal Uversty of Saratov, Saratov, Russa 2 Isttute of Problems of Exact Mechacs ad Cotrol of the Russa Academy of Scece 3 Electrosteel Polytechcal Isttute of the Moscow State Mache-Bbuldg Uversty, Moscow, Russa Abstract. Questos of automato of creato of systems of the decetralzed cotrol of o-statoary plats by artfcal tellgece methods are cosdered. As oe of solutos of the specfed problem the uo of the tellectual self-orgazed systems of automatc cotrol ad eurocotrol s offered: 1) sythess of the cotrol law wth use of meas of the tellectual selforgazed systems of automatc cotrol (ISSAC); 2) mplemetato of the sytheszed cotrol law wth use of the artfcal eural etwor (ANN). The offered approach cludes parallelzato of cotrol processes, detfcatos (creatg of the emulator), sythess of the cotrol law ad, at las creatg of the eurocotroller accordg to parameters of the ew cotrol law. Wth respect thereto the geeralzed scheme of mplemetato of ISSAC the form of set of the calculator o the mcroprocessor ad the blocs costructed o FPGA whch the plats emulator ad the eurocotroller are realzed s offered. Keywords: Iformato techologes, tellectual systems, automatc cotrol, self-orgazato. Ctatos: Stepaov MF, Stepaov AM, Pahomov MA, Salhova AP, Mhalova LS. Developmet tools of the tellectual self-orgazed systems of automatc cotrol. CEUR Worshop Proceedgs, 2016; 1638: DOI: / Itroducto Progress of ADP equpmet brought hgh-performace tools of data hadlg ad cotrol. Iformato techologes provded methods of effectve processg of large volumes of data. Together they removed boudary of area whch perhaps detal computato ad plag, but dd't remove t absolutely. O the other had, cy- Iformato Techology ad Naotechology (ITNT-2016) 674

2 beretcs (scece about cotrol) methods of sythess ad the aalyss of laws of cotrol of harder ad harder cotrol plats are developed. The most mportat cocepts of the moder theory of cotrol are the self-adjustmet ad varace. Ivarace property of automatc systems to resst to perturbatos. A self-adjustmet meas by meas of whch varace as the purpose s reached. For complex cotrol tass t s heret varablty ot oly perturbatos, plats parameters, but also purposes of cotrol. I such cases trasto to the self-orgazed systems s expedet. Ther dfferece from the self-settg-up systems s ablty to chage automatcally ot oly parameters, but also structure of the law of cotrol. I a geeral vew appearace of addtoal chaels of obtag formato ad cotrol (fg. 1) for ths purpose s ecessary. However ad there are uresolved problems. I partcular, there s a problem of crtera of self-orgazato. Perturbatos f(t) u + Plat y Cotrol purpose - Cotroller Self-adjustmet bloc Cotrol law's parameters Requremets Self-orgazato bloc Fg. 1. Structure of the self-orgazed systems The tellectual self-orgazed systems of automatc cotrol Coceptually the tellectual self-orgazed systems of automatc cotrol (ISSAC) [1], as a dstctve feature, cota tellectual system of sythess of the law of cotrol o the gve purpose of cotrol, ad also meas of formato of the purpose of cotrol o the bass of formato o the evromet of fuctog ad purposes of system's fuctog (see fg. 2). Iformato Techology ad Naotechology (ITNT-2016) 675

3 The evromet f The plat Subordated CS Parameters Ratg Requremets Ratg Supervsg CS Requremets of supervsors Executve mechasm u Calculator of cotrol fluece Cotrols parameters NI-solver of cotrol tass Executve subsystem Solvg subsystem Measurg system y Idetfcato Plat model Evromet model Cotrol purpose Assesseur Self-ratg Buldg of cotrol purpose Regulated varables Summary Requremets ISSAC Fg.2. The dagram of the tellectual self-orgazed system of automatc cotrol Crtera of self-orgazato The cotrol tas defto cludes: Cotrol plat: ) y P( x, f, v, M O (1) Perturbatos: F f f f, 1,, V v v v, 1, Cotrolled varable: (2), (3) Nx R Cotrol purpose:,... 1 (4),..., Cotrol: u( t ) U( y,mu ) (5) Cotrol sythess: MU S( MO,,F,V,Э ) (6) Self-orgazato: Q QЭ( MO,N,F,V,,Э ) (7) Tradtoal forms of the purpose of cotrol, for example, requremets to accuracy (8) do't allow to orgaze effectvely a assessmet of eed of swtchg oe of the modes of self-orgazato. Iformato Techology ad Naotechology (ITNT-2016) 676

4 1, уст Q1 1, уст lm (t ) (8) 0, уст Q1 t Therefore t s ecessary to eter the modfed forms of crtera of accuracy ad qualty of cotrol (9) (10)., уст Q1, 1, 1 1 0, уст Q1 (9), Q уст 1, J J, Q J, Q 0, J J, Q J (10), J J, Q J J, 0 T T Q Q u Q u, dt, u The geeralzed assessmet receved the ame "emotos" [2] memory of physologcal roots of the P. K. Aoh's theory of fuctoal system [3] as frs full completed model of cyberetc system. To qualtes cotrol of dffcult multlayer decetralzed systems we uses assessmet for subsystems (11). It allows cotrollg uderlyg subsystems by meas of use of mechasms of ther self-orgazato. Э 1 ˆ, Q ˆ ˆ, tqˆ Э, 1 1 1, э, э Э (11) I case of chages of a cotrol object ad the purposes of cotrol (13) the choce of procedure of sythess of the law of cotrol s dffcult. Attracto of methods of artfcal tellgece allows solvg tass [1]. But t requres formalzato of owledge of the theory of automatc cotrol (TAC) [4] as a trad Мо П, Д,О (12) where п,..., П 1 п - a set of the formalzed geeralzatos of models of the compoets of the automatc cotrol system (ACS) called by "predmets", possessg p P true false, characterstcs propertes h j j N H C, where C a set of complex umbers; forms of m j 1,..., ; mathematcal models Iformato Techology ad Naotechology (ITNT-2016) 677

5 Д d d : - set of the operatos (actos) performed over predmets, ther propertes ad characterstcs; o o : true false - set of the relatos (predcates) defed o sets of predmets, ther propertes ad characterstcs. Actos d y,д,r,q Д ad the relatos o y,д,r O are uambguous detfed by the attrbutes: y - applcablty codtos, д - source data, r - results of acto, q - requremets to results - value of the relato. of acto, p true false The model s used tellectual system of sythess of the law of cotrol for creato of the most adequate procedure of sythess. Smulato of such systems s a complex challege. The system of Modelg of the Itellectual Self-orgazed Systems MISS s for ths purpose developed [5]-[6]. We research possbltes ISSAC for cotrol of o-statoary plat (see fg. 3). Let the plat of cotrol s descrbed by the followg equatos: x ( A A)x u Mf x R,u 0 R, f R 0 t t0 A, A da s( (t t0 )), t t0 (13) (14) f f0, f0 0 t t s f m s( f ( t t s )), t t s (15) were t 0 4 the momet of the begg of a modfcato of plat s model; frequecy of a modfcato of plat s model; f0 1, 0 magtude of steppg compoet exteror perturbato; fm 0, 25 ampltude of se waves of the exteror perturbato; f frequecy of se wave of the exteror perturbato; t s 5 the momet of cluso of se wave of the exteror perturbato; 0 zero matrx. The purpose of cotrol s set as requremets o the statcally errors of cotrolled varables: Nx, R, N 1 0 0, st st, s str, st 1 0, 5 at presece of steppg exteror perturbatos f0 0, 5. The tal law of cotrol was sytheszed coutg upo steppg exteror perturbato f0 0, 5. Therefore wth perturbato f0 1, 0 of the requremet to exacttude of regulatg at the dscoected self-orgazg are ot fulflled eve for statoary plat (a curve 1 o fg. 4). Icluso of self-orgazg a stat tc 10, 0 wth perodcty 1 secod ad Iformato Techology ad Naotechology (ITNT-2016) 678

6 wth a velocty of self-orgazg 0,17 elmates a problem, esurg a requred exacttude of regulatg (a curve 2). The traset for o-statoary plat by cotrol wthout self-orgazg s vewed as curve 3. Icluso of self-orgazg wth the same parameters esures a requred exacttude of regulatg ad for o-statoary plat (a curve 4). Fg. 3. Attrbutes of the smulato project perturbato Boudary of a admssble error Fg. 4. Cotrol of o-statoary plat Iformato Techology ad Naotechology (ITNT-2016) 679

7 Cocluso The coducted researches showed operablty of the offered approach codtos of exstece of ot statoary of a plat whe the stablzg cotroller does't provde executo of the gve requremets. Acowledgemets Wor s performed wth assstace of the Russa fud of basc researches (project a). Refereces 1. Stepaov MF. Itellectual self-orgazg systems of automatc cotrol. Saratov: Saratov state techcal uversty, [ Russa] 2. Stepaov MF. The plag artfcal eural etwors the self-orgazed tellectual cotrol systems. Reports of the Russa academy of atural sceces. Volga rego terregoal offce, 1999; 1: [ Russa] 3. Aoh PK, Shumla AI, Aoha AP ad etc. Fuctoal system as a bass of tegrato of ervous processes embryogeess. Proceedgs V of cogress of physologsts of the USSR, 1937: [ Russa[ 4. Alexadrov AG. Methods of creato of systems of automatc cotrol. M.: Publshg house of physcal ad mathematcal lterature, [ Russa] 5. Stepaov MF, Stepaov AM. Applcato of plag artfcal eural etwors solver of tass of tellectual self-orgazg automatc-cotrol systems. Joural of Chaotc Modelg ad Smulato: Iteratoal Joural of Nolear Scece, 2013; 1: Stepaov MF, Stepaov AM. Itellectual self-orgazg cotrol system wth the calculator of the operatg fluece o the bass of automatcally desged artfcal eural etwor. The Bullet of the Saratov state techcal uversty, 2010; 4(51); Release 3: [ Russa] Iformato Techology ad Naotechology (ITNT-2016) 680