G. Panovko¹, Doctor of Technical Sciences (habil.), Professor, Honoured Science Worker of the RF, acting member of Russian Engineering Academy and of International Science Academy of Higher School, Head of Vibromechanics Laboratory
E-mail: gpanovko@yandex.ru
S. Yatsun², Doctor of Technical Sciences (habil.), Professor, Head of the Mechanics, Mechatronics and Robotics Department
E-mail: teormeh@inbox.ru
S. Savin², Doctor of Technical Sciences, Junior Research Worker of  the Mechanics, Mechatronics and Robotics Department
E-mail: savin@swsu.ru
A. Yatsun², Doctor of Technical Sciences, Head of Mechatronics and Robotics Laboratory
E-mail: ayatsun@ya.ru
¹ Institute of Mechanical Engineering of Russian Academy of Sciences
² South-West State University

The work discusses a mathematical model of a compound-chain electromechanical system by the example of a lower limb exoskeleton. Its motion at vertical adjustment is described; structure of automotive control system is proposed as well as a technique for determining the driving actions allowing the electromechanical system keeps a vertical balance. Criteria for quality of an automotive control system work are defined; influence of electric drive performance on the system work quality is analyzed. Fields of electric engines parameters providing acceptable quality of motion were find out. 

Keywords: electromechanical system, exoskeleton, vertical adjustment, controllable electric drive, automatic control system.

References

1. Jatsun S., Savin S., Bezmen P. Modelling of exoskeleton movement in verticalization process // Proceedings of the International Conference on Pure Mathematics – Applied Mathematics (PM-AM 2015), Vienna, Austria, 2015, P. 83–87.
2. А. Lenk. Electromechanical Systems. М.: Energoizdat, 1982. – 472 p.
3. Rozanov Yu.K., Sokolova Е.М. Electronic Devices of Electromechanical Systems. М.: Akademia, 2004. – 272 p.
4. Basharin А.V., Novikov V.А., Sokolovskiy G.G. Electric Drives Control. М.: Energoizdat, 1982. − 392 p.
5. Akimov L.V., Kolotilo V.I. Electromechanical systems of velocity and position with a state observer. Kharkov: KhGPU, 1999. − 81 p.
6. Jatsun S., Savin S., Yatsun A., Turlapov R. Adaptive control system for exoskeleton performing sit-to-stand motion. InMechatronics and its Applications (ISMA), 2015 10th International Symposium on 2015 Dec 8. IEEE. pp. 1–6.
7. Jatsun S., Savin S., Lushnikov B., Yatsun A. Algorithm for motion control of an exoskeleton during verticalization / ITM Web of Conferences. 2016. Vol. 6. P. 1–5.
8. Jatsun S., Savin S., Lushnikov B., Yatsun A. System analysis of sagittal plane human motion wearing an exoskeleton using marker technology / ITM Web of Conferences. 2016. Vol. 6. P. 1–5.
9. Hassan M, Kadone H, Suzuki K, Sankai Y. Wearable gait measurement system with an instrumented cane for exoskeleton control. Sensors. 2014. Jan 17; 14(1):1705–22.
10. Contreras-Vidal, Jose L., and Robert G. Grossman. NeuroRex: A clinical neural interface roadmap for EEG-based brain machine interfaces to a lower body robotic exoskeleton // Engineering in Medicine and Biology Society (EMBC), 2013, 35th Annual International Conference of the IEEE. IEEE, 2013. Pp. 1579–1582.
11. Kiguchi, K., Takakazu T., and Toshio F. Neuro-fuzzy control of a robotic exoskeleton with EMG signals // Fuzzy Systems, IEEE Transactions on 12.4 (2004): P. 481–490.
12. Aphiratsakun N, Manukid P. Balancing control of AIT leg exoskeleton using ZMP based FLC // International Journal of Advanced Robotics Systems 6.4 (2009): 319–328.
13. Aphiratsakun N., Kittipat C., Manukid P. Design and Balancing Control of AIT Leg EXoskeleton-I (ALEX-I). ICINCO-RA (1). 2008. P. 151-158
14. Kazerooni H, Steger R, Huang L. Hybrid control of the Berkeley lower extremity exoskeleton (BLEEX) // The International Journal of Robotics Research. May 2006. Vol. 25. No. 5-6. Pp.561–573.
15. Kazerooni H, Racine JL, Huang L, Steger R. On the control of the Berkeley lower extremity exoskeleton (BLEEX) // In Robotics and automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE international conference on 2005 Apr 18, IEEE. Pp. 4353–4360.
16. Steger R, Kim S, Kazerooni H. Control scheme and networked control architecture for the Berkeley lower extremity exoskeleton (BLEEX) // In Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on 2006 May 15, IEEE, pp. 3469–3476.
17. Pratt, J., Krupp, B. and Morse, C., Series elastic actuators for high fidelity force control // Industrial Robot: an International Journal, 2002. No. 29(3), P. 234–241.
18. Veneman, J.F., Ekkelenkamp, R., Kruidhof, R., van der Helm, F.C. and van der Kooij, H. A series elastic-and bowden-cable-based actuation system for use as torque actuator in exoskeleton-type robots // The International Journal of Robotics Research. 2006. No. 25(3). P. 261–281.
19. Yatsun S.F., Savin S.I., Yatsun А.S., Yakovlev I.А. Synthesis of exoskeleton adjuster parameters with use of the lpτ sequences // Proceedings of South-West State University. Engineering and Technologies. 2015. No 4 (17). P. 24–31.
20. Jatsun S, Savin S, Yatsun A, Malchikov A. Study of controlled motion of exoskeleton moving from sitting to standing position // In Advances in Robot Design and Intelligent Control. 2016. P. 165–172. Springer International Publishing.
21. Craig, J.J. Introduction to robotics: mechanics and control // Upper Saddle River: Pearson Prentice Hall. 2005. Vol. 3. P. 48–70.
22. Yatsun S.F., Savin S.I., Yatsun А.S. Synthesis of an adjuster for the exoskeleton automatic control system for acting vertical position of patients // Prospective Problems and Control Systems. Proceedings of XI National Scientific Conf. Rostov-on-Don. 2016. P. 64–74.

А. Stepanov¹, Student of Master’s degree programme at the Theoretical Mechanics and Mechatronics Department
E-mail: steepanov@mail.ru
Е. Sbytova¹, Doctor of Physical and Mathematical Sciences, Senior Lecturer of the Theoretical Mechanics and Mechatronics Department
E-mail: sbytovaes@ya.ru
Valery Podalkov¹, Doctor of Technical Sciences (habil.), Professor of the Theoretical Mechanics and Mechatronics Department
¹ National Research University «MPEI»

A mathematical model describing the dynamics of a micromechanical gyroscope with a resonator in the form of four elastic and inextensible rods with a smooth change of frequency of the driving force is designed. For receiving the equations of motion a variational principle of Hamilton – Ostrogradsky is used. The differential equations for generalized coordinates are constructed with the use of procedures of Bubnov  –  Galerkin. The exact solution of the differential equations for the slow variables in a mode of forced harmonic oscillations with a gradual change in the frequency of external influence is obtained. The amplitude-frequency characteristics are constructed. It was established that the existence e of the angular velocity of the base leads to splitting the multiple natural frequency of two close frequencies (two resonance peaks in the frequency response). It is showed that a smooth change of the driving force frequency causes a change in the absolute value of the maximum amplitude as compared with a fixed curve. The resonance peaks are substantially offset relative to the peak of the curve to the first fixed peak and after the second maximum amplitude observed beating is noticed.

Keywords: micromechanical gyroscope, forced oscillations, slowly varying parameter

References

1. Stepanov A.S., Sbytova E.S., Podalkov V.V. Dynamics of micromechanical gyroscope with a resonator in the form of elastic rods on vibrating pedestal // Mechanical Engineering and Engineering Education. 2015. № 2(43). P. 15–21.
2. Sbytova E.S. Dynamics of micromechanical gyroscope with a resonator in the form of elastic plates: PhD paper. M., 2014. – 456 p.
3. Stepanov A.S., Sbytova E.S., Podalkov V.V. Effect of a slowly varying frequency of the pedestal angular  vibration on dynamics of the micromechanical tuning fork gyroscope // Mechanical Engineering and Engineering Education. 2016. № 1. P. 10–16.
4. Zhuravlev V.F. Controlled Foucault pendulum as a model of the class of free gyroscopes // Proceedings of the Russian Academy of Sciences. MTT. 1997. No 6. P. 27–35.
5. Philippov A.P. Oscillations of Deformable Systems. M.: Mashinostroenie, 1970. 733 p.
6. Strutt J.W. (Baron Rayleigh) The Theory of Sound. T. 1. M.: GITTL, 1955. – 484 p.
7. Merkuriev I.V., Podalkov V.V. Dynamics of the Micromechanical Gyroscope and of the Gyroscope Based on Elastic Waves in Solids. M.: FIZMATLIT, 2009. – 228 p.
8. Nayfeh A.H. Perturbation Methods: trans. from English. M.: Mir, 1976. – 456 p.

B. Pini¹, Doctor of Technical Sciences, Associate Professor of the Automated Machine System and Tools Department
E-mail: boris.pini@mail.ru
О. Krylov¹, Doctor of Technical Sciences, Professor of the Higher Mathematics Department
E-mail: krylovoleg@mail.ru
Е. Khachikyan¹, Post-graduate student of  the Automated Machine System and Tools Department
E-mail: khachikyan121@mail.ru
¹ University of Mechanical Engineering 

The paper presents the different types of brushed tools. The experiment showed the effectiveness of cylindrical scarping- polymeric brushes for deburring and polishing surfaces with little metal removal. It found that surface roughness is significantly reduced with feeding the brush to the product at a depth of 2 mm, and a feeding to a depth of more than 2 mm has almost no effect on the treatment result. A growth of the grain size in the fiber increases the amount of metal removed by hardening the brush cutting ability. In this case, it makes possible to successfully remove the sizable surface thin coating and to clean off relatively small burrs on the sharp edges of parts.

Keywords: scarping-polymeric brushes, surface roughness.

References

1. Gdalevich A.I. Finish Machining by Flap Wheels. М.: Mechanical Engineering, 1990. – 112 p.
2. Argument for choice of an abrasive-polymeric tool for polishing / S.I. Dyadya, N.V. Gonchar, D.N. Stepanov, V.I. Cherny, О.V. Alekseenko // New Materials and Technics for Metallurgy and Mechanical Engineering. 2010. No 2. P. 145–148.
3. Studying the finishing with a polymer-abrasive tool by modeling / N.V. Gonchar, E.V. Kondratiuk, D.N. Stepanov, М.V. Kuchugurov // Cutting and Tools in Technological Systems. 2013. No 83. P. 55–63.
4. Abrashevich Yu.D., Ogloblinsky V.А., Ogloblinsky А.V. Brushing tools based on polymer-abrasive fibers // World of Technics and Technologies. 2006. No. 5. P. 50–52.
5. Gonchar N.V., Kuchugurov М.V., Stepanov D.М. Metodika modiulovannia spіlnої roboti pruzhnikh polymerno-abrazivnikh volokon pri kontakti z poverkhneiu zrazka // Proc. of Zhytomir State University of Techlogy. 2011. No. 3/58. P. 9–11.
6. Osborn Brushes. URL:  http://www.osborn.ru (date of reference: 11.04.2016).
7. 3М Tools. URL:  http://www.3Mabrasives.ru (date of reference: 12.04.2016).

V. Аrkhipov¹, Doctor of Technical Sciences, Leading Researcher
E-mail:  vearkhipov@mail.ru
А. Londarskij¹, Doctor of Technical Sciences, Senior Researcher
G. Moskvitin¹, Doctor of Technical Sciences (habil.), Professor, Head of Reliability and Durability at Thermo-mechanical Cyclic Impacts Laboratory
E-mail: gvmoskvitin@yandex.ru
М. Pugachev¹, Researcher
E-mail: pugachevmax@mail.ru
N. Falaleev¹, Junior Researcher
E-mail:  falaleevn@yandex.ru
¹ Institute of Mechanical Engineering, Russian Academy of Sciences

The paper presents the results of study on structure and properties of two-component coating deposited by "cold" gas dynamic spraying of aluminum and zinc particles mixture on an aluminum substrate. The dependence of the hardness of the two-component coatings with technological parameters of deposition was studied. It shows an increase in hardness to ≈1050 MPa in case of the minimum temperature of spraying and a hardness decline to ≈750 MPa in case of temperature of 540 °C. An increase of zinc content in coatings from 38,7±2,5 to 61,6±3 w. % and a decrease of aluminum content from 41,8±0,8 to 18,5±0,7 w. % with temperature growth were observed by x-ray study due to different densities of metals and different particles speeds. Results of mathematical modeling of temperature variation with depth are presented. Diffusion depth was also estimated. Areas with high zinc content (up to 73.9 w. %) were observed and the areas might be formed during metals mixturing by corundum particles.

Keywords: gasdynamic dusting, corundum particles, covering hardness, structure of covering, microdeformations, diffusion.

References

1. Cold Gas-Dynamic Evaporation. Theory and Practice / А.P. Alkhimov, S.V. Klinkov, V.F. Kosarev, V.М. Fomin. М. Fyzmatlit, 2010. – 536 p.
2. Dimet. Using Technics and Devices. URL: http://www.dimet-r.narod.ru/, (date of reference: 10.03.2016).
3. Structure and properties of coatings made by gas-dynamic evaporation / V.Е. Arkhipov et al. // Strengthening Technologies and Coatings. 2015. No 4. P. 18–24.
4. Butkovsky А.G., Maly S.А., Andreev Yu.N. Metal Heating Control: 2 ed. М.: Metallurgy, 1981. – 272 p.
5. Mikheev М.А., Mikheevа I.М. Principles of Heat Transfer: 2 ed. М.: Energy, 1977. – 344 p.
6. Properties of cooper coatings made by gas-dynamic evaporation / V.Е. Arkhipov et al. // Strengthening Technologies and Coatings. 2011. No 9. P. 17–23.
7. Samarsky А.А. Introduction into the Theory of Difference Schemes. М.: Science, 1971. – 552 p.
8. Technological features of gas-dynamic coating / V.Е. Arkhipov et al. // News of Mechanical Engineering. 2015. No 9. P. 64–70.
9. Using gas-dynamic plants for surface plastic deformation / V.Е. Arkhipov et al. // Plant Laboratory. 2010. No 4. P. 45–51.
10. 10. MatWeb Database of Material Properties. URL: http://www.matweb.com/ (date of reference: 10.03.2016).
11. 11. Processes of mutual diffusion in alloys / I.B. Borovskoy, K.P. Gurov, I.D. Marchukova, Yu.E. Ugaste. М.: Science, 1973. – 360 p.
12. Study of Diffusion Mobility of Al-Zn Solid Solution / Y.W. Cui, K. Oikawa, R. Kainuma, K. Ishida // J. Phase Equilibria and Diffusion. Vol. 27. No. 4. 2006. P. 333–342.

I. Zyabrev¹, Head of Laser Additive Technologies Laboratory
E-mail: scanrise@mail.ru
A. Kravchenkov¹, Doctor of Technical Science, Vice-Rector for Innovation Development
E-mail: akravchenkov64@yandex.ru
V. Poroshin¹, Doctor of Technical Science (habil.), Professor, Rector
E-mail: vporoshin@mail.ru
A. Shlyapin², Doctor of Technical Science (habil.), Professor, Head of Material Science Department
E-mail: ashliapin@list.ru
¹ the Institute of New Educational Methods Development, Autonomous Non-commercial
² Moscow State University of Mechanical Engineering (MAMI)

The article is devoted to the process of gas-powder flow formation at using two- and threechamber nozzles for laser coating. The issues of the built-up layer formation with a scanning focused laser beam, as well as of gas-powder jet formation and gain in the particles equitability in the gas-powder flow have been considered. Using the three-chamber nozzle made it possible to obtain the alloy of 10 mm in wide and 3.2 mm in height per pass. Results of experiments with CO₂ laser at changing parameters: the conveying gas flow, the distance from the nozzle section to the melting zone, as well as the flow of filler powder and processing speed, have been given. The optimal parameters of laser gas-powder processing for obtaining built-up layers with the specified characteristics have been determined.

Keywords: laser building-up, laser beam, scanner of laser radiation, dispenser of powder materials.

References

1. Grechin А.N., Zyabrev I.А. Laser surfacing with scanning the laser radiation // Welding Engineering. 1989. No 3(653). P. 1–2.
2. Andriyakhin V.М. Processes of Laser Welding and Thermal Treatment. М.: Science. 2002. – 176 P.
3. Shlyapin А.D., Poroshin V.V., Zyabrev I.А. Influence of scanning path of the laser beam and gas-powder stream at wear-resistant coating // Intern. Scientific е-Symposium titled «Technical Sciences: Theory and Practice». Moscow, June 29-30, 2015, P. 18–26.
4. Kheyfetz М.L. Additive synergetic technologies for alloy synthesis of composite material products at energy streams impact // Science Intensive Technologies in Mechanical Engineering. 2016. No 4. P. 3–9.
5. Kovalev О.B.,Zaitzev А.V. Thermodynamics and particle transportation modeling at laser coating with coaxial feed of powder // Proc. of Tula State University. Technical Sciences. 2010. No. 4. Part 1. P. 232–240.
6. Rykalin N.N., Uglov А.А.,Kokora А.N. Laser Treatment of Materials. М.: Mechanical Engineering. 1975. – 296 p.
7. Biryukov V.P. Increasing performance capability of machine parts at laser coating // Photonics. 2014. No 3(45). P. 24–31.
8. Pat. 2002128384 the Russian Federation, МПК В23К26/00, Stolyarov V.I. Nozzle for laser treatment, publ. 27.04.2004.
9. Shlyapin А.D., Poroshin V.V., Zyabrev I.А. Laser surfacing with scanning the laser radiation // Proceedings of Inter. Scient. Conf. “Contemporary Research Conceptions”. Eurasian Scientists Union. 2015. P. 2. No 6(15). P. 89–91.
10. 10. Pat. 160350 the Russian Federation, МПК В23К26/00, Zyabrev I.A. Automated unit for laser gas-powder coating; publ. 19.05.2015.
11. Poroshin V.V., Zyabrev I.А., Kravchenkov A.N. Influence of scanning path of the laser beam and gas-powder stream at additive technology // Common National Scientific Herald. 2016. No 2. P. 40–45.

P. Laryushkin¹, Doctor of Technical Science, Associate Professor of Principles of Machine Construction Department
E-mail: pav.and.lar@gmail.com
V. Glazunov², Doctor of Technical Science (habil.), Doctor of Philosophy (habil.), Professor, Director
E-mail: vaglznv@mail.ru
K. Erastova¹, student of the Nuclear Reactors and Plants Department
E-mail: earastovakg@student.bmstu.ru
¹ Bauman Moscow State Technical University
² Institute of Mechanical Engineering of Russian Academy of Sciences

In this paper a problem of calculating the maximal actuation effort in a generalized parallel manipulator for a known value of external load applied to the end-effector without specifying the direction of this load is discussed. It is shown that the presented approach based on the analysis of a transposed inverse matrix of a mechanism can be used (under certain assumptions) for mechanisms with any number of degrees of freedom. Besides, the suggested approach gives an opportunity to analyze separately the force and torque components of external load, that helps to avoid an issue of normalizing a vector consisting dissimilar types of the external load to the end-effector. In this article there are presented results of the theoretical calculations and of a computer modeling of a planar parallel mechanism, which confirm the efficiency of the presented approach.

Keywords: parallel mechanisms, actuation efforts, Jacobian, computer modeling, planar mechanism.

References

1. Ganiev R.F., Glazunov V.А. Parallel manipulators and its using in modern technics // Reports of the Academy of Sciences. 2014. No 4. P. 1–4.
2. Glazunov V.А., Chunikhin А.Yu. Parallel structure mechanisms development // Issues of Mechanical Engineering and Machine Reliability. 2014. No 3. P. 37–43.
3. Gosselin C.M., Angeles J. Singularity analysis of closed-loop kinematic chains // IEEE Transactions on Robotics and Automatics. 1990. Vol. 6(3). P. 281–290.
4. Merlet J.-P. Parallel Robots: 2nd edition. Springer, 2006. – 402 p.
5. Arakelian V., Briot S., Glazunov V. Increase of singularity-free zones in the workspace of parallel manipulators using mechanisms of variable structure // Mechanism and Machine Theory. 2008. Vol. 43. No. 9. P. 1129–1140.
6. Alba-Gomez O., Wenger P., Pamanes A. Consistent Kinetostatic Indices for Planar 3-DOF Parallel Manipulators, Application to the Optimal Kinematic Inversion // ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Long Beach. 2005. Vol. 7. P. 765–774.
7. Briot S., Pashkevich A., Chablat D. Optimal technology-oriented design of parallel robots for high-speed machining applications // IEEE International Conference on Robotics and Automation, Anchorage. 2010. P. 1155–1161.
8. Chablat D., Wenger P., Angeles J. The Isoconditioning Loci of а Class of Closed-Chain Manipulators // IEEE International Conference on Robotics and Automation, Leuven. 1998. Vol. 3. P. 1970–1975.
9. Studying contact angles and specific situations of parallel modules designed for relative manipulation mechanisms / S.М. Demidov, V.А. Glazunov, А.B. Lastochkin, Yu.N. Artemenko // Issues of Mechanical Engineering and Machine Reliability. 2011. No 5. P. 11–20.
10. Sutherland G., Roth B. A Transmission index for spatial mechanisms // Journal of Engineering for Industry. 1973. Vol. 95. No. 2. P. 589–597.
11. Balli S., Chand S. Transmission angle in mechanisms // Mechanism and Machine Theory. 2002. Vol. 37. No. 2. P. 175–1952.
12. Merlet J-P. Jacobian, manipulability, condition number, and accuracy of parallel robots // Journal of Mechanical Design. 2006. Vol. 128. No. 1. P. 199–205.
13. The velocity-type and powered criteria for proximity to parallel manipulator singularities / V.А. Glazunov, V. Arakelyan, S. Briot, G.V. Rashoyan // Issues of Mechanical Engineering and Machine Reliability. 2012. No 1. P. 10–17.

A. Pokrovsky¹, Doctor of Technical Sciences (habil.), Professor, Deputy Head for Research of the Applied Mechanics Department
E-mail: pokrovsky@bmstu.ru
A. Ryzhikov¹, the 4^th year Postgraduate Student of the Applied mechanics Department
E-mail:  t7454@yandex.ru
Е. Surensky¹, Postgraduate Student of the Applied mechanics Department
E-mail:  surenski@mail.ru
¹ Bauman Moscow State Technical University

In this paper, there is presented a mathematical model for describing the temperature field, the distribution of the phase-structural material composition and a stress state in a bimetallic roll during the entire process of surfacing. The solution for nonlinear non-stationary heat conduction problem and the problem of thermo-elasto-plasticity is based on the finite elements method. Heat transfer is described with using boundary conditions of the third kind. Modeling the transformation of austenite into pearlite under isothermal conditions carried out on the basis of the Avraami equation. The transition from isothermal kinetics of austenite decomposition to nonisothermal conditions is described by the theory of isokinetic reactions. Modeling the formation of residual stresses carried out by solving the problem of thermo-elasto-plasticity for a material with a non-stationary structure. Results of the temperature, structures and stresses calculation in a bimetallic cold rolling for different stages of the process of deposition are presented. The developed software can be useful for numerical determination of rational technological modes for surfacing, such as a surfacing rate and intensity of cooling.

Keywords: bimetallic mill rolls, surfacing, thermal conductivity, kinetics of phase-structural transformations, finite element method, thermo-elasto-plasticity, residual stress.

References

1. Pokrovsky А.М., Ryzhykov А.V. Mathematical simulation of the temperature and phase-structural states at surfacing the bimetallic mill roll // Mechanical Engineering and Engineering Education. 2016. No 1. P. 42–51.
2. Kostenevich Е.S. Modeling residual stress in outlet zone of the VVER-1000 reactor vessel at coating and heat treatment // Proc. of Tula State University. Technical Sciences. 2015. No 6. P. 171–180.
3. Moschenko М.G., Rubtzov V.S., Korableva S.А. Thermo-mechanical analysis of multi-pass welding the DU300 joint of RBMK reactor using the finite element method // Material Science Issues. 2011. No 4(68). P. 105–115.
4. Kurkin А.S., Makarov E.L. Svarka soft wear is a tool for solving the practice problems of welding engineering // Welding and Diagnosis. 2010. No 1. P. 16–24.
5. Sechenkov I.K., Chervinko О.P., Ryabtsev I.А. Design of the cylinder fatigue life at multi-pass coating and cyclic thermo-mechanical loading in service. // Automatic Welding. 2015. No 5–5(742). P. 142–147.
6. Christian J.W. The Theory of Transformations in Metals and Alloys. P. I, II: 3-rd ed. Pergamon, 2002. – 1200 p.
7. Tsvetkov F.F., Grigoriev B.А. Heat and mass transfer: handbook for high schools. М.: MPEI Publishing House, 2006. – 550 p.
8. Diagrams of the State of the Double and Multicomponent Systems on the Iron Base / О.А. Bannykh, P.B. Budberg, S.P. Аlisova et al. М.: Metallurgia, 1986. – 440 p.
9. Gulyaev А.P., Gulyaev А.А. Metal Science: textbook for higher schools; 7^th ed., revised and add. М.: Alians Publishing House, 2011. – 644 p.
10. Vafin R.K., Pokrovsky А.М., Leshkovtsev V.G. Durability of Heat Treated Mill Rolls. М.: Bauman University Press, 2004. – 264 p.
11. Leshkovtsev V.G., Pokrovsky А.М. Solution algorithm for thermo-elasto-viscous-plasticity on the base of finite element method taking into account structural changes // Proc. of Higher Schools. Mechanical Engineering. 1988. No 5. P. 12–16.
12. Estimation of main piping survivability including the residual welding   stress / А.М. Pokrovsky, О.А. Volokhovskaya, V.G. Leshkovtsev, G.Ya. Panovko // Issues of Mechanical Engineering and Machine Reliability. 2007. No 3. P. 110–117.
13. Kobyakov I.V., Pobezhimova Т.I. Temperature distribution and change across the mill roll section during the continuous-consecutive hardening at heating by power current // Heavy Engineering. 1962. No 10. P. 20–22.
14. Pokrovsky А.М. Analysis of thermal stress at electric normalization of the composite mill rolls // Rolling. 2007. No 9. P. 39–45.
15. Pokrovsky А.М. Design of residual stresses in bimetallic backup mill rolls after heat treatment // Herald of Bauman University. Mechanical Engineering. Contemporary Problems of Applied Mechanics, Dynamics and Durability of Machines. 2012. No 6. P. 186–196.
16. Pokrovsky А.М. Studying elasticity of the steel strengthened with carbide-intermetal component // Proceedings of High Schools. Mechanical Engineering. 2011. No 10. P. 14–17.
17. Pokrovsky А.М. Estimation of the mill rolls useful life taking into account residual stresses of heat treatment // Rolled Steel Production. 2005. No 9. P. 26–31.

L.A. Shirokov¹, Doctor of Technical Science (habil.), Professor
E-mail: eduarlev@gmail.com
O.L. Shirokova¹, Doctor of Economical Science, Assistant Professor, Assistant Professor of Informatics and Applied Mathematics Department
E-mail: ol.shirokova@gmail.com
¹ Moscow State University of Civil Engineering National Research University

In the article there is presented a method of forming structures and parameters of reference models for automatic tuners. It is especially important for controlling the high-order objects for which the synthesis of the desired reference model is the most important task. An automatic tuner has been analyzed with the Gauss – Newton algorithm, for which a model of the displaced reference was proposed, the technique of automatic creation of its parameters for the static and astatic objects was described. The simulation example shows how the optimizer is automatically adjusting the control system parameters, and the resulting graphs confirm the effectiveness of the automatic tuner functioning. An important advantage of the given method is that the delay, used for the standard as the approximating unit control system model, effectively filters the external influences of different spectral properties incoming on the automated object. At the same time the main standard parameter - the offset by the total delay - is automatically determined by the procedure proposed in the article.

Keywords: modeling, automatic control, offset, delay, quality of regulation, optimization, reference model, workflow.

References

1. Chernorutsky I.G. Methods for Optimization in Control Theory. Sankt Petersburg: Piter, 2004. — 256 p.
2. Kim D.P. Theory of the Automated Control. Т. 2. Multidimensional, Non-linear, Optimal and Adaptive Systems. М.: Phizmatlit, 2004. – 464 p.
3. Miroshnik I.V. Theory of the Automated Control. Non-linear and Optimal Systems. — SPb.: Piter, 2006. — 272 p.
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5. Bronnikov А.М., Bukov V.N. Conditions for tracking accuracy of linear system exit follow a standard model of the lowered order // Automation and Telemetry. 2008.  No 3.  P. 60—69.
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7. Pugachev V.I. Optimization of controller parameters in adaptive control system with a reference model // Proc. of Higher Schools. Food Production Technology. 2008. No 1. P. 17—23. 
8. Shirokov L.A. Synthesis of sensitivity compacts for the parameter design automation of linear control systems // Mechanical Industry and Engineering Education. 2008. No 3. P. 22—29.
9. Tikhonov А.N., Vasilieva А.B., Sveshnikov А.G. Course of Higher Mathematics and Mathematical Physics. Differential equations. М.: Phizmatlit, 2005. – 256 p.

V. Zimin¹, Doctor of Technical Sciences (habil.), the First Vice-Rector – Vice-Rector for Research, Deputy Head of SM-1 Department “Spacecraft and carrier-rockets”
¹ Bauman Moscow State Technical University

The article devoted to Vsevolod I. Feodosiev, the outstanding scientist-mechanic, who was a Head of M-1 (“Spacecraft and carrier-rockets”) Department at Bauman University during almost 40 years. At the same time he gave lectures on Strength of materials in Lomonosov Moscow State University. Professor Feodosiev wrote the unique textbook titled Strength of Materials which was edited 14 times and translated into foreign languages. One fact among others that gives evidence about Feodosiev’s talent  is that he worked as a scientific consultant on strength for S. Korolev’s bureau.

Keywords: V.I. Feodosiev, scientist-mechanic, strength of materials, Bauman University.

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