## №2 (55), 2022

## №1 (54), 2022

## №4 (53), 2021

## №3 (52), 2021

## №2 (51), 2021

## №1 (50), 2021

## №4 (49), 2020

## №3 (48), 2020

## №2 (47), 2020

## №1 (46), 2020

## №4 (45), 2019

## №3 (44), 2019

## №2 (43), 2019

## №1 (42), 2019

## №4 (41), 2018

## №3 (40), 2018

## №2 (39), 2018

## №1 (38), 2018

## №4 (37), 2017

## №3 (36), 2017

## №2 (35), 2017

## No. 1 (34), 2017

## No. 4 (33), 2016

## No. 3 (32), 2016

## No. 2 (31), 2016

doi 10.18503/2311-8318-2016-2(31)

## No. 1 (30), 2016

doi 10.18503/2311-8318-2016-1(30)

## No. 4 (29), 2015

## No. 3 (28), 2015

## No. 2 (27), 2015

## No. 1 (26), 2015

## No. 4 (25), 2014

## No. 3 (24), 2014

## No.2 (23), 2014

**Т****heory and practice of automated electric drive**

*Kravchenko O.A., Barylnik D.V., Sukhenko N.A.*Measures providing safe operation of mechatronic system training complexes (0004-0009.pdf)

When constructing various mechatronic systems, special attention needs to be paid to the issues related to the training system’s safety. The article provides a comprehensive set of engineering controls which allow ensuring the safety requirements for weight compensation stands of the training system.

A sound engineering solution is given to enable a dynamic slowdown condition with the synchronous permanent magnet motor coupled with frequency converter during a long power dump. In order to set the modes of speed and position limitations in force controlling systems, it is proposed to put in speed and position feedbacks as soon as the coordinate values of the electric drive are exceeded. Engineering solutions that ensure compliance with electrical safety norms are studied.

The research group presented the oscillograms of the electric drive performance with an active load torque in the dynamic slowdown mode and in the speed and position limitations mode from Vyhkod 2 ("Exit into Space") training system operated at Yu.A. Gagarin Research Cosmonauts Training Centre (Federal State Budget Institution).

Keywords: safety, trainer, limitation of coordinates, force controlling system, force compensation systems.

*Ishmatov Z.Sh., Plotnikov Y.V., Gurentjev E.A.*Robust current and speed controllers of variable speed induction motor drive (0009-0013.pdf)

The frequency-controlled electric drive with vector control system under parametric and external disturbances is considered. Robust current and speed controllers, which are used to reduce the sensitivity to different disturbances, are offered.

Keywords: frequency-controlled induction electric drive, interval model, robust control.

*Usinin Yu.S., Grigorev M.A., Sidorenko N.Yu.*Power circuits of reluctance synchronous electric drives with independent control by excitation channel (0013-0016.pdf)

The article presents the main-circuit schemes of field regulated reluctance electric drives. It is shown that the number of switches is defined by the number of phases and lies in a range from 2m to 4m. Using regression analysis method it was found that the semiconductor converter unit price for small current values does not depend on the current value and is determined by the microprocessor control system price. At currents greater than 100 A the relationship between the price and the current is nearly linear, so replacement of a three-phase semiconductor converters power circuits configuration with a polyphase configuration does not increase the weight or size of the power source. Thus, the complication of power circuits configurations (increasing the number of phases) for technological installations with rated capacity of more than 200 kW allows to improve the weight-size parameters of the electromechanical converter without increasing the size of the semiconductor converter.

Keywords: semiconductor frequency converters, polyphase quality, unit weight-size parameters.

*Brylina O.G.*Multi-zone integrating AC regulator operating with current overload (0017-0020.pdf)

The design principle of a variable voltage frequency-width-pulse regulator reliably working in overcurrent mode is considered in this article. The voltage regulator was developed on the basis of the multi-zone integrating sweep converter. The block schemes of the regulator and the current sensor forming its structure are given. Time diagrams explaining the operation of the regulator including the overcurrent mode are also given.

Keywords: variable voltage regulator, multi-zone modulation, frequency-width-pulse modulation, relay element, integrator, dynamic D-trigger, overcurrent.

*Dudkin М**.М**.*Adaptive integration control system of thyristor voltage regulator (0020-0025.pdf)

The principle of constructing, structure and basic characteristics of the thyristor voltage regulator (ТVR) with an adaptive integration control system for smooth start of asynchronous motors and power semiconductor «thyristor-diode» are considered. ТVR is intended for operation in conditions of a high level of external noises including commutative distоrtions of mains as well as at amplitude and frequency instability of an industrial network that allows to use it for facilities with a «problem» mains.

Keywords: thyristor voltage regulator, smooth start, control system, integrating scanning converter, noise stability.

*Linkov S.A., Sarvarov A.S., Bachurin I.V.*Analysis of synchronous electric drive control systems (0025-0028.pdf)

The analysis of modern control systems via synchronous electric circuit of the stator and rotor was carried out. The advantages and disadvantages of control systems providing damping of load angle for a synchronous machine in dynamic operation modes were considered.

Keywords: synchronous motor control system, load angle, positive feedback, synchronous motor, stator, rotor.

*Grekov E.L., Filimonov S.I.*Effect of filter-compensating devices on emergency modes of thyristor converter in mining electrical excavators (0028-0032.pdf)

The article describes processes taking place in the system thyristor converter – DC motor during power supply disconnection. It is shown that the presence of filter-compensating devices leads to the interruption of armature current in the inverter mode of work. Extending of gate impulses generating after power supply disconnection increases the voltage on the capacitors and improves forced commutation.

Keywords: electric drive, mining excavator, «thyristor converter – motor» system.

*Litsin K.V., Baskov S.N.*Modeling of schemes with intermediate transformers for vector-pulse start of high voltage AC motors (0032-0035.pdf)

We consider a model of two-transformer circuit, which can be used in devices of vector pulse-start for AC motors. The scheme of the real object is presented. The model created in Simulink is considered. The intermediate transformer parameters were calculated. The adequacy analysis of the developed model was carried out. It was concluded that there was no phase shift between the phase voltage sine curves obtained as a result of the experiment and the developed model. The maximum difference between the values at the same time is 4.7%. As a result, the developed model reflects all the properties of the real object and can be used to model the system in vector pulse-start electric motors.

Keywords: vector-pulse start, intermediate transformer, model, frequency modulation.

*Mugalimov R.G., Mugalimova A.R., Kretov S.V., Gubaidullin A.R.*Capacitance calculation of the capacitor for induction motors with individual reactive power compensation (0036-0040.pdf)

The article proposes method for capacitance calculatiion for energy efficient induction motor with individual reactive power compensation. In relation to the design of such an engine characteristics are developed allowing to calculate the capacity of the compensating capacitor with specified power factor measurements of the electrical machine. mathematical characteristics are given for different electromagnetic induction motor schemes with individual reactive power compensation.

Keywords: induction motor, reactive power, power factor, capacitor, electrical equivalent circuit, energy efficiency, mathematical characteristics.

*Shokhin V.V., Permyakova O.V., Kisel E.S.*Research of electromechanical system of roll stand (0040-0043.pdf)

Simulation of electromechanical system of reversing rolling stand with regard to gaps in mechanical transmissions and elastic links is carried out.

Keywords: electric drive modeling, rolling mill, system of automatic speed control, block diagram.

**Power engineering**

*Kornilov G.P., Kovalenko A.Yu., Nikolaev A.A., Abdulveleev I.R., Khramshin T.R.*Limitation of voltage drops in power supply systems of enterprises (0044-0048.pdf)

The object of the study is the power supply system of the industrial enterprise, which includes the main step-down substation, distribution networks and 10 kV bus. The analysis of voltage dips on one section of the tire was carried out when a fault occurred. On the basis of mathematical modeling the study obtained the resulting voltage produced change when the sectional reactor was connected. The mathematical model of the substation was developed in MATLAB using Simulink package, which facilitated the study of the effect of the reactor application on the value of the resulting voltage in the 10 kV bus. The research group defined and developed the relationships between the reactor resistance and system parameters such as short-circuit power and resistance of supply lines. A method for calculating the parameters of the reactor in the presence of motor load in 10 kV buses was offered. The possible ways limiting the engine shut down during voltage drops were considered. The proposed technical solutions will reduce the number of shutdowns of power consumers during voltage drops in the power supply lines.

Keywords: voltage dips, short circuit, sectional reactor, power supply of industrial enterprises, mathematical modeling.

*Gazizova O.V., Abdulhalikova A.A.*Transmission capacity research of feed power lines of large industrial power unit (0048-0052.pdf)

At the moment the capacities consumed by large industrial enterprises increase, as a result the increase in transmission capacity of overhead power transmission lines is required. To assess the transmission capacity calculation was carried out with the distributed parameters of the line with application of the wave equations. In contrast, the calculation with the concentrated parameters of the line on a P-shaped equivalent circuit was made. The received results made it possible to draw conclusions on the sufficient capacity of feeding lines of Magnitogorsk power supply unit.

Keywords: supply line, power supply unit, static stability, network, power line, transmission capacity, reserve coefficient, transmission limit.

## No.1 (22), 2014

**Т****heory and practice of automated electric drive**

*Kozjaruk A.E., Taranov S.I.*Unified Energy Efficient Electromechanical Systems of Excavator–Transport Complex Electric Drive

At the mining enterprises the major tasks are decrease in product cost and energy efficiency increase with a growth of outputs. These factors indicate increase in loading at existing capacities that involves decrease in service life of the equipment. In this article the main development strategic directions of a mining-transport complex are considered, a new approach to unification of structure of the equipment in drive structure that will allow to optimize the work of the enterprises of mining–transport complexes is offered and, as a result, to reduce the prime cost of products.

Keywords: truck, excavator, unification, optimum work load, electric drive, modes of operation.

*Bychkov M.G., Kusnetsova V.N.*Control Actions Adjustment of Multicoordinate Servodrive Based on Programmable Logic Controller

Experimental study results of one axis position regulation contour of the multicoordinate electric drive, based on Modicon M258 PLC and the Lexium 32 servo-drive are given in the article. Negative influence of quantization on transient process in the contour related to the cycle of calculation and exchange of information between the controller and servo-drives is confirmed. The solution is to install the reference model of position contour and correct the signal in program realization of the regulator. One signal is the derivative of set position and the other one is the signal of speed in the reference model.

Keywords: multi-axis electric drive, position regulator, time quantization, reference model, experimental study.

*Solovyev V.A., Chernyi S.P., Sukhorukov S.I.*Power Transmission Line Wires De-Icing Efficiency

The paper presents а short overview of the problem of power transmission line wires de-icing, the main methods and devices for power transmission line wires de-icing are described. A new electrodynamic method is offered and the results of experimental research are shown.

Keywords: power transmission line, wires, de-icing, current source, power efficiency.

*Lukyanov S.I., Fomin N.V., Vasilyev A.E., Hlystov A.I.*Improvement of Pulling Rollers Electric Drive of Slab Continuous Casting Machine

The results of experimental and theoretical research of the electric drive of pulling rollers of continuous casting machine are presented. The author's methods of calculation of longitudinal forces and the pulling moments are given for the interroller space of the secondary cooling zone. The control algorithm of the pulling rollers electric drive of continuous casting machine is developed.

Keywords: Control system, electric drive of pulling rollers, force in the ingot, secondary cooling zone, continuous casting machine.

*Karandaev A.S., Khramshin V.R.*Improvement of Drives and Automatic Control Process Parameters of Wide Strip Hot Rolling Mill in The Process of Product Range Expansion

It is shown that the current trend of improving the technology of wide strip hot rolling mills is product mix expansion in the manufacture of small batches of products. Product mix expansion occurs due to the production of thick bands of hard steels, particularly thin strip, which is the final product of metallurgical enterprises. Technological features of product range extension at wide strip rolling mills 2000 and 2500 of OJSC "Magnitogorsk Iron and Steel Works" (OJSC "MMK") are listed. The authors dwell on developments providing energy savings by reducing the consumption of reactive power thyristor electric drives stands without compensating devices. The article presents a complex of designed and implemented technical solutions to improve the systems of automatic control of the following process parameters: tension, strip thickness and rolling speed modes. It is shown that the developed system provides resource savings by reducing material consumption and improves the quality of the strip by increasing the precision of tension and thickness control in steady-state and dynamic conditions.

Keywords: wide strip hot rolling mill, gauge, automated electric drive, energy saving, process parameters, automatic control system, improvement, experimental research, introduction.

*Vasiliev B.Yu., Kozjaruk A.E.*Relay and Pulse Control Systems of Induction Motor Electric Drives: Direct and Fuzzy-Logic Control

The systems of induction motor electric drives control of on basis of direct torque control algorithm and fuzzy-logic algorithm are considered. The structures of different algorithms systems are shown. The results of their use are analyzed

Keywords: electrical drive, induction motor, direct torque control, fuzzy-logic control.

*Dmitrienko V.D., Zakovorotnyj A.Yu.*Mathematical Model for Research and Optimisation of Diesel Train Electric Drive

A synthesis of linear mathematical model of a diesel train with an asynchronous traction drive based on the dynamic object of model linearization control by means of geometric control theory is considered. On the basis of the sequence of involutive distributions the authors obtained the linear mathematical model in the form of Brunovski nonlinear model.

Keywords: linear mathematical model, asynchronous traction drive, geometric control theory, involutive distributions.

*Mescheryakov V.N., Didenko E.E.*Adjustment of Strip Tension in Finishing Train of Continuous Hot-Rolling Mill on Indirect Principle

The article contains the general description of the automatic control system operation of strip tension in the finishing train of a continuous hot-rolling mill constructed on the basis of "indifferent" loopers with the indirect tension measurement. Rolling processes with looper application and without it are compared.

Keywords: the system of automatic tension control, looper, strip tension, loop regulator.

*Omelchenko E.Ya., Kozin A.N., Makolov V.N., Bovshik P.A., Popov S.N.*Electrical Equipment of Modern Shops of Magnitogorsk Iron and Steel Works

The authors listed the main characteristics of power supply systems and electrical equipment from different suppliers as well as electrical drives, control systems of electrical steel-making shop and sheet hot and cold rolling shops of «Magnitogorsk Iron and Steel Works”.

Keywords: electrical equipment, alternating current drives, microprocessor control.

*Brylina O.G., Gelman M.V*Study of Three-Phase Active Rectifier

An active voltage rectifier is considered in this article. The block diagram and virtual model of the active voltage rectifier are given. Time characteristics of active voltage rectifier operation for the rectifier and inverter mode are given. Spectral analysis of voltage and current oscillograms is made.

Keywords: active voltage rectifier, virtual model, rectifier and inverter mode, timing diagrams, spectral analysis.

*Kosmatov V.I., Zinoviev A.M., Kochergin G.G., Karpova U.V.*The Block Diagram and Dynamics of The Electric Drive with The Energy Saving Induction Motor at The Arbitrariest Orientation of Rotating Coordinate System

In the work the mathematical description of electromechanical and electromagnetic processes transient regimes of the electric drive on the basis of the energy saving induction motor (ESIM) with individual compensation of a wattless power is considered. The mathematical description is executed with the method of space vectors with use of the continuants theory. The block diagram of the electric drive is made, calculations of transient phenomenons are made, oscillograms of dependences of speed and the electromagnetic moment of ESIM are received at direct start-up and loadings.

Keywords: Compensated, asynchronous, the engine, a method of space vectors, continuants, the block diagram, mathematical model, oscillograms.

**Energy- and resources-economy**

*Ishmetyev E.N., Panov A.N., Romanenko A.V., Vasilyev E.Yu., Korobeynikov S.M.*Practical Experience of Automated Stationary Vibration Control and Vibration Diagnostics System Application

The demand for automated stationary vibration control and vibration diagnostics systems of various machines and units is growing steadily. CJSC «KonsOM SKS» has its own technical and scientific base in the field of Non-Destructive testing and Technical diagnostics and introduces the systems of vibration control and vibration diagnostics to various industries. Vibration control systems are implemented into planetary gears, gear drives of rolling mill stands, intermediate shaft bearings, engine mounts and bearing pumps.

After the introduction of vibration control systems operational services significantly increased maintenance intervals. Now they can monitor actual technical condition of the equipment and plan repairs reasonably. The implemented system evaluate both the level of RMS velocity according to ISO 10816-1-1997 and peak values of vibration velocity at frequencies calculated for characteristic defects of the controlled objects.

Keywords: stationary vibration control system, vibration sensor, vibration diagnostics, defect, monitoring, mnemocircuit, mean square root.

*Zaviyalov A.S., Zaviyalov E.A., Sarvarov A.S., Petushkov M.Y.*Signature Analysis Application for DC Motor Diagnostics

The article is concerned with the existing methods of DC motor diagnostics. The requirements to the method of DC motor diagnostics are described. The authors believe that the signature analysis can be used in combination with the classical methods of diagnostics.

Keywords: DC motor, signature analysis, diagnostics, polynom.

*Pavlov V.V., Logunova O.A., Kalandarov P.I., Iskandarov B.P. ugli*Arc Furnace Tap Charging Material Proportion Selection for Its Work in Energy Saving Mode

The article is concerned with the scientific approach to the choice of the charge materials ratio for the electric arc steel-making furnace to provide its energy saving operation. The method consists of six steps including obtaining and structuring of technological data, development of cause-effect relations and description of the power consumption process using the multifactor optimization problem containing the constraint system with empirical coefficients.

Keywords: power saving mode, electric arc steel-making furnace, charge materials ratio, multifactor optimization problem, structured data.

## No.21, 2013

**Т****heory and practice of automated electric drive, mechatronics and robotics**

*Sychev D.A.*Traction electric drive on the basis of the field regulated reluctance machine (005-009.pdf)

Nowadays the main requirements for traction electric drive are first of all: reliability, wide speed range and high overload capacity [1,2,3]. The most promising to our opinion is a drive with the field regulated reluctance machine [4,5,6].

Keywords: traction electric drive, field regulated reluctance machine.

*Sychev D.A.*Mathematic simulation of the electric drive with the field regulated reluctance machine (009-013.pdf)

Nowadays the improvement in technology of production increases the demands on the modern regulated electric drive. Such requirements as high overload capacity, a wide range of speed regulation, ease of fabrication and high mechanical resistance of the rotor can be achieved only through a complex approach to the design of the electric drive with respect to the combined action of the converter and the motor [1,2]. In our opinion, the most promising is the drive with the field regulated reluctance machine (FRRM).

Keywords: finite element analysis, field regulated reluctance machine.

*Gasiyarov V.R., Radionov**А**.**А**.*Mechatronic technological complex of hot plate mill 5000 (013-020.pdf)

The paper presents a hot plate mill 5000 in terms of automated processing facility, which brings together into a single multi-level hierarchical control system for various process parameters and mechatronic modules. Block diagram of certain control systems and complex process in general are given in the article.

Keywords: heavy plate rolling mill, automated process control system, mechatronic system, automatic control system, hydraulic drive, electric drive.

*Sychev D.A., Belousov E.V., Zhuravlev A.M., Bychkov A.E.*Specific indicators of the electric drives with the field regulated reluctance machine in various connection schemes (021-027.pdf)

Field regulated reluctance machines (FRRM) [1, 2, 4] are well proved themselves in machines with severe and very severe conditions of operation. In FRRM the role of the field coil performs the coil placed in the stator slot, where it’s windings are separated opposite the interpolar space of the rotor, while the winding which is above the pole plays the role of an armature.

Keywords: field regulated reluctance machine, electric converter.

*Omelchenko E.Ya., Tanich V.O., Maklakov A.S., Karyakina E.A.*Summary and prospects of applications of microprocessor platform Arduino (028-033.pdf)

The article discusses the possibilities of the Arduino. The functional de-scription and the specification are represented on the example of Arduino UNO. The comparative analysis of the most relevant boards Arduino is complied. The prospects for the use of microprocessor Arduino platform for learning and design in the field of physical computing are identified.

Keywords: Arduino, physical computing, functional description, comparative analysis.

*Safin I.R., Lukiyanov S.I., Bodrov E.E.*Investigation of settings electric of drive ISF5 mill influence on product quality (033-040.pdf)

In this article the influence of the electric drive mill ISF5 settings on the quality of profile of the steel which is used for reinforced concrete structures is considered. The significance of the factors influencing on the profile’s depth by Fisher’ method is determined. And identified the necessity to build a control system for unwinding apparatus for improving the accuracy of the profile’s depth.

Keywords: rebar, analysis of variance, the profile’s depth.

*Safin I.R., Lukiyanov S.I., Bodrov E.E.*Mathematical modeling of deformation zone roller mill crate profiling ISF5 steel wire-rope shop OJSC «MMK-METIZ» (041-049.pdf)

In this article the necessity of constructing of mathematical models of the deformation roller mill stand used for production of reinforcing bars for concrete reinforcement was found. A mathematical model of the deformation roller stand was developed. According to the model a block diagram of the model was made up in the MATLAB.

Keywords: rebar, mathematical model, roller cage.

*Shvidchenko N.V., Lukyanov S.I., Pishnograev R.S., Shvidchenko D.V.*The development of control system of electric collecting roller table of hot rolling broad-strip mill (049-059.pdf)

The current control method of electric collecting roller table of hot rolling broad-strip mill provides the required tension in the strip due to the differ-ence between the strip speed and the roller speed. This leads to the in-creased wear of roll barrels and great replacement costs. The authors sug-gest the calculation method for the required torque electric collecting roller table with the technological features of the rolling cycles of hot strips. The article contains the control method for electric collecting roller table in order to reduce the wear of barrels rolls. The functional diagram for controlling the electric collecting roller table, which implements the proposed control method, is also developed.

Keywords: electric collecting roller table, wear of roll barrels, calculating load torque of electric drive, control system, functional diagram.

*Gryazev M.V., Kuznetsova O.A., Sushkin V.A.*Multicriterion optimization management of electromechanic system with two masses (060-070.pdf)

This article considers the possibility multicriterion of optimization of the managerial electro mechanic system with two masses by adaptive research method of parameters' space, using Sobol sequences.

Keywords: optimal control, electro mechanic system, multicriterion optimization, ensemble Pareto, criteria.

*Shokhin V.V., Permyakova O.V., Korotkova E.V.*The simulation of interconnected frequency-regulated electric drive of rolling mill (070-075.pdf)

This article explains a rolling mill simulation with frequency-regulated electric drive. The structure chart of induction motor with frequency shifter and speed adjustment system is situated in a rotating coordinate system with its orientation by vector of rotor interlinkage. This structure also includes cross links and ability of registration of nonlinearity magnetization curve of electric motor. Power connection of electric drive of cages is takes into account with known dependence of adjustment in the integral form.

Keywords: electric drive simulation, rolling mill, induction motor, speed adjustment, tension adjustment, block diagram, structure chart.

*Makarov A.V., Vecherkin M.V., Zavjalov A.S.*Overview of thermal models for asynchronous machines (075-084.pdf)

This article offers an overview of thermal models for asynchronous motors from single-mass, to four-mass. Also there shown capabilities of Mathlab for analysis of thermal models.

Keywords: asynchronous motor, thermal model.

*Omelchenko E.Y., Moiseev**V.O.*Energy theory of electric drives of multimotor rewinder mills (084-092.pdf)

The results of the analysis of energy transformation based on the general principle of conservation of energy of the electric drives of multimotor rewinders are presented. Four types of electric drives with various kinematic diagrams are described. The power balance equations are derived. The dependences of watt consumption are described. The recommendations with the watt consumption and capital costs according to commercial applicability are given.

Keywords: rewinder mills, power diagram.

*Omelchenko E.I., Bondarenko V.A.*Engineering of electric drives on system frequency converter - induction motor for fine drawing machine (092-100.pdf)

During the reconstruction of the group electric drives fine drawing machine UDZWGT 160/21 on an individual electric drive system on the main frequency converter - induction motor and coiler considered complex design issues of power circuitry, network and control algorithms depending on the technological requirements of the electric drives.

Keywords: fine drawing machine, individual electric drive, frequency converter, power circuitry, network, control algorithm.

*Vecherkin M.V., Sarvarov A.S., Makarcheva E.V.*Choice of switching time at the reactor start asynchronous electric drive with fan type load (100-106.pdf)

At the reactor starting of asynchronous electric motors the choice of switching time on a network in a great deal determines the degree of decline of oscillating component of electromagnetic torque. We solve the problem of timing switch on the network with the purpose of minimization of negative impact of transient startup processes.

Keywords: asynchronous electric motors, reactor start, electromagnetic torque.

*Merzlyaov Yu.V., Tolmachov G.G.*Research of tachogenerator rotation flicker voltage influence on additional power losses in electric drive (106-111.pdf)

In Article the Results of Tachogenerator Rotation Flicker Voltage Influence on Additional Power Losses in Electric Drive are given. It is determined that Double Magnitude of Tachogenerator Rotation. Flicker Voltage up to 2% makes Additional Losses up to 33% of Мotor Nominal Power.

Keywords: Tachogenerator Rotation Flicker Voltage, Additional Power Losses, Electric Drive, Current of the Armature, Magnitude Flicker, Frequency Rotation, Regulation Control System of the Speed.

*Mikhailova U.V., Mikhailov E.A., Sarvarov A.S.*Software solutions for the development of robot control system architecture (111-117.pdf)

This article describes the major software solutions in the field of robot control system architecture. Held their brief analysis and conclusions are made.

Keywords: robot, control system, software to control robots.

*Mikhailova U.V., Mikhailov E.A., Sarvarov A.S.*The use of ROS framework for robot control system architecture development (117-121.pdf)

This article examines the structure and principles of the ROS framework for the development of robot control system architecture. The features of this framework are collated.

Keywords: robot, control system, the framework ROS.

*Kosmatov V.I., Tanich V.О, Karpova U.V.*Simulation of electromagnetic processes of energy saving cage rotor asynchronous drive in steady modes (122-129.pdf)

The simplified squirrel cage scheme of replacement is developed for sta-tionary modes energy saving asynchronous motor. The calculations of stator currents magnetizing of circuit and rotor are made.

Keywords: energy saving, motor, scheme, replacement, currents.

*Mesheryakov V.N., Mesheryakova O.V.*Asynchronous drive control system based on independent current inverter with relay voltage regulator (130-137.pdf)

The the asynchronous electric drive control system provides high accuracy of control and improves the quality of the supply voltage, as a result it reduces maintenance costs and increases lifetime of the electrical equipment.

Keywords: asynchronous drive, independent current inverter, relay voltage regulator, control system, mathematical model.

*Norseevs**С**.**А**.,Bagaev D.V.*Review of algorithms group control of robotics system (137-145.pdf)

This article describes various algorithms group control robotic systems. The basic methods of group management between the different elements of the system and configure the interaction of these elements.

Keywords: swarm algorithm, robotics, multiple system.

*Chernyshev V V., Sharonov Vershinina N.G., , Goncharov A.A.*Dynamics of change of the support reactions biped walking propulsion on deformable grounds (145-152.pdf)

The results of dynamic modeling of the walking propeller interaction with an ecologically raw soil are discussed. The soil is modeled by viscous elastic plastic medium. It is shown that at the moment of overstep leg; reactions of the soil under the feet can significantly outperform static. The obtained results are going to be used to ensure the sustainability of walking robots on real grounds.

Keywords: mechanics of walking robots, interaction with the soil, dynamic modeling.

*Briskin E.S., Chernyshev V.V., Maloletov A.V., Sharonov N.G., Serov V.A., Mironenko K.B., Ystinov S.A.*Development of methods of remote control the movement of the walking robot «Ortonog» (153-160.pdf)

The results of field researches on development of the remote control the movement methods of the walking robot «Ortonog» through the Internet network, incomplete and limited reliability of the obtained information, are discussed.

Keywords: mechanics of robots, dynamics of controlled motion, remote control, mathematical modeling, field experiment.

**Power engineering and electric power supply**

*Mahmudov T.F., Alikulova**D.A.*To the choice of excitation regulation signals of synchronous generators (161-166.pdf)

The article describes selection and effectiveness of the control parameters of excitation of synchronous generators.

Keywords: automatic excitation regulator, the electric power system, amplification coefficients, static stability.

*Olszowiec P.*Selection of response values of dc networks insulation monitors (166-175.pdf)

In the paper there are presented regulatory requirements and existing meth-ods of insulation monitors response values selection in DC networks. A modified approach is proposed which takes into account main threats to safe and reliable operation i.e. electric shock, fire and explosion as well as relays malfunction. Most common cases of devices malfunction are explained. Method of plotting characteristics of respective hazards on the plane of in-sulation resistances is described. There are also given new criteria of the above listed threats detection based on voltages comparison which could replace an inconvenient analysis of insulation resistances values.

Keywords: dc networks, network-to-ground insulation, relays malfunction, insulation monitors response values.

*Kalandarov P.I., Azimov R.K., Masharipov Sh.M., Khaitov B.*Analysis of mathematical models of permittivity of heterogeneous wet systems (175-184.pdf)

Analyzes the mathematical model of the dielectric constant of wet heterogeneous systems and methods of increasing the reliability and accuracy of materials humidity control capacity method. The dependences of the dielectric permittivity of free water on the frequency of the external field, the analytical expression of dielectric constant of different component mixtures calculation, suggestions of using capacitive means of technological parameters control of heterogeneous systems, and the dielectric constant for cotton are presented, which takes into account temperature, matter, and enables to evaluate the extent and nature of the impact of each factor on the total error of measurement of humidity of raw cotton.

Keywords: dielectric constant, and the humidity of the system, moisture control, dielcometric method, heterogeneous systems, raw cotton, temperature measurement error.

*Silkin D.A.*On harmonic resonances in power systems (184-187.pdf)

The effect of resonant conditions on grid voltage distortion is described. Main reasons for harmonic resonance occurrence while supplying from substations with compensating installations are considered. Theoretical implications are illustrated with the grid measurement results.

Keywords: harmonic resonance, compensating installations, nonlinear electrical devices.

*Yuldasheva A.I., Malafeev A.V.*The computational efficiency of algorithm for calculating of power supply systems structural reliability measures (187-195.pdf)

The paper studies method of power supply equivalent reliability measures calculation: failure intensity, restoration time, probability of no-failure. The proposed algorithm of calculation supposes the use of a combination of 2 methods: sequential reduction method and Newton's method. The convergence analysis and computational complexity assessment of the algorithm were carried out.

Keywords: power supply reliability, reliability measure, structural reliability, restoration time, failure intensity, probability of no-failure, supply interruption costs.

*Boltachev V.A., Irklienko I.V., Panova E.A., Malafeev A.V.*Power transformer relay protection sensitivity improvement in terms of industrial electric power supply system emergency complex out-of-balance mode (195-198.pdf)

The emergence of a fault asymmetry regimes in systems of industrial electric power supply due to the insensitivity of relay protection can lead to long-term existence of such regimes. The article discusses ways to improve the sensitivity of protection by introducing an additional type of protection, reacting on reverse order voltage.

Keywords: fault asymmetry, relay protection, KATRAN 6.0, the sensitivity of protection.

*Zaslavets B.I., Bochkareva A.I., Alechin A.A.*The analysis of the dynamics of power losses in electric grid of Magnitogorsk (199-204.pdf)

The aim of this work is to improve the efficiency of transmission electric power urban electricity grids in Magnitogorsk. Presented in this article the results of calculations allow us to estimate the degree of influence of magnitude normative process losses of electricity on profit formation electric grid organization.

Keywords: electric power, electric grid organization, normative process losses, dynamics, balance, reduction of energy losses, in excess of normative, efficiency.

*Musin D.A., Gazizova O.V., Malafeev A.V., Misulin D.A*Development of algorithm of definition of limit not balances of capacities at the exit to separate work of electric power plants with variable loading(204-210.pdf)

The increase of the enterprises own generating capacities and introduction of power-intensive electroreceivers with variable loading leads to complication of possible operational modes. The algorithm and the software are developed for definition of limit not balances of capacities at an exit of electric power plant to separate work.

Keywords: industrial enterprise, own power plant, power supply system, variable loading, separate work, limit not balance of power.

*Malafeev A.V., Kutukova E.S.*The network calculations using the sequential equivalenting method in the case of information incompleteness about adjacency nodes (210-214.pdf)

This article is devoted to the network calculations using the sequential equivalenting method in the case of information incompleteness about adjacency nodes. This article offers to define the reacting power in the network nodes basing on the load flow of the active power and measured voltage modules and complex admittances of substitutional connection. Disregard of the phase shift between the voltage phasors in network nodes leads to unsatisfactory convergence in case of using the simple iteration method. This article offers using the Newton method of power flow to improve the convergence.

Keywords: active power flow, voltage module, state estimation, Newton method, convergence.

*Panova**Е**.**А**., Savelyeva**К**.S., Kochkina**А**.V.*Evaluation of operation acceptability of the industrial enterprises domestic power plants synchronous generators in case of electric equipments’ incremental repair of the subtransmission network under normal and optimum operation condition (214-220.pdf)

Evaluation of incremental repair influence of the electric equipment of the submission networks on Magnitogorsk industrial electric power supply system is given in the paper with the use of consecutive network reduction and symmetrical composing methods to the open-phase operating conditions computation.

Keywords: industrial electric power supply system, turbo generator, open-phase operating conditions, autotransformer.

*Linkov S.A., Sarvarov A.S., Bachurin I.V.*Wind energy prospects of development in Russia and abroad (220-225.pdf)

In this paper consecrated problems of wind power in Russia and Western countries. The analysis of the feasibility of using of wind power plants in Russia is carried out. The variants of wind power plants of low and medium power are proposed.

Keywords: wind power, wind turbine, alternative energy, wind generator, wind power station.

*Radionov**А**.**А**., Maklakov A.S.*Compensation of reactive power in grid with the help of pwm boost rectifier (226-231.pdf)

This article deals a mode of a compensation of reactive power in a grid with the help of an AC drive with PWM Boost Rectifier. Studies were conducted by mathematical modeling on a computer in a visual programming package Simulink of mathematical package Matlab. Analysis of the results has shown that the electric drive with PWM Boost Rectifier can compensate the reactive power consumed or generated by the adjacent loads in a wide range. Limits of the compensation range depend on the operation condition of the electric drive with PWM Boost Rectifier.

Keywords: electric drive, PWM Boost Rectifier, compensation of reactive power, mathematic modeling.

*Krubtsova A.A., Malafeev A.V.*Development of methods of planning of operating modes of power supply industrial systems on the criterion of minimum power losses taking into account the uncertainty of information about loads (232-237.pdf)

Article is devoted to the problem of industrial works power supply systems operating modes scheduling taking into account the energy consumption on the production of the metal products ordered volume. To solve the problems created by the planning methodology of power supply systems operating conditions, based on the fuzzy sets theory and provides for the formation of the membership functions on the basis of the load summary measures.

Key words: power-supply system, ambiguity of information, electrical loads, fuzzy interval, membership function, watt loss.

*Belyaev S.V., Malafeev A.V.*Definition of the objective function and constraint system in the optimization of repairs schedules of power supply equipment (237-240.pdf)

The article gives a rationale for the choice of optimization method and constraints system in the construction and adjustment of repairs schedules. Shown multicriteriality task. A system of restrictions, the use of which is necessary for the formation of the algorithm.

Keywords: repairs schedule, optimization, branch and bound algorithm, system reliability, staff time, multicriteria problem.

*Abdulveleev I.R., Kornilov G.P.*The reliability research of the overhead power transmission lines 6(10) kV with the use of computer automated design systems SolidWorks and COSMOSWorks (241-247.pdf)

The problems of the low reliability of the overhead power transmission lines 6(10) kV and disagreement the existing methods of design the lines to the state-of-the-art is examining in the given article. The authors suggest the new approach of the reliability research with using the CAD systems.

Keywords: overhead power transmission lines, the reliability research, the static analysis, CAD system, polyhedral steel pole, reinforced concrete pole.

*Kochkina A.V., Malafeev A.V., Kurilova N.A., Netupsky R.P*Turbo-generator and boiler techno-economic models obtaining of industrial power plant (247-252.pdf)

The article describes a method of obtaining the techno-economic models of turbo-generators and boilers of power plants-intensive industrial enterprises necessary for optimize the distribution of thermal and electrical energy.

Keywords: generator, boiler, power station, optimization, techno-economic model.

*Slavgorodskij V.B., Nikolaev A.A., Hramshin T.R., Lozhkin I.A., Ivekeev V.S*Features of emergency power supply

steel works «MMK-METALURJI» (253-257.pdf)

In this article, a method of improving the reliability of power supply steel plant «MMK-METALURJI», through the use of emergency power source in the form of a gas turbine. The authors examined the parameters and the choice of redundant power supplies, as well as redundancy scheme.

Keywords: emergency power supply, steel works, generators, gas turbine power plant.

**Industrial electronics, automation and control systems**

*Mahmudov T.F.*The analysis of multiply-based systems on basis of the investments theory (258-265.pdf)

The article describes an algebraic approach to the analysis and synthesis of multiply-based systems on the basis of systems attachment theory for a given characteristic of the numerator and denominator of a multiply-linear system.

Keywords: systems attachment, the synthesis of regulators, promatrix, repromatrix, the system of multiply.

*Mahmudov T.F.*Synthesis of optimal controller using matrix methods (265-270.pdf)

The article describes an algebraic approach to the analysis and synthesis of multiply-connected systems on the basis of attachments systems, and an example of synthesis of the optimal synchronous generator regulator.

Keywords: synthesis of the optimal controller, multiply-connected system, the coefficient matrix, automatic excitation regulator, synchronous generator.

*Brylina O.G., Gelman M.V.*Research of variable adjustable frequency converters (270-278.pdf)

Variable adjustable frequency converters (FC) are considered in this article. The block diagram and virtual model of Variable adjustable frequency converter are given. Time characteristics of work of frequency converter with an active voltage rectifier and an uncontrolled rectifier at the input of FC are given. Spectral analysis of voltage oscilograms is made.

Keywords: variable adjustable frequency converter, active voltage rectifier, virtual model, timing diagrams, spectral analysis.

*Samarina I.G., Rjabchikov M.Ju.*Improving conditions of strip heating dynam-ics in the lindering tower type furnace to reduce the defective product produced (279-283.pdf)

Proposed to regulate the speed limit for the purpose of share drop, using the speed control system at continuous hot-dip galvanizing in the strand type furnace.

Keywords: continuous hot-dip galvanizing plant, defect, annealing, heating, strand type furnace.

*Parsunkin B.N., Akhmetov T.U., Bondareva A.R.*Heating furnaces thermal regime manage-ment optimization (283-289.pdf)

Three loops interference of thermal management optimization in the working space of the heating furnace is considered. The mathematical models of forming optimal management regimes of combustion process and gas dynamic mode in the working space in order to reduce the specific consumption of fuel are given.

Keywords: management optimization loop, fuel burning process, the air flow consumption coefficient, the switching function.

**Energy and resources economy in electrotechnical systems and complexes**

*Dyomin Ju.K., Slepova I.O., Kartavcev S.V.*Electro savings for air separation (290-292.pdf)

The analysis reducing electricity costs to drive the compressor with intermediate cooling of compressed air with liquid nitrogen or oxygen.

Keywords: compressed air, the compressor, intermediate cooling, air separation.

*Najimova A.M., Habibulina A.T.*Energy resource-saving in a thermal power plant auxiliary (293-297.pdf)

The paper presents the main reasons of electric drives wasteful modes in the system of Thermal Power Plant auxiliaries. As example, the way for improvement of the modes of work of electrical drives on the Takhiatash Thermal Power Plant in Uzbekistan, the use of frequency-controlled drive for feeding electric pump with the power of 4000 kW is suggested.

Keywords: Thermal Power Plant, auxiliaries, electric motor, operating mode, frequency regulated electric drive, power block.

*Matveev S.V., Zaharov R.V., Alovadinova H.N., Neshporenko E.G., Kartavtsev S.V.*Use of thermal losses in the electrosteel smelting complex for electric power developmenT (298-301.pdf)

In work the electrosteel smelting complex, the main energy carriers, thermal losses is considered. Use of thermal losses for own generation of electric energy is offered. The preliminary effect is estimated.

Keywords: electric steel, casting, rolling, thermal losses, electric energy, regeneration.

*Konesev S.G., Hakim'janov M.I., Hljupin P.A., Kondrat'ev J.J.*Modern technologies of high viscosity oils production (301-307.pdf)

The problems of high viscosity oil production using advanced technologies based on induction heating principles are reviewed. Efficiency and use of integrated application of induction heating systems with variable frequency regulated electric drive pump unit for abnormal oil extraction are illustrated and proposed to be applied.

Keywords: Induction heating system, a variable frequency drive, abnormal oil, viscous oil.

*Zaparnyuk M.N., Neshporenko E.G., Kartavcev S.V.*Combined use of a gas turbine for power supply of metallurgical enterprise (307-309.pdf)

The question involved in the current set of alternative metallurgical ores through the use of gas turbines for their preparation to the blast furnace and the simultaneous production of electricity for energy electric arc furnace.

Keywords: gas turbine, siderite ore, roasting, combine energotechnological.

*Yusupbekov N.R., Gulyamov Sh.M., Qalandarov P.I., Irgasheva G.R., Shamsutdinova V.Kh.*Method of cumulative activity estimation of antioxidants in the natural and man-made objects (309-314.pdf)

The analysis of the well-known methods for measuring of the total antioxidant activity in products of natural and artificial origin with the aim of collecting information and finding promising new approaches to automated and automatic detection of antioxidants in the materials, substances and products of industrial production. It is shown that the empowerment determine antioxidant activity is advisable to use the phenomenon of electro reduction of oxygen which in the measuring circuit is realized in several stages with the generation on the surface electrodes measuring reactive oxygen species.

Keywords: determination of the total antioxidant activity, products of plant origin, method of determining the content of antioxidants, electrochemical methods for the determination of antioxidants.

**Electrical equipment monitoring, control and diagnostics**

*Luk'janov S.I., Fomin N.V., Buzykaev B.B., Hlystov A.I.*The analysis of parameters of the pulling of the ingot on MNLZ №5 OF JSC MMK (315-319.pdf)

Quality of the ingot cast by cars of continuous molding of preparations, depends on longitudinal efforts in an ingot. Actual task is calculation of efforts in an ingot of MNLZ and formation of the demanded moments of a pulling by the electric drive of pulling rollers.

Keywords: continuous casting machine, secondary cooling zone, pulling torque, electric drive of pulling rollers.

*Pishnograev R.S., Apet A.A., Krasilnikov S.S.. Suspitsyn E.S*Application of the longitudinal cracks of the ingot in the crystallizer early detection system (320-323.pdf)

The paper presents the results of the application of the automatic diagnosis of longitudinal cracks in the ingot in the crystallizer.

Keywords: CCM, longitudinal crack.

*Safiulina D.F., Psihnograev R.S., Apet A.A., Shvidchenko D.V., Suspitsyn E.S.*Longitude cracks early detection system development for continuous casting machines with a vertical section (323-329.pdf)

This paper presents the main results of researches, made within the magister qualification work on the topic “Longitude cracks early detection system development for continuous casting machines with a vertical section”.

*Pishnograeva U.V., Pishnograev R.S., Krasilnikov S.S., Shvidchenko D.V.*Continuous caster mold thermocouples values processing in longitudinal crack early detection system (329-335.pdf)

In this article information about mathematical methods of continuous caster mold thermocouples values processing, used in longitudinal crack early detection system, is presented.

Keywords: continuous caster, mold, crack, interpolation.

*Obukhov S.A., Lukyanov S.I., Suspitcin E.S., Pishnograev R.S., Krasilnikov S.S.*Structural diagram development of the detection system of the slag in the stream with the release of metal from the BOF (335-339.pdf)

The paper proposes a functional diagram of the detection system of the slag in the stream with the release of the metal from the BOF. The main technical capabilities of this system are considered.

Key words: oxygen converter slag detection, release the metal, an infrared camera.

*Erohin A.S., Neroslov S.V., Kychkin A.V.*Distributed buildings energymonitoring system based on sensor networks (339-346.pdf)

In this work, the project wireless body sensor network Electrical Engineering faculty of the Perm National Research Polytechnic University of was created, conducted a review of existing solutions on the market, as the analysis of wireless data transmission protocols and equipment for the project. As part of the practical part of the work the structure of the wireless network was designed, based on the protocol of ZigBee, as well as the layout of the wireless module into the enclosure and was designed operator interface that allows real- time monitoring of the state of climate in the Electrical Engineering faculty Perm National Research Polytechnic University.

Keywords: energy monitoring, sensor network, ZigBee.

**Electrotechnical engineers and scholars education**

*Kalandarov P.I.*Some priorities of higher education and its role in engineers and scientists training (347-353.pdf)

The issues of training of engineers and scientists, aspects of the integration of university research in the national innovation system are considered. The classification of innovation processes in the field of science and education, as well as the designated priorities of higher education and its role in the modernization of industry and attracting professionals to participate in investment projects is analyzed. The pressing problems of training and retraining of teaching staff, the development of integration in Uzbekistan, the mechanisms of improvement the integration and interaction of science, education and industry is considered.

Keywords: training of engineers and scientists , training and retraining of teachers , innovation , investment, anti-crisis program , modernization, technical and technological re-equipment of the enterprise.

*Kychkin A.V., Artemov S.A., Vlasov V.A.*Development of the block-modular robotic system for laboratory researching (354-362.pdf)

The modular structure of the organization of the robot system on the example of mobile intelligent platform is proposed. Presented designs of mobile platforms focused on laboratory researching for mobile robots control systems. The work is executed in accordance with the state of reference (work order in 1047) on the topic "Creating a mobile intelligent platform based on virtual reality technology, components and control systems suitable for use in extreme environmental conditions".

Keywords: robotic system, the block-modular design, control system.

*Korotkova E.V., Bilichenko V.I.*Foreign literature analysis. Frequency converter useful functions (362-366.pdf)

The analysis of foreign literature on the problem of the frequency converters use in the work of different consumption (water, gas and others) distribution systems in technological equipment is represented in the article. The analysis conducted shows that the work of frequency converters or smooth start devices with the use of the schedule work function and the “sleeping condition” function will permit to solve the task without operator participation i.e. will increase the efficiency of systems on the whole.

Keywords: frequency converters, consumption distribution systems, technological equipment, smooth start devices, schedule work function, operator, “sleeping condition” function.