Controle preditivo robusto baseado em desigualdades matriciais lineares aplicado a um sistema de tanques acoplados

This work deals with an on-line control strategy based on Robust Model Predictive Control (RMPC) technique applied in a real coupled tanks system. This process consists of two coupled tanks and a pump to feed the liquid to the system. The control objective (regulator problem) is to keep the tanks levels in the considered operation point even in the presence of disturbance. The RMPC is a technique that allows explicit incorporation of the plant uncertainty in the problem formulation. The goal is to design, at each time step, a state-feedback control law that minimizes a 'worst-case' infinite horizon objective function, subject to constraint in the control. The existence of a feedback control law satisfying the input constraints is reduced to a convex optimization over linear matrix inequalities (LMIs) problem. It is shown in this work that for the plant uncertainty described by the polytope, the feasible receding horizon state feedback control design is robustly stabilizing. The software implementation of the RMPC is made using Scilab, and its communication with Coupled Tanks Systems is done through the OLE for Process Control (OPC) industrial protocol

Desenvolvimento de uma planta piloto para estudos de poços de petróleo produzindo por plunger lift

This document proposes to describe a pilot plant for oil wells equipped with plunger lift. In addition to a small size (21,5 meters) and be on the surface, the plant s well has part of its structure in transparent acrylic, allowing easy visualization of phenomena inherent to the method. The rock formation where the well draws its pilot plant fluids (water and air) is simulated by a machine room where they are located the compressor and water pump for the production of air and water. To keep the flow of air and water with known and controlled values the lines that connect the machine room to the wellhole are equipped with flow sensors and valves. It s developed a supervisory system that allows the user a real-time monitoring of pressures and flow rates involved. From the supervisor is still allowed the user can choose how they will be controlled cycles of the process, whether by time, pressure or manually, and set the values of air flow to the water used in cycles. These values can be defined from a set point or from the percentage of valve opening. Results from tests performed on the plant using the most common forms of control by time and pressure in the coating are showed. Finally, they are confronted with results generated by a simulator configured with the the pilot plant s feature

Desenvolvimento de um simulador de bombeio por cavidades progressivas

The method of artificial lift of progressing cavity pump is very efficient in the production of oils with high viscosity and oils that carry a great amount of sand. This characteristic converted this lift method into the second most useful one in oil fields production. As it grows the number of its applications it also increases the necessity to dominate its work in a way to define it the best operational set point. To contribute to the knowledge of the operational method of artificial lift of progressing cavity pump, this work intends to develop a computational simulator for oil wells equipped with an artificial lift system. The computational simulator of the system will be able to represent its dynamic behavior when submitted to the various operational conditions. The system was divided into five subsystems: induction motor, multiphase flows into production tubing, rod string, progressing cavity pump and annular tubing-casing. The modeling and simulation of each subsystem permitted to evaluate the dynamic characteristics that defined the criteria connections. With the connections of the subsystems it was possible to obtain the dynamic characteristics of the most important arrays belonging to the system, such as: pressure discharge, pressure intake, pumping rate, rod string rotation and torque applied to polish string. The shown results added to a friendly graphical interface converted the PCP simulator in a great potential tool with a didactic characteristic in serving the technical capability for the system operators and also permitting the production engineering to achieve a more detail analysis of the dynamic operational oil wells equipped with the progressing cavity pump

Controle inteligente de pressão para uma rede sem reservatório de abastecimento urbano de água

The sanitation companies from Brazil has a great challenge for the XXI century: seek to mitigate the rate of physical waste (water, chemicals and electricity) and financial waste caused by inefficient operating systems drinking water supply, considering that currently we already face, in some cases, the scarcity of water resources. The supply systems are increasingly complex as they seek to minimize waste and at the same time better serve the growing number of users. However, this technological change is to reduce the complexity of the challenges posed by the need to include users with higher quality and efficiency in services. A major challenge for companies of water supplies is to provide a good quality service contemplating reducing expenditure on electricity. In this situation we developed a research by a method that seeks to control the pressure of the distribution systems that do not have the tank in your setup and the water comes out of the well directly to the distribution system. The method of pressure control (intelligent control) uses fuzzy logic to eliminate the waste of electricity and the leaks from the production of pumps that inject directly into the distribution system, which causes waste of energy when the consumption of households is reduced causing the saturation of the distribution system. This study was conducted at Green Club II condominium, located in the city of Parnamirim, state of Rio Grande do Norte, in order to study the pressure behavior of the output of the pump that injects water directly into the distribution system. The study was only possible because of the need we had to find a solution to some leaks in the existing distribution system and the extensions of the respective condominium residences, which sparked interest in developing a job in order to carry out the experiments contained in this research

Controle de Temperatura do Sistema de Refrigeração a água de uma tocha plasmática Indutiva Utilizando Lógica fuzzy

Este projeto propõe desenvolver e implementar um controlador para o sistema de refrigeração da tocha indutiva a plasma térmico. Este processo é feito a partir da medição da temperatura através de um sensor do sistema de refrigeração. O sinal produzido será enviado para uma entrada analógica do microcontrolador da família PIC, que utilizando os conceitos de lógica fuzzy, controla a velocidade de um motor bomba. Este é responsável por diminuir ou aumentar o fluxo circulante de água que passa pela bobina, pelo corpo da tocha e pelo flange de fixação, deixando-os na temperatura desejada. A velocidade desta bomba será controlada por um inversor de frequência. O microcontrolador, também, acionará um ventilador caso exceda a temperatura de referência. A proposta inicial foi o desenvolvimento do controle da temperatura da bobina de uma tocha indutiva a plasma, mas com algumas adequações, foi possível também aplicar no corpo da tocha. Essa tocha será utilizada em uma planta de tratamento de resíduos industriais e efluentes petroquímicos. O controle proposto visa garantir as condições físicas necessárias para tocha de plasma, mantendo a temperatura da água em um determinado nível que permita o resfriamento sem comprometer, no entanto, o rendimento do sistema. No projeto será utilizada uma tocha de plasma com acoplamento indutivo (ICPT), por ter a vantagem de não possuir eletrodos metálicos internos sendo erodidos pelo jato de plasma, evitando uma possível contaminação, e também devido à possibilidade do reaproveitamento energético através da cogeração de energia. O desenvolvimento da tecnologia a plasma na indústria de tratamento de resíduos vem obtendo bons resultados. Aplicações com essa tecnologia têm se tornado cada vez mais importantes por reduzir, em muitos casos, a produção de resíduos e o consumo de energia em vários processos industriais

Simulação computacional do escoamento em bombas de cavidades progressivas

The use of Progressing Cavity Pumps (PCPs) in artificial lift applications in low deep wells is becoming more common in the oil industry, mainly, due to its ability to pump heavy oils, produce oil with large concentrations of sand, besides present high efficiency when compared to other artificial lift methods. Although this system has been widely used as an oil lift method, few investigations about its hydrodynamic behavior are presented, either experimental or numeric. Therefore, in order to increase the knowledge about the BCP operational behavior, this work presents a novel computational model for the 3-D transient flow in progressing cavity pumps, which includes the relative motion between rotor and stator, using an element based finite volume method. The model developed is able to accurately predict the volumetric efficiency and viscous looses as well as to provide detailed information of pressure and velocity fields inside the pump. In order to predict PCP performance for low viscosity fluids, advanced turbulence models were used to treat, accurately, the turbulent effects on the flow, which allowed for obtaining results consistent with experimental values encountered in literature. In addition to the 3D computational model, a simplified model was developed, based on mass balance within cavities and on simplification on the momentum equations for fully developed flow along the seal region between cavities. This simplified model, based on previous approaches encountered in literature, has the ability to predict flow rate for a given differential pressure, presenting exactness and low CPU requirements, becoming an engineering tool for quick calculations and providing adequate results, almost real-time time. The results presented in this work consider a rigid stator PCP and the models developed were validated against experimental results from open literature. The results for the 3-D model showed to be sensitive to the mesh size, such that a numerical mesh refinement study is also presented. Regarding to the simplified model, some improvements were introduced in the calculation of the friction factor, allowing the application fo the model for low viscosity fluids, which was unsuccessful in models using similar approaches, presented in previous works

Análise da eficiência de aquecedor solar espiral com e sem efeito estufa para piscinas

The technical and economic viability of solar heating for swimming pools is unquestionable, besides there it replaces the high costs and environmental impacts of conventional supply of energy, and it improves an optimization in the pool heating uses. This work applies the principles of the greenhouse effect: advanced thermodynamics, heat retention and equalization of temperature, to optimize the solar heating equipment, reducing the area required by collectors as much as 40% (still estimated value) for commercial collectors, with minor architectural and aesthetic impacts on the environment. It features a solar heating alternative in pools, whose main characteristics: low cost, simplicity in manufacturing and assembly and a faster heating. The system consists of two collectors spiral hoses made of polyethylene with a hundred meters each, and working on a forced flow, with only one pass of the working fluid inside the coils, and is used to pump itself treatment of pool water to obtain the desired flow. One of the collectors will be exposed to direct solar radiation, and the other will be covered by a glass slide and closed laterally, so providing the greenhouse effect. The equipment will be installed in parallel and simultaneously exposed to the sun in order to obtain comparative data on their effectiveness. Will be presented results of thermal tests for this the two cases, with and without transparent cover. Will be demonstrated, by comparison, the thermal, economic and material feasibility of these systems for heating swimming pools.

Simulação computacional da interação fluido-estrutura em bombas de cavidades progressivas

The pumping through progressing cavities system has been more and more employed in the petroleum industry. This occurs because of its capacity of elevation of highly viscous oils or fluids with great concentration of sand or other solid particles. A Progressing Cavity Pump (PCP) consists, basically, of a rotor - a metallic device similar to an eccentric screw, and a stator - a steel tube internally covered by a double helix, which may be rigid or deformable/elastomeric. In general, it is submitted to a combination of well pressure with the pressure generated by the pumping process itself. In elastomeric PCPs, this combined effort compresses the stator and generates, or enlarges, the clearance existing between the rotor and the stator, thus reducing the closing effect between their cavities. Such opening of the sealing region produces what is known as fluid slip or slippage, reducing the efficiency of the PCP pumping system. Therefore, this research aims to develop a transient three-dimensional computational model that, based on single-lobe PCP kinematics, is able to simulate the fluid-structure interaction that occurs in the interior of metallic and elastomeric PCPs. The main goal is to evaluate the dynamic characteristics of PCP s efficiency based on detailed and instantaneous information of velocity, pressure and deformation fields in their interior. To reach these goals (development and use of the model), it was also necessary the development of a methodology for generation of dynamic, mobile and deformable, computational meshes representing fluid and structural regions of a PCP. This additional intermediary step has been characterized as the biggest challenge for the elaboration and running of the computational model due to the complex kinematic and critical geometry of this type of pump (different helix angles between rotor and stator as well as large length scale aspect ratios). The processes of dynamic generation of meshes and of simultaneous evaluation of the deformations suffered by the elastomer are fulfilled through subroutines written in Fortan 90 language that dynamically interact with the CFX/ANSYS fluid dynamic software. Since a structural elastic linear model is employed to evaluate elastomer deformations, it is not necessary to use any CAE package for structural analysis. However, an initial proposal for dynamic simulation using hyperelastic models through ANSYS software is also presented in this research. Validation of the results produced with the present methodology (mesh generation, flow simulation in metallic PCPs and simulation of fluid-structure interaction in elastomeric PCPs) is obtained through comparison with experimental results reported by the literature. It is expected that the development and application of such a computational model may provide better details of the dynamics of the flow within metallic and elastomeric PCPs, so that better control systems may be implemented in the artificial elevation area by PCP

Simulação do escoamento multifásico no interior de bombas de cavidades progressivas metálicas

The progressing cavity pumping (PCP) is one of the most applied oil lift methods nowadays in oil extraction due to its ability to pump heavy and high gas fraction flows. The computational modeling of PCPs appears as a tool to help experiments with the pump and therefore, obtain precisely the pump operational variables, contributing to pump s project and field operation otimization in the respectively situation. A computational model for multiphase flow inside a metallic stator PCP which consider the relative motion between rotor and stator was developed in the present work. In such model, the gas-liquid bubbly flow pattern was considered, which is a very common situation in practice. The Eulerian-Eulerian approach, considering the homogeneous and inhomogeneous models, was employed and gas was treated taking into account an ideal gas state. The effects of the different gas volume fractions in pump volumetric eficiency, pressure distribution, power, slippage flow rate and volumetric flow rate were analyzed. The results shown that the developed model is capable of reproducing pump dynamic behaviour under the multiphase flow conditions early performed in experimental works

Estudo das propriedades físico-químicas do biodiesel e suas influências na deterioração dos elastômeros aplicados no sistema de injeção dos motores diesel

The biodiesel use has become important due to its renewable character and to reduce environmental impacts during the fuel burning. Theses benefit will be valid if the fuel shows good performance, chemistry stability and compatibility with engines. Biodiesel is a good fuel to diesel engines due to its lubricity. Then, the aimed of this study was to verify the physicalchemistry properties of biodiesel and their correlations with possible elastomers damage after biodiesel be used as fuel in an injection system. The methodology was divided in three steps: biodiesels synthesis by transesterification of three vegetable oil (soybean, palm and sunflower) and their physical-chemistry characterization (viscosity, oxidative stability, flash point, acidity, humidity and density); pressurized test of compatibility between elastomers (NBR and VITON) and biodiesel, and the last one, analyze of biodiesels lubricity by tribological test ball-plan( HFRR). Also, the effect of mixture of biodiesel and diesel in different concentrations was evaluated. The results showed that VITON showed better compatibility with all biodiesel blends in relation to NBR, however when VITON had contact with sunflower biodiesel and its blends the swelling degree suffer higher influences due to biodiesel humidity. For others biodiesels and theirs blends, this elastomer kept its mechanical properties constant. The better tribological performance was observed for blends with high biodiesel concentration, lower friction coefficient was obtained when palm biodiesel was used. The main mechanisms observed during the HFRR tests were abrasive and oxidative wear

Otimização de sistema de bombeamento com energia eólica: sistema de bombeamento de São Gabriel/BA

After the Protocol of Kyoto and of the ECHO 92 - Rio de Janeiro, the attentions of the world focus to the preservation of the environment and of the maintainable use of the natural resources. People were looking for preserving environment for the future generations. Ever since, solutions are looked for the supply of energy in its more acquaintances forms and the substitution of the use of fossil fuels for the such alternative forms as: Photovoltaics, solar heat systems for water, wind , bio-diesel, etc. and in this context the Company of Engineering of the State of Bahia - Cerb changed a diesel pumping system by an wind one, It´s the first community system of this nature in Bahia. Facing problems with the model, a Cerb involved the academic segment of the Federal Center of Technological Education of Bahia Cefetba looking for a solution. This work intends to demonstrate the possibilities of optimization of the pumping communit system that supply water to approximately 50 people in the place of Romão, municipal district of São Gabriel-Ba. Technical reports were published in AGRENERGD2004-Unicamp SP and Scientific Magazine ETC,Cefetba, 2005. A simulation of the increase of energy is presented for heights of 15 and 20m, considering the eletromecanical balance from the pumping energy to the wind turbine. From the accomplished bibliographical revision, we emphasized the mechanical aspects of the engineering once in UFRN, those studies concentrate on the Department of Mechanical Engineering while, in others eletroelectronic are more emphasized. Finally, documents that we judged important were enclosed for the perfect understanding of this work

Reaproveitamento e caracterização dos resíduos orgânicos provenientes do Programa MESA DA SOLIDARIEDADE da CEASA/RN

As an auxiliary tool to combat hunger by decreasing the waste of food and contributing for improvement of life quality on the population, CEASA/RN has released from August/03 to August/05 the program MESA DA SOLIDARIEDADE. Despite of the positive results of this program, that has already distributed around 226 tons of food, there is still food being thrown in the trash as the deliver of the same food in its natural form would be a health risk to those who would consume it and only the correct processing of this food can make it edible. This work has as a goal the reuse of solid residues of vegetal origin generated by the CEASA/RN, through the Program MESA DA SOLIDARIEDADE and the characterization of the product obtained so it might be used as a mineral complement in the human diet. To the collecting of samples (from September until December /2004) it was developed a methodology having as a reference the daily needs of mineral salts for infants at the age of seven to ten. The sample was packed in plastic bags and transported in an ambient temperature to the laboratory where it was selected, weighted, disinfected, fractionated and dried to 70ºC in greenhouse. The dry sample was shredded and stored in bottles previously sterilized. The sample in nature was weighted in the same proportion of the dry sample and it was obtained a uniform mass in a domestic processor. The physical-chemical analyses were carried out in triplicate in the samples in nature and in the dry product, being analyzed: pH, humidity, acidity and soluble solids according to IAL (1985), mineral salts contents (Ca, K, Na, Mg, P and Fe) determined by spectrophotometry of Atomic Absorption, caloric power through a calorimetric bomb and presence of fecal traces and E. coli through the colilert method (APHA, 1995). During this period the dry food a base of vegetables presented on average 5,06% of humidity, 4,62 of pH, acidity of 2,73 mg of citric acid /100g of sample, 51,45ºBrix of soluble solids, 2.323,50mg of K/100g, 299,06mg of Ca/100g, 293mg of Na/100g, 154,66mg of Mg/100g, 269,62mg of P/100g, 6,38mg of Fe/100g, caloric power of 3,691Kcal/g (15,502KJ/g) and is free of contamination by fecal traces and E..coli. The dry food developed in this research presented satisfactory characteristics regarding to its conservation, possessing low calories, constituting itself a good source of potassium, magnesium, sodium and iron that can be utilized as a food complement of these minerals

Implementação da técnica de difração de elétrons de baixa energia

The purpose of this study is to describe the implementation of the Low Energy Electron Diffaction (LEED) technique in the Laboratory of Magnetic Nanostructures and Semiconductors of the Department of Theoretical and Experimental Physics of the Universidade Federal do Rio Grande do Norte (UFRN), Natal, Brazil. During this work experimental apparatus were implemented for a complete LEED set-up. A new vacuum system was also set up. This was composed of a mechanical pump, turbomolecular pump and ionic pump for ultra-high vacuum and their respective pressure measurement sensors (Pirani gauge for low vacuum measures and the wide range gauge -WRG); ion cannon maintenance, which is basically mini-sputtering, whose function is sample cleaning; and set-up, maintenance and handling of the quadrupole mass spectrometer, whose main purpose is to investigate gas contamination inside the ultra-high vacuum chamber. It should be pointed out that the main contribution of this Master's thesis was the set-up of the sample heating system; that is, a new sample holder. In addition to the function of sample holder and heater, it was necessary to implement the function of sustaining the ultra-high vacuum environment. This set of actions is essential for the complete functioning of the LEED technique

Caracterização do repertório acústico do botocinza, sotalia guianensis, e impacto de embarcações no nordeste do brasil

The wide distribution along the Brazilian coast of specie Sotalia guianensis has been growing interest in searchers on the ecology of this species, addition to commercial interests by whalewatching. This work described the accoustic repertory of S. guianensis and their behavior associated and found if underwater noises affect this repertorie in Pipa-RN. It were analyzed 18:49h of recordings maked between april and june/2009. It were found 3258 whistles, 289 calls, 873 clicks and no gargle. The frequencies range of guiana dolphins was 1 a 48kHz and may be related to system response recorder and population s regionalization. The frequencies overlaps the noise made by motorboats, schooners and water bomb. The behavior travelling ocurred siletly in 72,58% and socialization presented no sound (56,4%) and presence of sound (43,6%). This great absence of sound may be relacioned to saving energy, probably because in this behaviors they can use physical and visual contacts. The foraging presented highest records of all class noise with 46,84% clicks, 33,84% whistles and 9,02% calls. All this sounds occurred differently in each behavior (travelling: x2 = 134,35 df = 3 p = 0,0001; foraging: x2 = 19,83 df = 3 p= 0,00018 and socialization x2 = 60,35 df = 3 p = 0,0001). It was possible to determine that underwater noise cause changes in the repertorie and does a considerable increase in whistle s number and reduce clicks. Also occurs changes in some whistles (FI: t=2,42, p=0,015; FF: t= -2,22, p=0,025), calls (FMI: t= -3,13, p=0,001; FMA: t= -3,49, p=0,0005; FD: t= -2,21, p=0,027; D: t=2,89, p=0,004) and clicks parameters (D: t= -3,85, p=0,0001; I: t= -5,32, p=0,0001) during presence of noise. These changes may be a strategy of these animals to win this sound barrier. We can not say which noise has more impact, ix however the water bomb seems to affect more the clicks and the motorboats seems to affect the others sounds. Little is know about auditive sensibility of this specie, but daily exposure to this noise may cause damage and this specie appears to have residence. The specie conservation is necessary because the population already seems to suffer damage as decrease in length of stay, number of individuals entering the inlet and the apparent diminution in the foragind during vessels presence and control standards and ambiental education can help. So, we can advance in knowledge about the ecology of this specie especially when it come to bioacoustics and their behaviors associated and reveals some of the impacts that the noise have brought to this population

Mulher não vale nem um real : patriarcado nas letras das músicas de forró

Patriarchy is a dominating system that establishes male power in social relations as the social-ideological system and the structuring element of several ways of men‟s domination on gender social relations, on organization of social life, on private relations, and on political decision spaces. In this study we enlarge our reflection about patriarchy from the analysis of Forró lyrics, more specifically the variation known as stylized. Of late decades, it is a kind of music that has been receiving a large acceptance all over the national territory, making use of everyday expressions that propagate and make apology to many forms of discrimination, oppression and violence against women. We emphasize that over this study 14 Forró lyrics were analyzed of different styles besides stylized, like the traditional and the double meaning ones. However, we dwelled on the content analysis, particularly in three Stylized Forró lyrics, they are: Tapa na Cara (2008) by Saia Rodada Band; Mulher Roleira (2004), Aviões do Forró Band; and Bomba no Cabaré (2007), Matruz com Leite Band. In order to make a critical analysis of the elements in the lyrics content, we support ourselves on the theoretic-methodological references of the dialectical materialism, a method that allowed us to get closer to the totality of the reality that includes the popular involvement of the analyzed lyrics in a qualitative way. In that sense, we hold onto the theoretic-methodological categories: gender social relations, patriarchy, violence against women, ideology and cultural industry. As from the lyrics compilation, they were arranged by theme, we classified and analyzed the content, which allowed us to comprehend the messages in the lyrics, beyond the text shows at first sight. Today, there are many mechanisms of propagation and perpetuation of patriarchal ideology. A very relevant mechanism of this phenomenon is the sexual violence. The violence against women is a form to propagate and keep sexism, which may occur in different ways, like physical, psychological, sexual, patrimonial and social. Through our study we established that the propagation of the violence against women as being something natural and banal, giving reinforcement to the asymmetric construction of gender relations that priorizes male to the detriment of female. This banalization is perhaps, one of the strongest allies of this phenomenon‟s perpetuation, that affects women all over the world from different social classes