Avaliação de robustez, desempenho e aplicação do controlador adaptativo por posicionamento de pólos e estrutura variável

In this work, the variable structure adaptive pole placement controller (VS-APPC) robustness and performance are evaluated and this algorithm is applied in a motor control system. The controller robustness evaluation will be done through simulations, where will be introduced in the system the following adversities: time delay, actuator response boundeds, disturbances, parametric variation and unmodeled dynamics. The VS-APPC will be compared with PI control, pole placement control (PPC) and adaptive pole placement controller (APPC). The VS-APPC will be simulated to track a step and a sine reference. It will be applied in a three-phase induction motor control system to track a sine signal in the stator reference frame. Simulation and experimental results will prove the efficiency and robustness of this control strategy

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 Modelos no Programa DigSILENT PowerFactoryTM para o Estudo de Estabilidade Transitória em Sistemas Elétricos de Potência com Aerogerador

This work presents a description of models development at DigSILENT PowerFactoryT M program for the transient stability study in power systems with wind turbine. The main goal is to make available means to use a dynamic simulation program in power systems, widely published, and utilize it as a tool that helps in programs results evaluations used for this intent. The process of simulations and analyses results starts after the models setting description phase. The results obtained by the DigSILENT PowerFactoryT M and ATP, program chosen to the validation also international recognized, are compared during this phase. The main tools and guide lines of PowerFactoryT M program use are presented here, directing these elements to the solution of the approached problem. For the simulation it is used a real system which it will be connected a wind farm. Two different technologies of wind turbines were implemented: doublyfed induction generator with frequency converter, connecting the rotor to the stator and to the grid, and synchronous wind generator with frequency converter, interconnecting the generator to the grid. Besides presenting the basic conceptions of dynamic simulation, it is described the implemented control strategies and models of turbine and converters. The stability of the wind turbine interconnected to grid is analyzed in many operational conditions, resultant of diverse kinds of disturbances

Desacoplamento de um gerador síncrono através de um controle adaptativo por modelo de referência baseado em funções de Base radial

An alternative nonlinear technique for decoupling and control is presented. This technique is based on a RBF (Radial Basis Functions) neural network and it is applied to the synchronous generator model. The synchronous generator is a coupled system, in other words, a change at one input variable of the system, changes more than one output. The RBF network will perform the decoupling, separating the control of the following outputs variables: the load angle and flux linkage in the field winding. This technique does not require knowledge of the system parameters and, due the nature of radial basis functions, it shows itself stable to parametric uncertainties, disturbances and simpler when it is applied in control. The RBF decoupler is designed in this work for decouple a nonlinear MIMO system with two inputs and two outputs. The weights between hidden and output layer are modified online, using an adaptive law in real time. The adaptive law is developed by Lyapunov s Method. A decoupling adaptive controller uses the errors between system outputs and model outputs, and filtered outputs of the system to produce control signals. The RBF network forces each outputs of generator to behave like reference model. When the RBF approaches adequately control signals, the system decoupling is achieved. A mathematical proof and analysis are showed. Simulations are presented to show the performance and robustness of the RBF network

Desenvolvimento de modelos no programa digSILENT powerfactoryTM para o estudo de estabilidade transitória em sistemas elétricos de potência com aerogerador

This work presents a description of models development at DigSILENT PowerFactoryTM program for the transient stability study in power systems with wind turbine. The main goal is to make available means to use a dynamic simulation program in power systems, widely published, and utilize it as a tool that helps in programs results evaluations used for this intent. The process of simulations and analyses results starts after the models setting description phase. The results obtained by the DigSILENT PowerFactoryTM and ATP, program chosen to the validation also international recognized, are compared during this phase. The main tools and guide lines of PowerFactoryTM program use are presented here, directing these elements to the solution of the approached problem. For the simulation it is used a real system which it will be connected a wind farm. Two different technologies of wind turbines were implemented: doubly-fed induction generator with frequency converter, connecting the rotor to the stator and to the grid, and synchronous wind generator with frequency converter, interconnecting the generator to the grid. Besides presenting the basic conceptions of dynamic simulation, it is described the implemented control strategies and models of turbine and converters. The stability of the wind turbine interconnected to grid is analyzed in many operational conditions, resultant of diverse kinds of disturbances

Uma proposta de um controlador adaptativo por posicionamento de pólos e estrutura variável

There are two main approaches for using in adaptive controllers. One is the so-called model reference adaptive control (MRAC), and the other is the so-called adaptive pole placement control (APPC). In MRAC, a reference model is chosen to generate the desired trajectory that the plant output has to follow, and it can require cancellation of the plant zeros. Due to its flexibility in choosing the controller design methodology (state feedback, compensator design, linear quadratic, etc.) and the adaptive law (least squares, gradient, etc.), the APPC is the most general type of adaptive control. Traditionally, it has been developed in an indirect approach and, as an advantage, it may be applied to non-minimum phase plants, because do not involve plant zero-pole cancellations. The integration to variable structure systems allows to aggregate fast transient and robustness to parametric uncertainties and disturbances, as well. In this work, a variable structure adaptive pole placement control (VS-APPC) is proposed. Therefore, new switching laws are proposed, instead of using the traditional integral adaptive laws. Additionally, simulation results for an unstable first order system and simulation and practical results for a three-phase induction motor are shown

Controle feedback de nível baseado em sensor de imagem aplicado ao equipamento misturador-decantador à inversão de fases (MDIF®)

The treatment of wastewaters contaminated with oil is of great practical interest and it is fundamental in environmental issues. A relevant process, which has been studied on continuous treatment of contaminated water with oil, is the equipment denominated MDIF® (a mixer-settler based on phase inversion). An important variable during the operation of MDIF® is the water-solvent interface level in the separation section. The control of this level is essential both to avoid the dragging of the solvent during the water removal and improve the extraction efficiency of the oil by the solvent. The measurement of oil-water interface level (in line) is still a hard task. There are few sensors able to measure oil-water interface level in a reliable way. In the case of lab scale systems, there are no interface sensors with compatible dimensions. The objective of this work was to implement a level control system to the organic solvent/water interface level on the equipment MDIF®. The detection of the interface level is based on the acquisition and treatment of images obtained dynamically through a standard camera (webcam). The control strategy was developed to operate in feedback mode, where the level measure obtained by image detection is compared to the desired level and an action is taken on a control valve according to an implemented PID law. A control and data acquisition program was developed in Fortran to accomplish the following tasks: image acquisition; water-solvent interface identification; to perform decisions and send control signals; and to record data in files. Some experimental runs in open-loop were carried out using the MDIF® and random pulse disturbances were applied on the input variable (water outlet flow). The responses of interface level permitted the process identification by transfer models. From these models, the parameters for a PID controller were tuned by direct synthesis and tests in closed-loop were performed. Preliminary results for the feedback loop demonstrated that the sensor and the control strategy developed in this work were suitable for the control of organic solvent-water interface level

Avaliação de indicadores de impactos ambientais no perímetro irrigado Cruzeta-Região semi-árida do RN

Environmental impacts are defined as the processes of social and ecological changes caused by nuisance ambient. In agriculture are diverse, and the intensive use of land and inappropriate agricultural practices causes negative effect on the environment besides affecting crop productivity and quality of life of man. So this study was objective to analyze parameters indicators of environmental impacts in the Cruzeta the Discrict Irrigation. During the period July 2007 to March 2008 samples were collected in lot 01 and 02 of the irrigation district. The monitoring was conducted in four sampling points, three (3) located in the irrigation channels and 1 (one) located in a cacimbão. Were monitored pH, CE, STD, SS, NO3-, OD, DT, PST, RAS, CT, Ca+2, Mg+2, Na+ and K+ and heavy metals. Analysis was performed, soil fertility, determining the infiltration rate, moisture content of soil and flow measurement. The results showed that the parameters considered most effective in evaluating the indicators of environmental impacts were: Suspended solid, turbidity, dissolved oxygen and Coliform termotelerantes. The concentrations of nitrate were below the limit established by CONAMA (2005). High levels of STD were found in the point P4. The risk of salinity in cacimbão Lot 02, the water was classified as Class II, or medium risk of salinity in the remaining points was classified as Class I. The iron and aluminum were found high concentrations in four sampling points independent of the dry or rainy. On the ground, found high levels of phosphorus in both samples collected in the batch 01, as the lot 02. The pH levels found in samples of soil, the soil can be classified as neutral and moderate alkalinity. The high infiltration rate obtained in the tests performed in lots 01 and 02 indicated the high permeability of soil at these points

Análise da vulnerabilidade de Natal/RN frente às mudanças climáticas

The interaction between land and water, resulting from dynamic agents, such as wind, waves and tides, characterizes the coastal zone as a dynamic environment that is constantly disturbed and that may alter the balance of natural and man-made environment. Such modifications may be intensified when considering the climate change. This environment is highly attractive for the development of economic activities and urbanization, current scenario of the city of Natal. Weighing the economic importance for the state and the physical environment in which the capital of Rio Grande do Norte is inserted, this study aims to identify and analyze vulnerabilities and impacts caused by the rising sea level in the municipality. To that end, we defined a coastline, delimited areas susceptible to flooding and presented some flood scenarios. This way we could identify and analyze the impacts of each flood scenario in its respective section. Finally, it appears that the coastal zone in which Natal is inserted is a fragile area that requires actions aimed at mitigating vulnerabilities and facing the problem that caused the rise in the mean sea level (MSL), and mitigating the presented vulnerability framework; it is necessary to implement actions that effectively contribute to the protection and adaptation of the most fragile areas

Identificação de áreas com precipitação pluvial homogênea no Estado do Rio Grande do Norte

O estudo da variabilidade da precipitação é importante para o planejamento das atividades econômicas, possibilitando o uso mais eficiente e racional dos recursos hídricos. Dessa forma, o objetivo desta pesquisa é caracterizar o estado do Rio Grande do Norte com relação à variabilidade temporal da precipitação, agrupá-lo em regiões homogêneas e comparar diferentes técnicas de agrupamento. Para o estudo da variabilidade pluvial foram utilizados os índices: Grau de Concentração de Precipitação (PCD), que representa o grau em que a precipitação é distribuída ao longo do ano; e o Período de Concentração de Precipitação (PCP), que reflete o período no qual a precipitação está mais concentrada. Para a realização dos agrupamentos foram escolhidas as variáveis: PCD, PCP, médias da precipitações anuais e médias das precipitações mensais. Posteriormente, foi aplicada a análise de agrupamento para obter grupos com características similares. Os resultados mostraram que as precipitações são melhor distribuídas na região leste do estado, neste caso, os meses mais chuvosos são de maio a agosto. Os municípios localizados nessa área possuem dois picos de chuvas, devido à atuação de dois sistemas: Perturbações Ondulatórias dos Alísios (POA s) e Zona de Convergência Intertropical (ZCIT). Nas regiões localizadas a oeste os meses que possuem maior concentração de chuvas são março e abril, neste caso temos apenas um pico de precipitação, devido a atuação da ZCIT. A identificação de áreas homogêneas favorece o planejamento adequado de acordo com as características de cada grupo formado e o RN pode foi dividido em 4 (quatro) regiões homogêneas. As técnicas de agrupamento utilizadas apresentaram resultados semelhantes, porém, sugere-se o uso de mais de uma técnica para que se possa analisar qual delas reflete melhor a realidade local. O estudo da variabilidade de precipitação, através dos índices estudados e do agrupamento realizado, são ferramentas adequadas ao planejamento ambiental e econômico

A melancolia em A Asa Esquerda do Anjo

O termo melancolia, como foi mostrado em todo o decorrer do nosso trabalho, principalmente no histórico da melancolia, é um termo, por excelência, escorregadio. De várias facetas, a melancolia pode vir a designar desde patologia, passando por inspiração filosófica, para desaguar num modo de ver a vida, como bem nos coloca Denílson Lopes em seu livro Nós os mortos: melancolia e neo Barroco (1999). A Asa Esquerda do Anjo (LUFT, 2005) é uma obra que já nos acompanha há algum tempo, pois desde a graduação estudamo-la. Em torno da protagonista, chamada de Gisela pela mãe e Guísela pela avó, circula toda a trama desse romance moderno. Tentamos visualizá-la nos três capítulos da dissertação. No primeiro, focalizamos a obra sob o aspecto de uma possível estética da melancolia, tendo por base teórica Marie Claude Lambotte (2000). Depois, elaboramos algumas linhas sobre as perdas da protagonista que do enredo emergem. Por fim, demonstramos Gisela pelo aspecto de múltiplas faces. Sabendo que uma obra literária é infinita em seus significados, cremos que A Asa Esquerda do Anjo (2005) suscita outras nuances. Isto nos dá a certeza que não é um texto acabado, finalizado. Estas nuances poderão ser estudadas, pesquisadas em uma outra oportunidade por nós ou por outros leitores de Luft. A fim de estudar a melancolia em Gisela, fundamentamos nossa dissertação com os estudos de Freud (1980) a respeito do tema. Este faz uma análise comparando a melancolia ao luto, para poder chegar, assim, a um denominador comum, já que o termo é flexível em seus significados. Freud e alguns outros autores no campo, tais como, Bataille (1980); Benjamin (1984); Erickson (2003); Klein (1971); Kristeva (1989); Lino (2004); Peres (2003); Santos (2005), Scliar (2003), pois, nos auxiliaram em nossas pesquisas e direcionaram melhor o nosso olhar sobre a obra. Acreditamos ter alcançado nosso objetivo estudar a obra A Asa Esquerda do Anjo (LLUFT, 2005) pelo foco da melancolia e suas nuances. Gisela é um personagem inacabado. Em seu discurso ela deixa isto bem nítido. Assim também, não buscamos respostas prontas, com teor de acabamento. O fechar da história está nas mãos do leitor. Mas, à medida que reiniciamos nova leitura, percebemos algo novo, que pode ser extraído da obra, do personagem, da trama. É neste abrir/fechar que a própria Gisela sussurra: Vem, vem, vem.... Ao chamar a todos nós, chama também para um novo caminhar com ela, em suas perturbações subjetivas e sua ausência de respostas. Ao aceitarmos este convite, fica difícil retornarmos pelo mesmo caminho de antes. É necessário, então, junto com este ser de papel, rever nossos passos, para, enfim, redimensionarmos nossa escrita acerca de nós mesmos e (por que não dizer?) do mundo que nos circunda

Os focos de resistência face ao poder disciplinar: afetos e sociabilidades nos discursos de uma apenada

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior

O impacto das tarefas de aprendizagem mediadas pela lousa digital interativa na motivação situacional de aprendizes de inglês

Some authors have suggested that learning tasks conducted in L2 classes can motivate learners in different ways. Similarly, Interactive Whiteboards (IWB) have already been linked as drivers to engagement and enthusiasm in L2 classes, which may cause some impact on affective variables that influence learning (e.g. motivation). This crosssectional mixed-methods study aims to understand how situational motivation caused by learning tasks mediated by the IWB impact participants. We seek to answer the following research questions: (1) How does motivation as a personality trait of the learner relate to his/her additional language learning performance?, (2) How does the type of learning task mediated by the IWB impact the learner s motivation?, (3) How does motivation vary along the learning task mediated by the IWB? and (4) What is the relation between the learning task motivation and the learners perception about the task mediated by the IWB? Data collection lasted four months with 29 learners from a private language school. The instruments used were the following: (a) an initial questionnaire (adapted from the Attitudes/Motivation Test Battery by GARDNER, 2004), (b) situation-specific on-line scales to assess learners motivation in three moments: before, during and after the task, and analyze how motivation varies along the task; (c) class observations and field notes resulting from these observations, (d) participants end-of-course grades to understand the connection between academic success and their motivational profiles and (e) a final questionnaire with the qualitative purpose to know learners perceptions about the tasks mediated by the IWB. Our theoretical framework is based on Task-Based Learning and cognitive aspects present in tasks (WILLIS, 1996; SKEHAN, 1996), theories on motivation and second language learning (GARDNER, 2001; DÖRNYEI e OTTÓ, 1998; DÖRNYEI, 2000; 2002) and conceptions about L2 learning mediated by technology (GIBSON, 2001; OLIVEIRA, 2001; MILLER et al, 2005). Our results do not point out to a significative correlation between learners end-of-course grades and their motivational profiles. However, they indicate that there is some variability in situational motivation along the tasks, even among learning tasks from the same type. Furthermore, they show that learners report different perceptions for each learning task and that the impact of the IWB on participants did not have a large proportion

A natureza da alma e o clinamen: ação e liberdade em Lucrécio

The concept of freedom and his presupposition, the free will or libera voluntas in Lucretius relies on the notion of clinamen (declination), an occasional and random motion of atoms, inaccessible to experience. It is endowed with a complex movement provided by spontaneity, without the need for mechanical causes. The action of perceiving (sensus) is selfconsciousness, according to which this will, illuminated by previous experiences (sensory, intellectual or emotional) of the soul, takes advantage of the freedom and own spontaneity of atomic motions to drive them to a perceived direction and chosen. On the other hand, if we consider that the declination has a predominant role for the acts of will, we are facing other problems and questions. There is always the choice of a determined action and, therefore, even if the individual is facing a need to act, is possible choose to do not continue finish this action. Thereby, the will is related to conditions that are originate, ultimately, from the images formed randomly in space and impress the soul: the simulacra of desire and pleasure. The declination itself is a very important notion in this research, in order to emphasize the relationship between the freedom and the kinetic of elements. The approach developed in this work had as main objective to investigate the philosophy of nature and the soul in Lucretius, their constituents and movement, as well as demonstrating how the notion of clinamen articulates with the concepts of image, desire and pleasure, proposing a possible interpretation for the declination as an indeterminate and ethical foundation of freedom

O cuidado e a ética do cuidado: um diálogo entre Leonardo Boff, Carol Gilligam e Nel Noddings

To elucidate the important contribution of care ethics in improving human relations and social intimates, this work reveals the fragility and lack of ethics on the formation of a just society, equal, peaceful and caring. To this end, we study on the moral development of men and women, warning of the natural differences between the sexes, which change for both the way of seeing life and live it - which does not imply inferiority to some genres. From this study it is clear that the natural care is innate to humans, it provides a tendency to act for the good of all life forms and nature as a whole. But it is evident here a greater sensitivity of women to such care because they possess perception and more emotion than men, which make them more participatory and involved in relationships. This greater openness to care found in women, due in part to the strong and lasting relationship with their mothers. Thus is revealed the power that women have to positively change the direction of human relationships, providing careful with your example, protective and caring, the awakening of a new and comprehensive ethics - opens to the truth, and features especially for affections. Therefore, the care ethics arises from the life experiences of women and aims, through them, to join the men's morality in order to bring out the relevant fact of interdependence between human beings, of human fragility and the need for relationships to the fullness of life