Controle Adaptativo Robusto para Filtros Ativos de Potência Paralelo

Conventional control strategies used in shunt active power filters (SAPF) employs real-time instantaneous harmonic detection schemes which is usually implements with digital filters. This increase the number of current sensors on the filter structure which results in high costs. Furthermore, these detection schemes introduce time delays which can deteriorate the harmonic compensation performance. Differently from the conventional control schemes, this paper proposes a non-standard control strategy which indirectly regulates the phase currents of the power mains. The reference currents of system are generated by the dc-link voltage controller and is based on the active power balance of SAPF system. The reference currents are aligned to the phase angle of the power mains voltage vector which is obtained by using a dq phase locked loop (PLL) system. The current control strategy is implemented by an adaptive pole placement control strategy integrated to a variable structure control scheme (VS-APPC). In the VS-APPC, the internal model principle (IMP) of reference currents is used for achieving the zero steady state tracking error of the power system currents. This forces the phase current of the system mains to be sinusoidal with low harmonics content. Moreover, the current controllers are implemented on the stationary reference frame to avoid transformations to the mains voltage vector reference coordinates. This proposed current control strategy enhance the performance of SAPF with fast transient response and robustness to parametric uncertainties. Experimental results are showing for determining the effectiveness of SAPF proposed control system

Estratégia de controle robusto para filtro ativo paralelo sem detecção de harmônicos de correntes

Conventional control strategies used in shunt active power filters (SAPF) employs real-time instantaneous harmonic detection schemes which is usually implements with digital filters. This increase the number of current sensors on the filter structure which results in high costs. Furthermore, these detection schemes introduce time delays which can deteriorate the harmonic compensation performance. Differently from the conventional control schemes, this paper proposes a non-standard control strategy which indirectly regulates the phase currents of the power mains. The reference currents of system are generated by the dc-link voltage controller and is based on the active power balance of SAPF system. The reference currents are aligned to the phase angle of the power mains voltage vector which is obtained by using a dq phase locked loop (PLL) system. The current control strategy is implemented by an adaptive pole placement control strategy integrated to a variable structure control scheme (VS¡APPC). In the VS¡APPC, the internal model principle (IMP) of reference currents is used for achieving the zero steady state tracking error of the power system currents. This forces the phase current of the system mains to be sinusoidal with low harmonics content. Moreover, the current controllers are implemented on the stationary reference frame to avoid transformations to the mains voltage vector reference coordinates. This proposed current control strategy enhance the performance of SAPF with fast transient response and robustness to parametric uncertainties. Experimental results are showing for determining the effectiveness of SAPF proposed control system

Avaliação da atividade antimalárica de extratos obtidos de algas marinhas no litoral do Rio Grande do Norte

Malaria is a major parasitic disease worldwide, accounting for about 500 million cases and causing 2 million to 3 million deaths annually. Four species are responsible for transmitting this disease to humans: Plasmodium falciparum, Plasmodium vivax, Plasmodium malariae and Plasmodium ovale. The parasite resistance to antimalarial drugs and the usual limitations of the vector control implications are contributing to the spread of the disease. The most of significant advances in the search for new antimalarial drugs is based on natural components, the main ones being currently used antimalarial drugs derived from plants. Research on natural products of marine origin (particularly algae) show that some species possess antiplasmodial activity. Knowing that the coast of Rio Grande do Norte is home to several species of algae, the present study was to evaluate, for the first time, the antimalarial activity of ethanolic extracts of seaweed Spatoglossum schroederi, Gracilaria birdiae and Udotea flabellum against Plasmodium falciparum 3D7 strain tests and in vitro using the murine model (Plasmodium berghei) for evaluation in vivo. These species were ground, macerated with ethanol for 24 hours and the extracts concentrated in rotaevaporador (45 ° C ± 5 ° C). For in vitro tests, the extracts were diluted and tested at concentrations between 100 and 1.56 μg/ml (seven concentrations in triplicate), in order to obtain IC50 of each extract. The cytotoxicity tests with macrophages and BGM were performed using the MTT colorimetric assay. BGM macrophages and cells were distributed in 96 wells per plate (1x 105 to macrophages and 1x104 cells per well for BGM) and incubated for 24h at 37 ° C. The ethanol extracts were diluted and tested at concentrations of 100 to 1,56 μg/ml (seven concentrations in triplicate). After periods of 24 hours of incubation with the extracts, 100 μg of MTT was added to each well, and 3 hours elapsed, the supernatant was removed and added 200 μl of DMSO in each well. The absorbance of each well was obtained by reading on a spectrophotometer at 570 nm filter. To evaluate the acute toxicity in vivo, Swiss mice received a single dose (oral) 2000 mg/kg/animal of each extract tested. The parameters of acute toxicity were observed for 8 days. For in vivo tests, Swiss mice were inoculated with 1x105 erythrocytes infected with P. berghei. The treatment was given first to fourth day after infection with 0.2 ml of the extracts in doses of 1000 and 500 mg//g animal. The negative control group received 0.2 ml of 2% Tween-20, whereas the positive control group received sub-dose of chloroquine (5 mg/kg/animal). The assessment of antimalarial activity was done by suppressing suppressing the parasitemia at 5 and 7 days after infection. The growth inhibition of parasites was determined relative to negative control (% inhibition = parasitaemia in control - parasitemia in sample / parasitemia control x 100), the mortality of animals was monitored daily for 30 days The results showed that algae Spatoglossum schroederi and Udotea flabellum showed antimalarial activity in vitro, with reduced parasitemia of 70.54% and 54, respectively. The extracts of the three algae tested showed moderate to high cytotoxicity. Algae S. schroederi and U. flabellum were active against P. berghei only at doses of 500 mg / kg with reduction ranging from 54.58 to 52.65% for the fifth day and from 32.24 to 47.34% for the seventh day, respectively. No toxicity was observed in vivo at the dose tested, over the 8 days of observation. Although preliminary data, the bioactive components in those possible seaweed may be promising for the development of new anti-malarial drugs

Controle vetorial de velocidade de uma máquina de indução sem mancais trifásica com bobinado dividido utilizando estimação neural de fluxo

This work describes the study and the implementation of the vector speed control for a three-phase Bearingless induction machine with divided winding of 4 poles and 1,1 kW using the neural rotor flux estimation. The vector speed control operates together with the radial positioning controllers and with the winding currents controllers of the stator phases. For the radial positioning, the forces controlled by the internal machine magnetic fields are used. For the radial forces optimization , a special rotor winding with independent circuits which allows a low rotational torque influence was used. The neural flux estimation applied to the vector speed controls has the objective of compensating the parameter dependences of the conventional estimators in relation to the parameter machine s variations due to the temperature increases or due to the rotor magnetic saturation. The implemented control system allows a direct comparison between the respective responses of the speed and radial positioning controllers to the machine oriented by the neural rotor flux estimator in relation to the conventional flux estimator. All the system control is executed by a program developed in the ANSI C language. The DSP resources used by the system are: the Analog/Digital channels converters, the PWM outputs and the parallel and RS-232 serial interfaces, which are responsible, respectively, by the DSP programming and the data capture through the supervisory system

Contribuições à análise de robustez de sistemas de controle usando redes neurais

This work develops a robustness analysis with respect to the modeling errors, being applied to the strategies of indirect control using Artificial Neural Networks - ANN s, belong to the multilayer feedforward perceptron class with on-line training based on gradient method (backpropagation). The presented schemes are called Indirect Hybrid Control and Indirect Neural Control. They are presented two Robustness Theorems, being one for each proposed indirect control scheme, which allow the computation of the maximum steady-state control error that will occur due to the modeling error what is caused by the neural identifier, either for the closed loop configuration having a conventional controller - Indirect Hybrid Control, or for the closed loop configuration having a neural controller - Indirect Neural Control. Considering that the robustness analysis is restrict only to the steady-state plant behavior, this work also includes a stability analysis transcription that is suitable for multilayer perceptron class of ANN s trained with backpropagation algorithm, to assure the convergence and stability of the used neural systems. By other side, the boundness of the initial transient behavior is assured by the assumption that the plant is BIBO (Bounded Input, Bounded Output) stable. The Robustness Theorems were tested on the proposed indirect control strategies, while applied to regulation control of simulated examples using nonlinear plants, and its results are presented

Controle vetorial de velocidade de um motor de indução trifásico com estimação neural de fluxo

This work describes the study and the implementation of the speed control for a three-phase induction motor of 1,1 kW and 4 poles using the neural rotor flux estimation. The vector speed control operates together with the winding currents controller of the stator phasis. The neural flux estimation applied to the vector speed controls has the objective of compensating the parameter dependences of the conventional estimators in relation to the parameter machine s variations due to the temperature increases or due to the rotor magnetic saturation. The implemented control system allows a direct comparison between the respective responses of the speed controls to the machine oriented by the neural rotor flux estimator in relation to the conventional flux estimator. All the system control is executed by a program developed in the ANSI C language. The main DSP recources used by the system are, respectively, the Analog/Digital channels converters, the PWM outputs and the parallel and RS-232 serial interfaces, which are responsible, respectively, by the DSP programming and the data capture through the supervisory system

Técnica de controle adaptativo robusto aplicada a filtros ativos de potência e paralelo

The Methods for compensation of harmonic currents and voltages have been widely used since these methods allow to reduce to acceptable levels the harmonic distortion in the voltages or currents in a power system, and also compensate reactive. The reduction of harmonics and reactive contributes to the reduction of losses in transmission lines and electrical machinery, increasing the power factor, reduce the occurrence of overvoltage and overcurrent. The active power filter is the most efficient method for compensation of harmonic currents and voltages. The active power filter is necessary to use current and voltage controllers loop. Conventionally, the current and voltage control loop of active filter has been done by proportional controllers integrative. This work, investigated the use of a robust adaptive control technique on the shunt active power filter current and voltage control loop to increase robustness and improve the performance of active filter to compensate for harmonics. The proposed control scheme is based on a combination of techniques for adaptive control pole placement and variable structure. The advantages of the proposed method over conventional ones are: lower total harmonic distortion, more flexibility, adaptability and robustness to the system. Moreover, the proposed control scheme improves the performance and improves the transient of active filter. The validation of the proposed technique was verified initially by a simulation program implemented in C++ language and then experimental results were obtained using a prototype three-phase active filter of 1 kVA

Desenvolvimento de esquema de controle com realimentação visual para um robô manipulador

This work proposes a kinematic control scheme, using visual feedback for a robot arm with five degrees of freedom. Using computational vision techniques, a method was developed to determine the cartesian 3d position and orientation of the robot arm (pose) using a robot image obtained through a camera. A colored triangular label is disposed on the robot manipulator tool and efficient heuristic rules are used to obtain the vertexes of that label in the image. The tool pose is obtained from those vertexes through numerical methods. A color calibration scheme based in the K-means algorithm was implemented to guarantee the robustness of the vision system in the presence of light variations. The extrinsic camera parameters are computed from the image of four coplanar points whose cartesian 3d coordinates, related to a fixed frame, are known. Two distinct poses of the tool, initial and final, obtained from image, are interpolated to generate a desired trajectory in cartesian space. The error signal in the proposed control scheme consists in the difference between the desired tool pose and the actual tool pose. Gains are applied at the error signal and the signal resulting is mapped in joint incrementals using the pseudoinverse of the manipulator jacobian matrix. These incrementals are applied to the manipulator joints moving the tool to the desired pose

Algoritmos genéricos para otimização de uma arquitetura de controle inteligente híerárquico

A hierarchical fuzzy control scheme is applied to improve vibration suppression by using an electro-mechanical system based on the lever principle. The hierarchical intelligent controller consists of a hierarchical fuzzy supervisor, one fuzzy controller and one robust controller. The supervisor combines controllers output signal to generate the control signal that will be applied on the plant. The objective is to improve the performance of the electromechanical system, considering that the supervisor could take advantage of the different techniques based controllers. The robust controller design is based on a linear mathematical model. Genetic algorithms are used on the fuzzy controller and the supervisor tuning, which are based on non-linear mathematical model. In order to attest the efficiency of the hierarchical fuzzy control scheme, digital simulations were employed. Some comparisons involving the optimized hierarchical controller and the non-optimized hierarchical controller will be made to prove the efficiency of the genetic algorithms and the advantages of its use

Controle de Manipulador Redundante Utilizando Realimentação Visual

In conventional robot manipulator control, the desired path is specified in cartesian space and converted to joint space through inverse kinematics mapping. The joint references generated by this mapping are utilized for dynamic control in joint space. Thus, the end-effector position is, in fact, controlled indirectly, in open-loop, and the accuracy of grip position control directly depends on the accuracy of the available kinematic model. In this report, a new scheme for redundant manipulator kinematic control, based on visual servoing is proposed. In the proposed system, a robot image acquired through a CCD camera is processed in order to compute the position and orientation of each link of the robot arm. The robot task is specified as a temporal sequence of reference images of the robot arm. Thus, both the measured pose and the reference pose are specified in the same image space, and its difference is utilized to generate a cartesian space error for kinematic control purposes. The proposed control scheme was applied in a four degree-of-freedom planar redundant robot arm, experimental results are shown

Controle vetorial para velocidade de um motor de indução trifásico utilizando estimador filtro de Kalman

This paper describes the study, computer simulation and feasibility of implementation of vector control speed of an induction motor using for this purpose the Extended Kalman Filter as an estimator of rotor flux. The motivation for such work is the use of a control system that requires no sensors on the machine shaft, thus providing a considerable cost reduction of drives and their maintenance, increased reliability, robustness and noise immunity as compared to control systems with conventional sensors

Controle inteligente de sistemas eletroidráulicos utilizando redes neurais artificiais

This work describes the development of a nonlinear control strategy for an electro-hydraulic actuated system. The system to be controlled is represented by a third order ordinary differential equation subject to a dead-zone input. The control strategy is based on a nonlinear control scheme, combined with an artificial intelligence algorithm, namely, the method of feedback linearization and an artificial neural network. It is shown that, when such a hard nonlinearity and modeling inaccuracies are considered, the nonlinear technique alone is not enough to ensure a good performance of the controller. Therefore, a compensation strategy based on artificial neural networks, which have been notoriously used in systems that require the simulation of the process of human inference, is used. The multilayer perceptron network and the radial basis functions network as well are adopted and mathematically implemented within the control law. On this basis, the compensation ability considering both networks is compared. Furthermore, the application of new intelligent control strategies for nonlinear and uncertain mechanical systems are proposed, showing that the combination of a nonlinear control methodology and artificial neural networks improves the overall control system performance. Numerical results are presented to demonstrate the efficacy of the proposed control system

Avaliação de duas variedades de Passiflora edulis sobre as respostas comportamentais de camundongos e um possível mecanismo de ação

The medicinal plants constitute a rich source of biologically active compounds used for the treatment of many psychiatric disorders, such as anxiety disorders and depression. Generalized anxiety disorder has increased significantly, being the second most prevalent disorder in care facilities to public health. Depression is considered a chronic and common psychiatric disorder that affects 350 million people of all ages around the world. In this context, the pharmacological intervention conduits have been employed, effective, although leave to be desired when observed adverse effects. The genus Passiflora is commonly commercially known by its fruit, but is also widely used in traditional Brazilian medicine. Passiflora edulis displays considerable morphological variability. This plant produces two types of fruit: Purple (Passiflora edulis Sims fo. edulis) and yellow (Passiflora edulis fo. flavicarpa Degener). This study investigated the central effects of aqueous extract of the leaves of the two varieties of the species Passiflora edulis in tests used to assess behavior related to anxiety and depression, as well as investigating the potential effect of the antidepressant-like fractions of edulis fo. edulis and neuropharmacological mechanisms responsible for this action. To conduct this study used male Swiss mice (2 months old, weighing 30-35 g). The animals received the aqueous extract of the leaves of the two species of Passiflora: edulis fo. edulis (100, 300, 1000 mg / kg) and fractions ethyl acetate, butanol and aqueous waste (25, 50, 75, 100 mg / kg) and edulis fo. flavicarpa (30, 100, 300, 1000 mg / kg) or saline by gavage 60 minutes prior to the maze tests at high cross the open field test, test forced swim test and sedation induced by thiopental. To investigate the mechanism of action of the activity of antidepressant type of fractions the following drugs were used: PCPA (inhibitor of 5-HT synthesis) AMPT (inhibitor of catecholamine synthesis), DSP-4 (noradrenergic neurotoxin) and Sulpiride (antagonist selective dopamine D2 receptor). They were used as a standard positive control, fluoxetine and nortriptyline. The results of the phytochemical profile show very different characteristics to the aqueous extract of the varieties of Passiflora edulis "flavicarpa" and "edulis". The aqueous extracts of both varieties of Passiflora edulis share anxiolytic activity type (edulis fo. edulis 300 mg/kg; edulis fo. flavicarpa 300 and 1000 mg/kg) and antidepressant (edulis fo. edulis 300 mg/kg; edulis fo flavicarpa 1000 mg/kg), while the effect hipolocomotor/sedative was only seen for edulis fo. edulis (1000 mg/kg). Both fractions ethyl acetate, butanol aqueous extract edulis fo. edulis showed activity type antidepressant at a dose of 50 mg/kg in the forced swim test. The data suggest that the effect of antidepressant-like fractions edulis fo. edulis involves catecholaminergic and serotonergic neurotransmission, particularly dopaminergic, there is seen that pre-treatment DSP-4 is not affected antidepressant action of fractions as was dependent activation of dopamine D2 receptors.

Avaliação de duas variedades de Passiflora edulis sobre as respostas comportamentais de camundongos e um possível mecanismo de ação

The medicinal plants constitute a rich source of biologically active compounds used for the treatment of many psychiatric disorders, such as anxiety disorders and depression. Generalized anxiety disorder has increased significantly, being the second most prevalent disorder in care facilities to public health. Depression is considered a chronic and common psychiatric disorder that affects 350 million people of all ages around the world. In this context, the pharmacological intervention conduits have been employed, effective, although leave to be desired when observed adverse effects. The genus Passiflora is commonly commercially known by its fruit, but is also widely used in traditional Brazilian medicine. Passiflora edulis displays considerable morphological variability. This plant produces two types of fruit: Purple (Passiflora edulis Sims fo. edulis) and yellow (Passiflora edulis fo. flavicarpa Degener). This study investigated the central effects of aqueous extract of the leaves of the two varieties of the species Passiflora edulis in tests used to assess behavior related to anxiety and depression, as well as investigating the potential effect of the antidepressant-like fractions of edulis fo. edulis and neuropharmacological mechanisms responsible for this action. To conduct this study used male Swiss mice (2 months old, weighing 30-35 g). The animals received the aqueous extract of the leaves of the two species of Passiflora: edulis fo. edulis (100, 300, 1000 mg / kg) and fractions ethyl acetate, butanol and aqueous waste (25, 50, 75, 100 mg / kg) and edulis fo. flavicarpa (30, 100, 300, 1000 mg / kg) or saline by gavage 60 minutes prior to the maze tests at high cross the open field test, test forced swim test and sedation induced by thiopental. To investigate the mechanism of action of the activity of antidepressant type of fractions the following drugs were used: PCPA (inhibitor of 5-HT synthesis) AMPT (inhibitor of catecholamine synthesis), DSP-4 (noradrenergic neurotoxin) and Sulpiride (antagonist selective dopamine D2 receptor). They were used as a standard positive control, fluoxetine and nortriptyline. The results of the phytochemical profile show very different characteristics to the aqueous extract of the varieties of Passiflora edulis "flavicarpa" and "edulis". The aqueous extracts of both varieties of Passiflora edulis share anxiolytic activity type (edulis fo. edulis 300 mg/kg; edulis fo. flavicarpa 300 and 1000 mg/kg) and antidepressant (edulis fo. edulis 300 mg/kg; edulis fo flavicarpa 1000 mg/kg), while the effect hipolocomotor/sedative was only seen for edulis fo. edulis (1000 mg/kg). Both fractions ethyl acetate, butanol aqueous extract edulis fo. edulis showed activity type antidepressant at a dose of 50 mg/kg in the forced swim test. The data suggest that the effect of antidepressant-like fractions edulis fo. edulis involves catecholaminergic and serotonergic neurotransmission, particularly dopaminergic, there is seen that pre-treatment DSP-4 is not affected antidepressant action of fractions as was dependent activation of dopamine D2 receptors.