Análise e desenvolvimento de controladores preditivos multivariáveis baseados em multi-modelos bilineares

This work addresses issues related to analysis and development of multivariable predictive controllers based on bilinear multi-models. Linear Generalized Predictive Control (GPC) monovariable and multivariable is shown, and highlighted its properties, key features and applications in industry. Bilinear GPC, the basis for the development of this thesis, is presented by the time-step quasilinearization approach. Some results are presented using this controller in order to show its best performance when compared to linear GPC, since the bilinear models represent better the dynamics of certain processes. Time-step quasilinearization, due to the fact that it is an approximation, causes a prediction error, which limits the performance of this controller when prediction horizon increases. Due to its prediction error, Bilinear GPC with iterative compensation is shown in order to minimize this error, seeking a better performance than the classic Bilinear GPC. Results of iterative compensation algorithm are shown. The use of multi-model is discussed in this thesis, in order to correct the deficiency of controllers based on single model, when they are applied in cases with large operation ranges. Methods of measuring the distance between models, also called metrics, are the main contribution of this thesis. Several application results in simulated distillation columns, which are close enough to actual behaviour of them, are made, and the results have shown satisfactory

Metodologia para modelagem, validação e programação de controladores lógicos industriais usando statecharts básicos

Due of industrial informatics several attempts have been done to develop notations and semantics, which are used for classifying and describing different kind of system behavior, particularly in the modeling phase. Such attempts provide the infrastructure to resolve some real problems of engineering and construct practical systems that aim at, mainly, to increase the productivity, quality, and security of the process. Despite the many studies that have attempted to develop friendly methods for industrial controller programming, they are still programmed by conventional trial-and-error methods and, in practice, there is little written documentation on these systems. The ideal solution would be to use a computational environment that allows industrial engineers to implement the system using high-level language and that follows international standards. Accordingly, this work proposes a methodology for plant and control modelling of the discrete event systems that include sequential, parallel and timed operations, using a formalism based on Statecharts, denominated Basic Statechart (BSC). The methodology also permits automatic procedures to validate and implement these systems. To validate our methodology, we presented two case studies with typical examples of the manufacturing sector. The first example shows a sequential control for a tagged machine, which is used to illustrated dependences between the devices of the plant. In the second example, we discuss more than one strategy for controlling a manufacturing cell. The model with no control has 72 states (distinct configurations) and, the model with sequential control generated 20 different states, but they only act in 8 distinct configurations. The model with parallel control generated 210 different states, but these 210 configurations act only in 26 distinct configurations, therefore, one strategy control less restrictive than previous. Lastly, we presented one example for highlight the modular characteristic of our methodology, which it is very important to maintenance of applications. In this example, the sensors for identifying pieces in the plant were removed. So, changes in the control model are needed to transmit the information of the input buffer sensor to the others positions of the cell

Análise comparativa do desempenho de um Controlador Fuzzy acoplado a um PID Neural sintonizado por um Algoritmo Genético com Controladores Inteligentes Convencionais

On this paper, it is made a comparative analysis among a controller fuzzy coupled to a PID neural adjusted by an AGwith several traditional control techniques, all of them applied in a system of tanks (I model of 2nd order non lineal). With the objective of making possible the techniques involved in the comparative analysis and to validate the control to be compared, simulations were accomplished of some control techniques (conventional PID adjusted by GA, Neural PID (PIDN) adjusted by GA, Fuzzy PI, two Fuzzy attached to a PID Neural adjusted by GA and Fuzzy MISO (3 inputs) attached to a PIDN adjusted by GA) to have some comparative effects with the considered controller. After doing, all the tests, some control structures were elected from all the tested techniques on the simulating stage (conventional PID adjusted by GA, Fuzzy PI, two Fuzzy attached to a PIDN adjusted by GA and Fuzzy MISO (3 inputs) attached to a PIDN adjusted by GA), to be implemented at the real system of tanks. These two kinds of operation, both the simulated and the real, were very important to achieve a solid basement in order to establish the comparisons and the possible validations show by the results

Desenvolvimento e avaliação de controladores preditivos baseados em modelos biliares

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior

Aporte e decomposição de serapilheira em áreas de cerradão e mata mesofítica na Estação Ecológica de Pirapitinga - MG

This study aimed to quantify the litter and nutrients amount and to estimate the decomposition rate in areas of mesophytic forest and 'Cerradao' in the Ecological Station of Pirapitinga. To evaluate litter and nutrients devolution 10 conic litter traps were randomly distributed in an area 0.1 ha in each area of study, with monthly evaluations. The litter decomposition in the areas of study was evaluated by using litter bags. The total production of litter was 2.50 and 2.92 Mg ha(-1) yr(-1) for mesophytic forest and 'Cerradao' areas, respectively. The nutrients devolution importance order was nitrogen> potassium> phosphorus. The mesophytic forest showed more homogeneous distribution of litter fall over the year and higher values of total annual litter and nutrients, the highest values were observed at the dry season. The half-life decomposition of leaf litter was equivalent between areas, about 161 days in the mesophytic forest area and 173 in 'Cerradao' area.

Arquitetura de controladores fuzzy em redes foundation fieldbus

Foundation Fieldbus Industrial networks are the high standard technology which allows users to create complex control logic and totally decentralized. Although being so advanced, they still have some limitations imposed by their own technology. Attempting to solve one of these limitations, this paper describes how to design a Fuzzy controller in a Foundation Fieldbus network using their basic elements of programming, the functional blocks, so that the network remains fully independent of other devices other than the same instruments that constitute it. Moreover, in this work was developed a tool that aids this process of building the Fuzzy controller, setting the internal parameters of functional blocks and informing how many and which blocks should be used for a given structure. The biggest challenge in creating this controller is exactly the choice of blocks and how to arrange them in order to effectuate the same functions of a Fuzzy controller implemented in other kind of environment. The methodology adopted was to divide each one of the phases of a traditional Fuzzy controller and then create simple structures with the functional blocks to implement them. At the end of the work, the developed controller is compared with a Fuzzy controller implemented in a mathematical program that it has a proper tool for the development and implementation of Fuzzy controllers, obtaining comparatives graphics of performance between both

Desenvolvimento de um ambiente para projeto de controladores fuzzy para dispositivos móveis

Fuzzy intelligent systems are present in a variety of equipment ranging from household appliances to Fuzzy intelligent systems are present in a variety of equipment ranging from household appliances to small devices such as digital cameras and cell phones being used primarily for dealing with the uncertainties in the modeling of real systems. However, commercial implementations of Fuzzy systems are not general purpose and do not have portability to different hardware platforms. Thinking about these issues this work presents the implementation of an open source development environment that consists of a desktop system capable of generate Graphically a general purpose Fuzzy controller and export these parameters for an embedded system with a Fuzzy controller written in Java Platform Micro Edition To (J2ME), whose modular design makes it portable to any mobile device that supports J2ME. Thus, the proposed development platform is capable of generating all the parameters of a Fuzzy controller and export it in XML file, and the code responsible for the control logic that is embedded in the mobile device is able to read this file and start the controller. All the parameters of a Fuzzy controller are configurable using the desktop system, since the membership functions and rule base, even the universe of discourse of the linguistic terms of output variables. This system generates Fuzzy controllers for the interpolation model of Takagi-Sugeno. As the validation process and testing of the proposed solution the Fuzzy controller was embedded on the mobile device Sun SPOT ® and used to control a plant-level Quanser®, and to compare the Fuzzy controller generated by the system with other types of controllers was implemented and embedded in sun spot a PID controller to control the same level plant of Quanser®

Metodologia para re-sintonia de controladores PID industriais

The present work has as objective to present a method of project and implementation of controllers PID, based on industrial instrumentation. An automatic system of auto-tunning of controllers PID will be presented, for systems of first and second order. The software presented in this work is applied in controlled plants by PID controllers implemented in a CLP. Software is applied to make the auto-tunning of the parameters of controller PID of plants that need this tunning. Software presents two stages, the first one is the stage of identification of the system using the least square recursive algorithm and the second is the stage of project of the parameters of controller PID using the root locus algorithm. An important fact of this work is the use of industrial instrumentation for the accomplishment of the experiments. The experiments had been carried through in controlled real plants for controllers PID implemented in the CLP. Thus has not only one resulted obtained with theoreticians experiments made with computational programs, and yes resulted obtained of real systems. The experiments had shown good results gotten with developed software

Estratégia de escalonamento de controladores PID baseado em regras Fuzzy para redes industriais foundation fieldbus usando blocos padrões

The main objective of work is to show procedures to implement intelligent control strategies. This strategies are based on fuzzy scheduling of PID controllers, by using only standard function blocks of this technology. Then, the standardization of Foundation Fieldbus is kept. It was developed an environment to do the necessary tests, it validates the propose. This environment is hybrid, it has a real module (the fieldbus) and a simulated module (the process), although the control signals and measurement are real. Then, it is possible to develop controllers projects. In this work, a fuzzy supervisor was developed to schedule a network of PID controller for a non-linear plant. Analyzing its performance results to the control and regulation problem

Aplicação prática do método de sintonia de controladores PID utilizando o método do relé com histerese

The area of research and development involving the PID tune of controllers is an active area in the academic and industrial sectors yet. All this due to the wide use of PID controllers in the industry (96% of all controllers in the industry is still PID). Controllers well tuned and tools to monitor their performance over time with the possibility of selftuning, become an item almost obligatory to maintain processes with high productivity and low cost. In a globalized world, it is essential for their self survival. Although there are several new tools and techniques that make PID tune, in this paper will explore the PID tune using the relay method, due its good acceptance in the industrial environment. In addition, we will discuss some techniques for evaluation of control loops, as IAE, ISE, Goodhart, the variation of the control signal and index Harris, which are necessary to propose new tuning for control loops that have a low performance. Will be proposed in this paper a tool for tuning and self tuning PID. Will be proposed in this paper a PID auto-tuning software using a relay method. In particular, will be highlighted the relay method with hysteresis. This method has shown tunings with satisfactory performance when applied to the didactic, simulated and real plants

Disponibilidade de nutrientes no solo: decomposição e liberação de compostos orgânicos de resíduos vegetais

O objetivo principal desta revisão foi reunir informações a respeito da ação de compostos orgânicos produzidos por plantas na disponibilidade de nutrientes nos solos, principalmente sobre os cátions Ca, Mg e K e sobre o ânion fosfato. O sistema de cultivo adotado ocasiona mudanças nas propriedades químicas e físicas do solo, especialmente na disponibilidade de nutrientes e condicionamento físico do solo. Tem-se observado o acúmulo de nutrientes nas camadas superficiais do solo no sistema de semeadura direta, pelo não-revolvimento do solo e pela deposição de resíduos de culturas na superfície. Os ácidos orgânicos provenientes de plantas podem interagir com a fase sólida e ocupar os sítios de adsorção de nutrientes, competindo diretamente com eles e aumentando sua disponibilidade no solo. A adição de resíduos vegetais pode promover, antes da humificação, a elevação do pH, por promover complexação de H e Al com compostos do resíduo vegetal, deixando Ca, Mg e K mais livres em solução, o que pode ocasionar aumento na saturação da CTC por estes cátions de reação básica. Também é normal observar o aumento na disponibilidade de P no solo com a adição de resíduos vegetais, tanto pelo P presente no resíduo como por competição de compostos orgânicos dos resíduos pelos sítios de troca no solo. A persistência dos compostos orgânicos também é fator que tem grande interferência nos processos de sorção/dessorção de cátions e ânions, dependendo da atividade microbiana, da disponibilidade metabólica do substrato carbonado e da sorção aos colóides do solo.

Avaliação da decomposição de plantas aquáticas no solo através da liberação de CO2

O objetivo deste trabalho foi avaliar a decomposição de três espécies de plantas aquáticas imersas, incorporadas ao solo, provenientes do controle mecânico, em reservatórios de usinas hidrelétricas. O estudo foi realizado em casa de vegetação, localizada no Núcleo de Pesquisas Avançadas em Matologia (NUPAM) da FCA/Unesp-Botucatu. A avaliação foi conduzida em vasos contendo 14 kg de solo, com três incorporações de 50 e 100 t MF de plantas ha-1, sob duas condições de solo: seco e úmido. Com a simulação de descarte da biomassa coletada e incorporada ao solo, pôde-se conhecer, através da liberação de CO2, a degradação de três espécies de macrófitas aquáticas submersas. Para quantificação do CO2 liberado, em cada vaso foi acondicionado um frasco com solução de NaOH, sendo, logo após, lacrados e incubados por 24 horas; em seguida, foram titulados com HCl. Para ajuste e interpolação dos dados, estes foram analisados seguindo modelo de Mitscherlich, com algumas modificações. As liberações acumuladas em solo úmido foram de 1.294 e 1.582 kg CO2 ha-1, sendo 6,2 e 5,6 vezes superiores ao ocorrido em solo seco, para 50 e 100 t MF ha-1, respectivamente, observando-se que cerca de 55% da liberação de CO2 ocorreu nos primeiros 30 dias. Pode-se concluir que o solo seco é a melhor condição para descarte e incorporação da biomassa, porém deverá existir um sistema de irrigação para que o processo de degradação da biomassa incorporada seja acelerado.

Estudo da decomposição de plantas aquáticas em função das quantidades depositadas, da umidade e do tipo de disposição no solo

Um estudo foi realizado com a finalidade de avaliar a decomposição da biomassa de plantas aquáticas, incorporadas ou não ao solo, provenientes do controle mecânico, no reservatório da UHE Americana. O ensaio foi realizado em casa de vegetação, localizada no Núcleo de Pesquisas Avançadas em Matologia (NUPAM) da FCA/Unesp-Botucatu. A avaliação foi conduzida em vasos contendo 14 kg de solo, simulando descartes de 50, 100, 150 e 200 t MF de plantas ha-1 e avaliando o processo de decomposição através da liberação de CO2, divididos em duas etapas: a primeira em solo seco e, a segunda, na seqüência, com o solo úmido. A quantificação do CO2 liberado foi realizada através de titulação de solução adicionada ao processo de incubação de 24 horas dos vasos. Os dados foram interpolados e analisados seguindo modelo de Mitscherlich, com algumas modificações. Na primeira etapa, foi observada uma rápida liberação de CO2 até o décimo dia, seguida de estabilização. O maior teor de CO2 liberado foi observado no tratamento com descarte de 200 t MF ha-1 incorporado ao solo. Os dados avaliados durante a segunda fase do ensaio representaram uma maior linearidade no processo de liberação de CO2, indicando um período mais longo do processo de degradação da biomassa descartada.

Taxas de decomposição e de liberação de macronutrientes da palhada de aveia preta em plantio direto

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Fontes de resistência à murcha-de-curtobacterium em cultivares locais de feijoeiro, coletadas em Santa Catarina

Avaliou-se a reação de 73 cultivares locais de feijoeiro, coletadas em Santa Catarina, à murcha-de-curtobacterium, causada por Curtobacterium flaccumfaciens pv. flaccumfaciens. Os experimentos foram instalados em condições de casa-de-vegetação e as cultivares IAC Carioca Pyatã e IPR 88 - Uirapuru foram os padrões resistente e suscetível, respectivamente. Aos 10 dias após a emergência, houve a inoculação das plantas com o isolado FJ 36 e as avaliações dos sintomas ocorreram aos 10, 14, 21 e 28 dias após a inoculação. Foi possível identificar as cv. locais Mouro Piratuba (grupo de coloração variada) e Vagem Amarela (grupo preto) como fontes de resistência à murcha-de-curtobacterium.