Sistemas de control de roturas en presas y caracterización de sistemas hidráulicos

Este proyecto nace de la necesidad de automatizar el estudio de sistemas hidráulicos y de control de roturas en presas. Para realizar el estudio de sistemas hidráulicos se usarán un número indeterminado de sensores de nivel, presión y caudal. El número de sensores que se pueden utilizar viene determinado por el material disponible. Estos sensores se conectarán a unas tarjetas de National Instruments modelo NI 9208 y éstas a su vez a un chasis modelo CompactDAQ NI-9174 con cuatro ranuras. Conectando este chasis al ordenador podremos obtener los datos provenientes de los sensores. También se podrá controlar una válvula para determinar la cantidad de agua que fluye en nuestro experimento. Está válvula está conectada a una tarjeta NI-9264 que se conectará al chasis en su última posición Para detectar y estudiar posibles roturas en presas se dispone de un motor y un láser con los cuales se puede barrer la superficie de una presa y obtener una imagen en tres dimensiones de la misma procesando los datos provenientes del laser. Para recoger los datos de los sensores y controlar una válvula se ha desarrollado una aplicación utilizando LabVIEW, un programa creado por National Instruments. Para poder controlar el motor y el láser se parte de una aplicación que ya estaba realizada en LabVIEW. El objetivo ha sido detectar y corregir una serie de errores en la misma. Dentro del proyecto, además de la explicación detallada de la aplicación para los sensores y la válvula, y las pruebas realizadas para detectar y corregir los errores de la aplicación del láser y el motor, existe: una breve introducción a la programación en LabVIEW, la descripción de los pasos realizados para el conexionado de los sensores con las tarjetas, los manuales de usuario de las aplicaciones y la descripción de los equipos utilizados. This project stars from the need to automate the study of hydraulic systems and control dam breaks. For the study of hydraulic systems it will be used an unspecified number of level, pressure and flow sensors. The number of sensors that can be used is determined by the available material. These sensors are connected to a NI 9208 National Instruments target and these cards to a NI-9174 CompactDAQ chassis with four slots. Connecting the chassis to a computer we will obtain data from the sensors. We also can control a valve to determine the amount of water flowing in our experiment. This valve is connected to a NI-9264 card and this card to the last position of the chassis. To detect and study dams breakage it used a motor and a laser. With these two devices we can scan the surface of a dam and obtain a three-dimensional image processing data from the laser. To collect data from the sensors and control the valve it has developed an application using LabVIEW, a program created by National Instruments. To control the motor and the laser it is used an application that was already created using LabVIEW. The aim of this part has been detect and correct a number of errors in this application. Within the project, in addition to the detailed explanation of the application for sensors and valve, and tests to detect and correct errors in the application of lasers and the motor, there is: a brief introduction to programming in LabVIEW, the description of the steps taken for connecting the sensors with cards, user manuals and application description of the equipment used.

Modelagem e controle de posição e orientação de uma Plataforma de Stewart

Este trabalho apresenta o controle de posição e orientação de um modelo não linear de Plataforma de Stewart com seis graus de liberdade construído no ambiente de sistemas multicorpos ADAMS® desenvolvido pela Mechanical Dynamics, Inc. O modelo não linear é exportado para o ambiente SIMULINK® desenvolvido pela MathWorks, Inc., onde o controle de posição e orientação é realizado a partir da linearização do modelo e a aplicação de um sistema seguidor com realimentação de estados. Utililiza-se, também o SIMULINK® para implementar a dinâmica de um sistema servoválvula e cilindro hidráulico com um servocontrole de pressão e assim simular o comportamento dinâmico de um simulador de vôo com acionamento hidráulico. A utilização destes pacotes comerciais visa obter uma economia de tempo e esforço na modelagem de sistemas mecânicos complexos e na programação para obtenção da resposta do sistema no tempo, além de facilitar a análise de várias configurações de Plataformas de Stewart

Microturbinas em redes de abastecimento de água

Nos dias de hoje a sociedade exige níveis qualitativos de vida cada vez mais elevados, o que torna prioritária a conceção de sistemas eficientes, não poluidores, económicos e diversificados que permitam uma gestão integrada e racionalizada de recursos tão escasso como é o da água e da energia. Em sistemas de abastecimento de água, o uso de válvulas redutoras de pressão (VRP) visa a uniformização e controlo de pressões, promovendo uma perda de carga localizada que dissipa a energia hidráulica presente através da redução dos valores de pressão a jusante. Estas são fundamentais no controlo e redução de pressão. A utilização de microturbinas é uma alternativa sustentável para o controle de pressão e, simultaneamente, para a produção de energia elétrica. Trata-se de um método de mitigação para controlar as perdas referidas convergindo no âmbito da eficiência energética. Na perspetiva de promover um aproveitamento de energia nas redes de abastecimento de água, o presente trabalho sugere a substituição de válvulas redutoras de pressão (VRP) por microturbinas. Desse modo, apresenta-se um método automático de seleção de (i) local para implementação e (ii) projeto de microturbinas para sistemas de abastecimento de água. Para a modelação do funcionamento dos sistemas hidráulicos recorre-se ao simulador hidráulico EPANET. Esta ferramenta possibilita avaliação de caudais e pressões em todos os pontos da rede durante um determinado intervalo de tempo. A metodologia desenvolvida permite selecionar o local ideal no sistema hidráulico através de uma análise de cada secção conduta-nó escolhendo-se a melhor opção baseada na produção de energia. Depois da localização procede-se à seleção do tipo de turbina (Kaplan, Francis, Pelton e Cross-flow) que vai depender das características do sistema hidráulico. Na etapa seguinte apresenta-se os resultados obtidos pela turbina nomeadamente a produção de energia elétrica anual, o investimento necessário, o tempo de retorno e a rentabilização ao final de um período de 25 anos. Na última etapa da metodologia, de forma avaliar o comportamento do sistema final, realiza-se uma nova simulação da rede mas tendo em conta a introdução da microturbina no local. Apresentam-se alguns casos de estudo que validam a ferramenta desenvolvida. A metodologia desenvolvida é comparada com um caso de estudo real. Em ambos os exemplos simulados a metodologia aplicada permite obter soluções com ganhos energéticos significativos associados ao sistema. Apenas num dos exemplos se observaram que a implementação da microturbina no sistema hidráulico não seria economicamente rentável.

Estudo de caso: minimização e reúso de água em shopping center da região sul do Brasil

The main issues related to water conservation in urban centers are the increase in water supply cost, demand growth, pollution and differences in the distribution of water resources. Water conservation, the controlled and efficient use of water, includes both measures as reasonable means of water reuse. Thus, conservation practices are an effective way to meet demand and supply water to new activities and users without jeopardizing the supplying water bodies and preserving the natural environment. This study aims to examine the water management of a shopping mall and the use of rainwater harvesting combined with greywater reuse. For buildings in general, water loss is common due to leaks in the hydraulic and restroom equipment. These losses, which are caused by a high volume of water used and wasted in the system, are often the result of design errors, incorrect maintenance procedures and users' bad habits In southern Brazil, where there is rainfall almost all year long, water shortages occasionally occur, particularly in some winter mouths. One difficulty that appears on rainwater studies is the proper determination of rainwater volume that can be used to address water supply systems. In this work, the simulation method was used to determine this volume. Thus, simulations with the following variables: rainfall, catchment area and water consumption were performed. For mall's hydraulic systems, segmented alternatives are adopted. That is, focusing on the use of rainwater or greywater reuse. Other alternatives of effluent reuse have been slightly discussed due to sanitary issues, those are effluents from toilets and kitchen sinks. The adoption of greywater may be feasible if there is a significant flow of greywater to comply water demand for toilet flushing. The inspections made in this study found that the quantity of sinks was insufficient to supply an adequate amount of water to toilets and urinals. The greywater reuse system was found to be infeasible in terms of demand and supply of water. Conversely, the rainwater harvesting system was entirely feasible and easily supplied water to all restrooms and contributed to the cooling of the air conditioning system with a short payback period. One of the challenges of this work was the need to compare the actual water consumption with a water consumption parameter used in buildings. Thus, a method that addresses the generation of specific consumption indexes for specific activity (like a mall) was used. The water consumption indices showed that this mall has a satisfactory water management program.

SCADA configuration and control modes implementation on an experimental water supply canal

In the last years, digital controllers became a very interesting alternative (low costs and higher accuracy) to the analogue or to hydrodynamic traditional controllers in water supply canal automation, in order to match water supply to water demands. This kind of hydraulic systems needs particular research for control applications because they are big scale systems, open and characterized by big delays and great inertia. This paper presents several digital control modes tested in an experimental canal that will be used as a research platform on the automatic canal control domain. The canal operation and their control modes selection are supervised by a SCADA system developed and configured for this particular canal.

Modeling, control and field tests on an experimental irrigation canal

Irrigation canals are complex hydraulic systems difficult to control. Many models and control strategies have already been developed using linear control theory. In the present study, a PI controller is developed and implemented in a brand new prototype canal and its features evaluated experimentally. The base model relies on the linearized Saint-Venant equations which is compared with a reservoir model to check its accuracy. This technique will prove its capability and versatility in tuning properly a controller for this kind of systems.

Field hydraulic properties of an Alfisol under various fallow systems in southwestern Nigeria

The effects of various fallow management systems and cropping intensities on water infiltration were measured on an Alfisol at Ibadan in southwestern Nigeria. The objective was to determine the influence of the land use systems (a combination of crop-fallow sequences and intercropping types) on soil hydraulic properties obtained by disc permeameter and double-ring infiltration measurements. The experiment was established in 1989 as a split-plot design with four replications. The main plots were natural fallow, planted Pueraria phaseoloides and planted Leucaena leucocephala. The subplots were 1 year of maize/cassava intercrop followed by 3-year fallow (25% cropping intensity), or 2-year fallow (33% cropping intensity), or 1-year fallow (50% cropping intensity), or no fallow period (100% cropping intensity). Water infiltration rates and sorptivities were measured under saturated and unsaturated flow. Irrespective of land use, infiltration rates at the soil surface (121-324 cm h(-1)) were greater than those measured at 30 cm depth (55-144 cm h(-1)). This indicated that fewer large pores were present below 30 cm depth compared with 0-30 cm, depth. Despite some temporal variation, sorptivities with the highest mean value of 93.5 cm h(-1/2) increased as the cropping intensity decreased, suggesting a more continuous macropore system under less intensive land use systems. This was most likely due to continuous biopores created by perennial vegetation under long fallow systems. Intercropped maize and cassava yields also increased as cropping intensity decreased. The weak relationship between crop yields and hydraulic conductivity/infiltration rates suggests that the rates were not limiting.

Comparison between dSPACE and NI systems based on real-time intelligent control of a teleoperated hydraulic servo system

The Laboratory of Intelligent Machine researches and develops energy-efficient power transmissions and automation for mobile construction machines and industrial processes. The laboratory's particular areas of expertise include mechatronic machine design using virtual technologies and simulators and demanding industrial robotics. The laboratory has collaborated extensively with industrial actors and it has participated in significant international research projects, particularly in the field of robotics. For years, dSPACE tools were the lonely hardware which was used in the lab to develop different control algorithms in real-time. dSPACE's hardware systems are in widespread use in the automotive industry and are also employed in drives, aerospace, and industrial automation. But new competitors are developing new sophisticated systems and their features convinced the laboratory to test new products. One of these competitors is National Instrument (NI). In order to get to know the specifications and capabilities of NI tools, an agreement was made to test a NI evolutionary system. This system is used to control a 1-D hydraulic slider. The objective of this research project is to develop a control scheme for the teleoperation of a hydraulically driven manipulator, and to implement a control algorithm between human and machine interaction, and machine and task environment interaction both on NI and dSPACE systems simultaneously and to compare the results.

Energy and hydraulic efficiency in conventional water supply systems

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Modeling of hydraulic and energy efficiency indicators for water supply systems

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Evaluation of hydraulic brake system tests of used 1973 and 1978 vehicles; Standard 105-75 - Hydraulic Brake Systems, Passenger Cars.

Mode of access: Internet.

Final design and implementation plan for evaluating the effectiveness of FMVSS 105: hydraulic brake systems in passenger cars.

National Highway Traffic Safety Administration, Washington, D.C.

Design of hydraulic control systems

Includes bibliography.