Projeto do acionamento eletrónico de um veículo unipessoal de mobilidade urbana

O acionamento eletrónico de motores desempenha um papel cada vez mais importante nos transportes e mobilidade, devido às inúmeras aplicações, entre as quais o controlo de velocidade e direção dos motores das cadeiras de rodas elétricas. No entanto, as soluções disponíveis no mercado apresentam um custo elevado, e consequentemente são inacessíveis para muitas pessoas. O objetivo desta dissertação é projetar o sistema de acionamento eletrónico para um veículo unipessoal de mobilidade urbana, de acordo com os requisitos estabelecidos, e realizar um protótipo funcional com o mínimo custo possível. O sistema estará subdividido em quatro módulos: interface com o utilizador, controlador central, sistema de potência e atuadores. A sua implementação será feita através da programação num Arduino, o sistema de potência utiliza drivers, e o controlo de velocidade dos motores CC será efetuado por PWM. O sistema de controlo foi implementado de uma forma modular e parametrizada para que numa próxima fase se possa afinar os parâmetros de controlo do movimento adequando o veículo para diferentes condições de operação. Numa perspetiva futura, pretende-se que este veículo unipessoal de mobilidade urbana seja comercializado de forma económica e possibilite a mobilidade total em meio urbano a pessoas com limitações de ordem motora.

Immunologisches Reaktionsvermögen als Indikator für Belastungen bei der Milchkuh

Mit ansteigenden Jahresmilchleistungen werden die Kühe einer hohen metabolischen Belastung ausgesetzt, die bei einer suboptimalen Gestaltung der Lebensbedingungen mit einer Erhöhung der Inzidenzrate von Faktorenkrankheiten einhergehen kann. Im Vordergrund der Untersuchungen stand die Frage, inwieweit metabolische Belastungszustände von Milchkühen in der Phase des Puerperiums und in Abhängigkeit von der Milchleistung sowie Belastungen durch eine klinische Erkrankung zu Beginn der Laktation mit Hilfe von Parametern der immunologischen Abwehr und der Reaktion des Immunsystems auf eine Challenge dargestellt werden können. In die Untersuchung wurden insgesamt 68 klinisch gesunde sowie 20 klinisch erkrankte Milchkühe der Rasse Holstein Friesian einbezogen. Die Untersuchungen erfolgten in den Zeiträumen 10-21 Tage sowie 14-15 Wochen nach der Kalbung. Dazu wurden an jeweils drei Untersuchungstagen (Tag 0, 2, 7) Blutproben aus der Vena jugularis entnommen. Zur Stimulierung des unspezifischen Immunsystems wurde in beiden Versuchszeiträumen an den Untersuchungstagen 0 und 2 der Paramunitätsinducer Zylexis® appliziert. Ferner wurde den Kühen zu Beginn der Laktation der Tollwutimpfstoff Rabisin® verabreicht. Für die Auswertung wurden die untersuchten Milchkühe in Gruppen unterteilt. Die klinisch gesunden Kühe wurden anhand der nach Fett und Eiweiß korrigierten 305-Tage-Leistung in die Gruppe M = mittleres Leistungsniveau (Milchmengenleistung 6.500-8.990 kg) und die Gruppe H = hohes Leistungsniveau (Milchmengenleistung 9.000-12.500 kg) aufgeteilt. Die klinisch erkrankten Kühe wurden in der Gruppe K zusammengefasst. Zur Beurteilung der Immunabwehr wurden die Parameter Phagozytoseaktivität der isolierten Neutrophilen Granulozyten, die Vollblutbakterizidie, die Lymphozytenproliferation mit den Mitogenen ConA, PHA und PWM sowie die spezifische Antikörperbildung gegen Tollwut untersucht. Anhand der Parameter Phagozytoseaktivität, Vollblutbakterizidie und Lymphozytenproliferation wurde zusätzlich die Reaktion auf die Challenge mit dem Paramunitätsinducer Zylexis® überprüft. Zur Erfassung der metabolischen Belastungszustände wurden verschiedene Stoffwechselparameter und hämatologische Parameter erfasst. Zu Beginn der Laktation konnten bei den Kühen in der mittleren und hohen Leistungsgruppe signifikant höhere Konzentrationen an ß-Hydroxybuttersäure und Freien Fettsäuren im Vergleich zu der Laktationsmitte festgestellt werden. Die Kühe mit einem hohen Leistungsniveau zeigten darüber hinaus eine signifikant höhere Bilirubinkonzentration am Laktationsanfang gegenüber der Laktationsmitte. Die mittlere Konzentration der freien Fettsäuren lag bei den Kühen in beiden Leistungsgruppen oberhalb des Referenzbereiches und wies auf eine negative Energiebilanz zu Laktationsbeginn hin. Die mittleren Konzentrationen bzw. Enzymaktivitäten der Parameter Cholesterol, Harnstoff, AST, GLDH, γ-GT, Gesamtprotein, Kalzium und Phosphor wiesen in der Laktationsmitte signifikant höhere Werte als am Laktationsanfang auf. Dabei lagen die mittleren Enzymaktivitäten von AST und GLDH sowie die Konzentrationen von Harnstoff und Gesamtprotein in der Laktationsmitte oberhalb des Referenzbereiches. Die untersuchten Stoffwechselparameter wurden durch die Challenge mit einem Paramunitätsinducer nicht signifikant beeinflusst. Hinsichtlich der Immunparameter zeigten die Milchkühe mit einem mittleren Leistungsniveau in Abhängigkeit vom Laktationszeitpunkt zu Beginn der Laktation eine signifikant höhere Phagozytoseaktivität gegenüber der Laktationsmitte (p < 0,05). Die Gruppe mit einem hohen Leistungsniveau wies dagegen keine signifikanten Unterschiede in der Phagozytoseaktivität zwischen den beiden Untersuchungszeiträumen auf. Bei den Immunparametern Vollblutbakterizidie und Lymphozytenproliferation konnten bei den Kühen beider Gruppen keine signifikanten Unterschiede in Abhängigkeit vom Laktationszeitpunkt festgestellt werden. Im Hinblick auf die Milchleistung wiesen die Kühe in den beiden Leistungsgruppen am Untersuchungstag 0 weder zu Beginn noch in der Mitte der Laktation signifikante Unterschiede bezüglich der untersuchten Immunparameter auf. Nach der Challenge durch den Paramunitätsinducer reagierten einzig die Kühe mit einer mittleren Leistung zu Beginn der Laktation auf die Challenge mit einer signifikanten Reduzierung der mittleren Phagozytoseaktivität von Tag 0 zu Tag 2 (p < 0,05). Bei den weiteren untersuchten Immunparametern konnten weder bei den Kühen mit einer mittleren noch mit einer hohen Leistung eine signifikante Reaktion auf die Challenge nachgewiesen werden. Die klinisch erkrankten Kühe zeigten im Vergleich zu den klinisch gesunden Kühen keine unterschiedlichen Konzentrationen bzw. Aktivitäten der untersuchten Stoffwechselparameter. Auch konnten anhand der immunologischen Parameter und der Reaktion auf die Challenge keine Unterschiede zwischen den klinisch gesunden Kühen festgestellt werden. Die in der vorliegenden Untersuchung geprüften metabolischen Belastungen konnten weder anhand der Immunparameter noch durch die Reaktion der Immunparameter auf eine Challenge dargestellt werden. Es wird geschlussfolgert, dass das immunologische Reaktionsvermögen nicht geeignet ist, um als Indikator für Belastungszustände bei der Milchkuh herangezogen zu werden.

Sistema de manteniment de l'equilibri per a un robot bípede

Dins el departament d’Electrònica, Informàtica i Automàtica de la Universitat de Girona s’han dissenyat i construït dues plataformes bípedes per a l’ús docent. La més evolucionada d’elles, finalitzada l’any 1999, està composada per dues cames d’alumini amb tres actuadors lineals cada una, simulant la funció del turmell, del genoll i del maluc. Els objectius que es pretenen aconseguir amb aquest projecte són molt concrets i tots ells estan destinats a millorar el funcionament del robot bípede. Aquests objectius són: (1) dissenyar dos graus de llibertat lineals en forma de pla XY per moure el pes que convingui per assegurar l’equilibri durant el moviment de la plataforma bípede, (2) dissenyar una placa amb una FPGA que generi senyals PWM pels vuit motors disponibles, que llegeixi els dos encoders dels motors del pla XY i que es comuniqui amb un PC equipat amb una tarja d’adquisició de dades específica, (3) dissenyar una placa de potència adequada pel control dels motors, (4) finalment realitzar un programa per comprovar el correcte funcionament de les plaques, dels actuadors i dels sensors utilitzats en la plataforma bípede

Speed sensorless vector control of induction machines

A novel rotor velocity estimation scheme applicable to vector controlled induction motors has been described. The proposed method will evaluate rotor velocity, ωr, on-line, does not require any extra transducers or injection of any signals, nor does it employ complicated algorithms such as MRAS or Kalman filters. Furthermore, the new scheme will operate at all velocities including zero with very little error. The procedure employs motor model equations, however all differential and integral terms have been eliminated giving a very fast, low-cost, effective and practical alternative to the current available methods. Simulation results verify the operation of the scheme under ideal and PWM conditions.

Simulação de um sistema aerogerador com controlo óptimo predictivo

Nesta dissertação de mestrado propõe-se simular um sistema para melhorar a qualidade da energia eléctrica produzida por um parque eólico, utilizando conversores multinível NPC costas com costas e controlo óptimo predictivo. Neste trabalho é feito o controlo da potência activa e reactiva que é fornecida à rede de energia eléctrica, a partir de um gerador eólico e é optimizada a forma de onda alternada e sinusoidal de tensão trifásica sem neutro, minimizando o tremor das correntes e a distorção harmónica total, contribuindo para melhorar a qualidade de energia da rede ou de sistemas de alimentação para aplicações críticas como são os sistemas de telecomunicações. Recorre-se ao Matlab/Simulink para simular e comparar os resultados obtidos no sistema de conversão de energia de um parque eólico com o conversor costas com costas com controlo óptimo predictivo com os resultados obtidos com o conversor costas com costas PWM, disponível na biblioteca do software de simulação.

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

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

Uma fonte chaveada de 50kW com correção de fator de potência para alimentação de uma tocha de plasma Indutiva utilizando técnicas de controle digital

This work deals with the development of an experimental study on a power supply of high frequency that provides the toch plasmica to be implemented in PLASPETRO project, which consists of two static converters developed by using Insulated Gate Bipolar Transistor (IGBT). The drivers used to control these keys are triggered by Digital Signal Processor (DSP) through optical fibers to reduce problems with electromagnetic interference (EMI). The first stage consists of a pre-regulator in the form of an AC to DC converter with three-phase boost power factor correction which is the main theme of this work, while the second is the source of high frequency itself. A series-resonant inverter consists of four (4) cell inverters operating in a frequency around 115 kHz each one in soft switching mode, alternating itself to supply the load (plasma torch) an alternating current with a frequency of 450 kHz. The first stage has the function of providing the series-resonant inverter a DC voltage, with the value controlled from the power supply provided by the electrical system of the utility, and correct the power factor of the system as a whole. This level of DC bus voltage at the output of the first stage will be used to control the power transferred by the inverter to the load, and it may vary from 550 VDC to a maximum of 800 VDC. To control the voltage level of DC bus driver used a proportional integral (PI) controller and to achieve the unity power factor it was used two other proportional integral currents controllers. Computational simulations were performed to assist in sizing and forecasting performance. All the control and communications needed to stage supervisory were implemented on a DSP

Implementação experimental de filtro ativo paralelo de potência com aplicação a gerador de indução trifásico

This work describes the experimental implementation of a shunt active power filter applied to a three-phase induction generator. The control strategy of active filter turned to the excitation control of the machine and to decrease the harmonics in the generator output current. Involved the implementation of a digital PWM switching, and was made a comparison of two techniques for obtaining the reference currents. The first technique is based on the synchronous dq reference method and the second on the theory of instantaneous power. The comparison is performed via simulation and experimental results. To obtain the experimental results, was mounted a bench trial and the control and communications needed were implemented using DSP - MS320F2812. The simulation results and experimental data proved the efficiency of the filter to apply, highlighting the technique of instantaneous power

High power factor dimmable electronic ballast for multiple tubular fluorescent lamps

This paper presents a dimmable electronic ballast designed for multiple fluorescent lamps applications. A ZCS-PWM Boost rectifier and a classical resonant Full-Bridge inverter compose this new electronic ballast, providing conditions for the obtaining of high input power-factor, and soft-switching processes for all semiconductor devices employed in the structure. The instantaneous average input current control technique is employed in the Boost rectifier. Concerning the Full-Bridge inverter, it is controlled by the imposition of phase-shift in the current processed through the sets of resonant filters + lamps, according to an adaptation in a specially designed control IC, called IR2159. Experimental results are presented in order to validate the analyses developed in this paper.

DCM Boost interleaved converter for operation in AC and DC to trolleybus application

This paper is based on the development and experimental analysis of a DCM Boost interleaved converter suitable for application in traction systems of electrical vehicles pulled by electrical motors (Trolleybus), which are powered by urban DC or AC distribution networks. This front-end structure is capable of providing significant improvements in trolleybuses systems and in the urban distribution network costs, and efficiency. The architecture of proposed converter is composed by five boost power cells in interleaving connection, operating in discontinuous conduction mode. Furthermore, the converter can operate as AC-DC converter, or as DC-DC converter providing the proper DC output voltage range required by DC or AC adjustable speed drivers. Therefore, when supplied by single-phase AC distribution networks, and operating as AC-DC converter, it is capable to provide high power factor, reduced harmonic distortion in the input current, complying with the restrictions imposed by the IEC 61000-3-4 standards. The digital controller has been implemented using a low cost FPGA and developed totally using a hardware description language VHDL and fixed point arithmetic. Thus, two control strategies are evaluated considering the compliance with input current restrictions imposed by IEC 61000-3-4 standards, the regular PWM modulation and a current correction PWM modulation. In order to verify the feasibility and performance of the proposed system, experimental results from a 15 kW low power scale prototype are presented, operating in DC and AC conditions.

Método experimental para determinação das capacitancias parasitas do motor de indução trifásico acionado por inversor MLP

A proposta deste trabalho é apresentar uma nova metodologia para determinação experimental das capacitancias parasitas do motor de indução trifásico de rotor em gaiola. As capacitancias parasitas fazem parte do circuito equivalente do motor para estudos de interferência eletromagnética causada no motor de indução em modo comum quando ele for acionado por inversor controlado por modulação por largura de pulsos (MLP). Os procedimentos propostos para o desenvolvimento deste novo método consistem em: a) determinação dos parâmetros do circuito equivalente do motor de indução trifásico, em regime permanente, através de ensaio em laboratório; b) estabelecer configurações de ligações entre o inversor MLP e o motor para medições das grandezas de interesse que são as seguintes: tensões de modo comum e de eixo, correntes de fuga e de eixo, através de circuito de medição desenvolvido para este fim; c) calcular os valores das capacitancias parasitas entre estator e carcaça do motor; estator e rotor; rotor e carcaça e de rolamento utilizando a expressão matemática da definição de capacitancia; d) utilizar o software Pspice para simular o sistema motor de indução trifásico, alimentado por inversor MLP, com os circuitos equivalentes em baixas e altas frequências; e) obter as formas de onda características do fenômeno de modo comum.

A 12 kW three-phase low THD rectifier with high-frequency isolation and regulated DC output

A robust 12 kW rectifier with low THD in the line currents, based on an 18-pulse transformer arrangement with reduced kVA capacities followed by a high-frequency isolation stage is presented in this work. Three full-bridge (buck-based) converters are used to allow galvanic isolation and to balance the dc-link currents, without current sensing or current controller. The topology provides a regulated dc output with a very simple and well-known control strategy and natural three-phase power factor correction. The phase-shift PWM technique, with zero-voltage switching is used for the high-frequency dc-dc stage. Analytical results from Fourier analysis of winding currents and the vector diagram of winding voltages are presented. Experimental results from a 12 kW prototype are shown in the paper to verify the efficiency, robustness and simplicity of the command circuitry to the proposed concept.

Single-phase high power factor hybrid rectifier suitable for high-power applications

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Novel high-power-factor isolated electronic ballast for multiple tubular fluorescent lamps

This paper presents a novel isolated electronic ballast for multiple fluorescent lamps, featuring high power-factor, and high efficiency. Two stages compose this new electronic ballast, namely, a new voltage step-down isolated Sepic rectifier, and a classical resonant Half-Bridge inverter. The new isolated Sepic rectifier is obtained from a Zero-Current-Switching (ZCS) Pulse-Width-Modulated (PWM) soft-commutation cell. The average-current control technique is used in this preregulator stage in order to provide low phase displacement and low Total-Harmonic-Distortion (THD) at input current, resulting in high power-factor, and attending properly IEC 61000-3-2 standards. The resonant Half-Bridge inverter performs Zero-Voltage-Switching (ZVS), providing conditions for the obtaining of overall high efficiency. It is developed a design example for the new isolated electronic ballast rated at 200W output power, 220Vrms input voltage, 115Vdc dc link voltage, with rectifier and inverter stages operating at 50kHz. Finally, experimental results are presented in order to verify the developed analysis. The THD at input current is equal to 5.25%, for an input voltage THD equal to 1.63%, and the measured overall efficiency is about 88.25%, at rated load.