Controlador PID utilizando microcontrolador PIC

This monograph proposes the implementation of a low cost PID controller utilizing a PIC microcontroller, and its application in a positioning system previously controlled by a dedicated integrated circuit for a positioning system. Applying the closed-loop PID control, the system instability was reduced, and its response was smoother, eliminating vibrations and mechanical wear compared to its response with the dedicated integrated circuit, which has a very limited control action. The actuator of the system is a DC motor, whose speed is controlled by the Pulse Width Modulation (PWM) technique, using a Full-Bridge circuit, allowing the shift of direction of rotation. The utilized microcontroller was the PIC16F684, which has an enhanced PWM module, with its analog converters used as reference and position feedback. The positioning sensor is a multiturn potentiometer coupled to the motor axis by gears. The possibility of programming the PID coefficients in the microcontroller, as well as the adjustment of the sampling rate, allows the implemented system achieving high level of versatility

Sistema de gerenciamento de energia para controle de carga/descarga entre baterias de lítio e ultracapacitores, envolvendo sistema de tração elétrica com frenagem regenerativa

Pós-graduação em Engenharia Elétrica - FEIS

Projeto de controladores robustos para acionamento de um motor de indução trifásico

Pós-graduação em Engenharia Elétrica - FEIS

Microinversor integrado ao módulo fotovoltaico para sistemas conectados à rede elétrica utilizando controlador ressonante

This paper shows the modeling and control of a single-phase full-bridge inverter with high-frequency transformer that may be used as part of a two-stage converter with transformerless DC-DC side or as a single-stage converter (simple DC-AC converter) for grid-connected PV applications. The inverter is modeled in order to obtain a small-signal transfer function used to design the P+Resonant current controller. A highfrequency step-up transformer results in reduced voltage switches and better efficiency compared with converters in which the transformer is used on the DC-DC side. Simulations and experimental results with a 200 W prototype are shown. 1

Multifunctional current reference generation strategy for grid-tied power electronic converter

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

Controle flexível para conversores monofásicos conectados a sistemas elétricos distorcidos de baixa tensão

This paper presents a technique to add flexibility in the control of power electronic converters. The power converter can function as an active power filter, as a local power source interface or perform both functions i. e. mitigate current disturbances and inject power into the grid simultaneously, configuring it as a multifunctional device. The main goal is to extract the full capability of the grid connected power electronic converter to achieve maximum benefits. To achieve this goal, the orthogonal current decomposition of the Conservative Power Theory is used. Each orthogonal current component is weighted by means of different compensation factors (k_i), which are set instantaneously and independently, in any percentage by means of the load performance factors (λ_i), providing an online flexibility in relation to compensation objectives. Finally, to validate the effectiveness and performance the proposed approach, simulations and experimental results are presented.

Sistema autônomo de iluminação utilizando energia solar

This work presents a self-sustainable lighting system using ultracapacitor as a storage device, replacing the conventional battery, using solar energy as the only energy supplier. A detailed study of solar panels, switched mode converters and ultracapacitors was made, in order to design a circuit capable of capturing solar energy and transfer it efficiently to a bank of ultracapacitors. Later, at nighttime, this energy is used for lighting in LED luminaires which have high luminous efficiency and high reliability index. This work presents the design of the solar panel, ultracapacitors bank, the development of the voltage converter circuit and charger working at the maximum power point of the solar panel. All subsystems were simulated and it was shown that the use of ultracapacitors is feasible to feed a LED lamp with enough brightness for a person to walk at night, for two night shifts, using a capacitive bank with twenty-four ultracapacitors. Replacing the battery by an ultracapacitor allows a faster recharge, with low maintenance costs, since ultracapacitors have a lifetime bigger than batteries; beyond reducing the environmental impact, as they don't use potentially toxic chemical compounds

BER-Based Call Admission In Wavelength-Routed Optical Networks

Consider a wavelength-routed optical network in which nodes, i.e., multiwave length cross-connect switches (XCSs), are connected by fiber to form an arbitrary physical topology. A new call is admitted into the network if an all-optical lightpath can be established between the call’s source and destination nodes. Wavelength converters are assumed absent in this work.

Sistema autônomo de iluminação utilizando energia solar

This work presents a self-sustainable lighting system using ultracapacitor as a storage device, replacing the conventional battery, using solar energy as the only energy supplier. A detailed study of solar panels, switched mode converters and ultracapacitors was made, in order to design a circuit capable of capturing solar energy and transfer it efficiently to a bank of ultracapacitors. Later, at nighttime, this energy is used for lighting in LED luminaires which have high luminous efficiency and high reliability index. This work presents the design of the solar panel, ultracapacitors bank, the development of the voltage converter circuit and charger working at the maximum power point of the solar panel. All subsystems were simulated and it was shown that the use of ultracapacitors is feasible to feed a LED lamp with enough brightness for a person to walk at night, for two night shifts, using a capacitive bank with twenty-four ultracapacitors. Replacing the battery by an ultracapacitor allows a faster recharge, with low maintenance costs, since ultracapacitors have a lifetime bigger than batteries; beyond reducing the environmental impact, as they don't use potentially toxic chemical compounds

Effect of pulse repetition rate and number of pulses in the analysis of polypropylene and high density polyethylene by nanosecond infrared laser induced breakdown spectroscopy

Pulse repetition rates and the number of laser pulses are among the most important parameters that do affect the analysis of solid materials by laser induced breakdown spectroscopy, and the knowledge of their effects is of fundamental importance for suggesting analytical strategies when dealing with laser ablation processes of polymers. In this contribution, the influence of these parameters in the ablated mass and in the features of craters was evaluated in polypropylene and high density polyethylene plates containing pigment-based PbCrO4. Surface characterization and craters profile were carried out by perfilometry and scanning electron microscopy. Area, volume and profile of craters were obtained using Taylor Map software. A laser induced breakdown spectroscopy system consisted of a Q-Switched Nd:YAG laser (1064 nm, 5 ns) and an Echelle spectrometer equipped with ICCD detector were used. The evaluated operating conditions consisted of 10, 25 and 50 laser pulses at 1, 5 and 10 Hz, 250 mJ/pulse (85 J cm(-2)), 2 mu s delay time and 6 mu s integration time gate. Differences in the topographical features among craters of both polymers were observed. The decrease in the repetition rate resulted in irregular craters and formation of edges, especially in polypropylene sample. The differences in the topographical features and ablated masses were attributed to the influence of the degree of crystallinity, crystalline melting temperature and glass transition temperature in the ablation process of the high density polyethylene and polypropylene. It was also observed that the intensities of chromium and lead emission signals obtained at 10 Hz were two times higher than at 5 Hz by keeping the number of laser pulses constant. (C) 2011 Elsevier B. V. All rights reserved.

Evaluation of the power production performance of the wavepiston, wave energy converter

In the early 1970 the community has started to realize that have as a main principle the industry one, with the oblivion of the people and health conditions and of the world in general, it could not be a guideline principle. The sea, as an energy source, has the characteristic of offering different types of exploitation, in this project the focus is on the wave energy. Over the last 15 years the Countries interested in the renewable energies grew. Therefore many devices have came out, first in the world of research, then in the commercial one; these converters are able to achieve an energy transformation into electrical energy. The purpose of this work is to analyze the efficiency of a new wave energy converter, called WavePiston, with the aim of determine the feasibility of its actual application in different wave conditions: from the energy sea state of the North Sea, to the more quiet of the Mediterranean Sea. The evaluation of the WavePiston is based on the experimental investigation conducted at the University of Aalborg, in Denmark; and on a numerical modelling of the device in question, to ascertain its efficiency regardless the laboratory results. The numerical model is able to predict the laboratory condition, but it is not yet a model which can be used for any installation, in fact no mooring or economical aspect are included yet. È dai primi anni del 1970 che si è iniziato a capire che il solo principio dell’industria con l’incuranza delle condizioni salutari delle persone e del mondo in generale non poteva essere un principio guida. Il mare, come fonte energetica, ha la caratteristica di offrire diverse tipologie di sfruttamento, in questo progetto è stata analizzata l’energia da onda. Negli ultimi 15 anni sono stati sempre più in aumento i Paesi interessati in questo ambito e di conseguenza, si sono affacciati, prima nel mondo della ricerca, poi in quello commerciale, sempre più dispositivi atti a realizzare questa trasformazione energetica. Di tali convertitori di energia ondosa ne esistono diverse classificazioni. Scopo di tale lavoro è analizzare l’efficienza di un nuovo convertitore di energia ondosa, chiamato WavePiston, al fine si stabilire la fattibilità di una sua reale applicazione in diverse condizioni ondose: dalle più energetiche del Mare del Nord, alle più quiete del Mar Mediterraneo. La valutazione sul WavePiston è basata sullo studio sperimentale condotto nell’Università di Aalborg, in Danimarca; e su di una modellazione numerica del dispositivo stesso, al fine di conoscerne l’efficienza a prescindere dalla possibilità di avere risultati di laboratorio. Il modello numerico è in grado di predirre le condizioni di laboratorio, ma non considera ancora elementi come gli ancoraggi o valutazione dei costi.

Entwicklung eines Verfahrens zur Ultraspurenbestimmung der Platingruppenelemente in Umwelt- und geologischen Proben mit einem ICP-QMS unter Verwendung der Isotopenverdünnungsanalyse sowie geeigneter Separationstechniken

ZusammenfassungSchwerpunkt dieser Arbeit war die Verfahrensentwicklung zur Ultraspurenbestimmung der Platingruppenelemente (PGE) in Umwelt- und geologischen Proben unter Verwendung der massenspektrometrischen Isotopenverdünnungsanalyse mit anschließender Bestimmung an einem Quadrupol ICP-MS (ICP-QMSIVA). Geeignete Separationstechniken in der Probenaufbereitung, um die PGE von der Matrix der untersuchten Proben zu trennen, stellten eine richtige und präzise Bestimmung der Ultraspuren an einem Quadrupol ICP-MS sicher.Das Verfahren konnte anhand von geologischen Referenzmaterialien aus Kanada sichergestellt werden. Gerade die Wiederholungsbestimmungen der verschiedenen Referenzmaterialien unter Verwendung des ICP-QMSIVA Verfahrens sind beispiellos und in dieser Form noch nicht in der Literatur beschrieben. Durch systematische Messungen konnten Richtigkeit und Präzision des Verfahrens bestätigt werden und die Inhomogenität des Referenzmaterials UMT-1 bezüglich Pt bewiesen werden. Das in dieser Arbeit entwickelte Verfahren zur Ultraspurenbestimmung der PGE mit ICP-QMSIVA wurde im Rahmen des Projektes 'Production and certification of a road dust reference material for platinum, palladium and rhodium (PGEs) in automative catalytic converters (PACEPAC)' der Europäischen Union zur Zertifizierung von zwei Referenzmaterialien für Umweltproben eingesetzt. Hierbei wurde bei der Zertifizierung ('intercomparison round') eine sehr gute Übereinstimmung der Ergebnisse mit dem gewichteten Mittelwert der Ergebnisse für Pd und Pt mit den übrigen teilnehmenden Laboratorien festgestellt. Die mit der hier entwickelten Methode erhaltenen Ergebnisse wurden ohne Ausnahme für alle gemessenen Elemente zur Zertifizierung herangezogen. Damit leistete die vorliegende Arbeit einen erheblichen Beitrag zum erfolgreichen Abschluß dieses Projekts. Den Erwartungen hinsichtlich Richtigkeit und Reproduzierbarkeit des entwickelten Verfahrens wurde somit voll entsprochen. Erneut konnte die große Bedeutung der Isotopenverdünnungstechnik für die Zertifizierung von Referenzmaterialien aufgezeigt werden, da mit dieser Technik bei sachgerechtem Einsatz Ergebnisse hoher Richtigkeit erzielt werden. Durch vergleichende Messungen mit der NiS-Dokimasie und NAA, die in einer Kooperation mit dem Kernchemischen Institut der Universität Mainz durchgeführt wurden, und dem hier verwendeten Verfahren, konnten übereinstimmende Daten, hinsichtlich der Abnahme der Konzentrationen von Pd und Pt in Abhängigkeit von der Entfernung zu einer Autobahn, erzielt werden. Diese Arbeit und die Forschungsergebnisse, die mit der anerkannten NAA erzielt wurden, zeigen, daß die PGE durch Katalysatoren von Automobilen überwiegend metallisch emittiert werden. Der anthropogene Eintrag der PGE in die Umwelt kann mit dem ICP-QMSIVA Verfahren weiterhin sehr gut verfolgt werden.

Sistemi di ancoraggio per convertitori di energia da onda galleggianti

Il presente lavoro presenta una analisi di sensitività sui parametri progettuali più significativi per i sistemi di ancoraggio di dispositivi di produzione di energia del mare di tipo galleggiante, comunemente conosciuti come Floating Wave Energy Converters (F-WEC). I convertitori di questo tipo sono installati offshore e possono basarsi su diversi principi di funzionamento per la produzione di energia: lo sfruttamento del moto oscillatorio dell’onda (chiamati Wave Active Bodies, gran parte di convertitori appartengono la tecnologia di questo tipo), la tracimazione delle onde (Overtopping Devices), o il principio della colonna d’acqua oscillante (Oscillating Water Columns). La scelta del luogo di installazione dei tali dispositivi implica una adeguata progettazione del sistema di ancoraggio che ha lo scopo di mantenere il dispositivo in un intorno sufficientemente piccolo del punto dove è stato originariamente collocato. Allo stesso tempo, dovrebbero considerarsi come elemento integrato del sistema da progettare al fine di aumentare l’efficienza d’estrazione della potenza d’onda. Le problematiche principali relativi ai sistemi di ancoraggio sono: la resistenza del sistema (affidabilità, fatica) e l’economicità. Le due problematiche sono legate tra di loro in quanto dall’aumento del resistenza dipende l’aumento della complessità del sistema di ancoraggio (aumentano il numero delle linee, si utilizzano diametri maggiori, aumenta il peso per unità di lunghezza per ogni linea, ecc.). E’ però chiaro che sistemi più affidabili consentirebbero di abbassare i costi di produzione e renderebbero certamente più competitiva l’energia da onda sul mercato energetico. I dispositivi individuali richiedono approcci progettuali diversi e l’economia di un sistema di ormeggio è strettamente legata al design del dispositivo stesso. Esistono, ad oggi, una serie di installazioni a scala quasi di prototipo di sistemi WEC che hanno fallito a causa del collasso per proprio sistema di ancoraggio, attirando così l’attenzione sul problema di una progettazione efficiente, affidabile e sicura.

Nonlinear constrained and saturated control of power electronics and electromechanical systems

Power electronic converters are extensively adopted for the solution of timely issues, such as power quality improvement in industrial plants, energy management in hybrid electrical systems, and control of electrical generators for renewables. Beside nonlinearity, this systems are typically characterized by hard constraints on the control inputs, and sometimes the state variables. In this respect, control laws able to handle input saturation are crucial to formally characterize the systems stability and performance properties. From a practical viewpoint, a proper saturation management allows to extend the systems transient and steady-state operating ranges, improving their reliability and availability. The main topic of this thesis concern saturated control methodologies, based on modern approaches, applied to power electronics and electromechanical systems. The pursued objective is to provide formal results under any saturation scenario, overcoming the drawbacks of the classic solution commonly applied to cope with saturation of power converters, and enhancing performance. For this purpose two main approaches are exploited and extended to deal with power electronic applications: modern anti-windup strategies, providing formal results and systematic design rules for the anti-windup compensator, devoted to handle control saturation, and “one step” saturated feedback design techniques, relying on a suitable characterization of the saturation nonlinearity and less conservative extensions of standard absolute stability theory results. The first part of the thesis is devoted to present and develop a novel general anti-windup scheme, which is then specifically applied to a class of power converters adopted for power quality enhancement in industrial plants. In the second part a polytopic differential inclusion representation of saturation nonlinearity is presented and extended to deal with a class of multiple input power converters, used to manage hybrid electrical energy sources. The third part regards adaptive observers design for robust estimation of the parameters required for high performance control of power systems.

Arbitrary Waveform Multilevel Generator for High Voltage High Frequency Plasma Actuators

This dissertation presents the theory and the conducted activity that lead to the construction of a high voltage high frequency arbitrary waveform voltage generator. The generator has been specifically designed to supply power to a wide range of plasma actuators. The system has been completely designed, manufactured and tested at the Department of Electrical, Electronic and Information Engineering of the University of Bologna. The generator structure is based on the single phase cascaded H-bridge multilevel topology and is comprised of 24 elementary units that are series connected in order to form the typical staircase output voltage waveform of a multilevel converter. The total number of voltage levels that can be produced by the generator is 49. Each level is 600 V making the output peak-to-peak voltage equal to 28.8 kV. The large number of levels provides high resolution with respect to the output voltage having thus the possibility to generate arbitrary waveforms. Maximum frequency of operation is 20 kHz. A study of the relevant literature shows that this is the first time that a cascaded multilevel converter of such dimensions has been constructed. Isolation and control challenges had to be solved for the realization of the system. The biggest problem of the current technology in power supplies for plasma actuators is load matching. Resonant converters are the most used power supplies and are seriously affected by this problem. The manufactured generator completely solves this issue providing consistent voltage output independently of the connected load. This fact is very important when executing tests and during the comparison of the results because all measures should be comparable and not dependent from matching issues. The use of the multilevel converter for power supplying a plasma actuator is a real technological breakthrough that has provided and will continue to provide very significant experimental results.