Modelling a cable structure for a new wind energy production device

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Engenharia Mecânica Especialização em Concepção e Produção

Avaliação do desempenho energético de uma pequena fracção de serviços existente tendo por base as metodologias regulamentares do RSECE e do RECS

A dependência energética das grandes economias mundiais, alertaram o mundo para a necessidade de mudar o comportamento relativo ao consumo de energia. O sector dos edifícios representa 40% dos consumos globais de energia na União Europeia, já no panorama nacional, o sector dos edifícios representa 28% dos consumos globais da energia, constituindo uma parte significativa no consumo global de energia, sendo portanto, essencial avaliar o desempenho energético dos edifícios, no sentido de promover a sua eficiência energética e beneficiar do grande potencial de economia de energia. Portugal à luz das linhas de orientação da União Europeia com o objectivo de instigar o aumento da eficiência energética nos edifícios, lançou o programa nacional para a eficiência energética nos Edifícios (P3E). Posteriormente, da transposição da Directiva 2002/91/CE para a ordem jurídica nacional surgiu o SCE, o RCCTE e o RSECE. Já em 2013, com a necessidade de transpor para a ordem da jurídica nacional a Directiva n.º 2010/31/EU, surge o Decreto-Lei n.º 118/2013, reunindo num só diploma o SCE, o REH e o RECS, promovendo uma revisão da legislação nacional, garantindo e promovendo a melhoria do desempenho energético dos edifícios. Através da presente dissertação, pretende-se avaliar o desempenho energético de uma pequena fracção de serviços existente tendo por base a metodologia regulamentar revogada do RSECE e a vigente metodologia regulamentar do RECS. Após apresentação dos dois regulamentos e da identificação das principais diferenças entre as duas metodologias regulamentares, procedeu-se ao enquadramento da fracção em estudo no âmbito de aplicação do RSECE e do RECS. Segundo os dois regulamentos a fracção não está sujeita a requisitos mínimos de qualidade térmica, nem a quaisquer requisitos energéticos e de eficiência dos sistemas técnicos, ao tratar-se de uma pequena fracção de serviços existente. Recorrendo ao software DesignBuilder, gerou-se o modelo da fracção em estudo, que através da simulação dinâmica multizona permitiu obter os consumos de energia anuais e a sua desagregação por utilização final. A partir dos consumos energia, determinaram-se os indicadores de eficiência energética de acordo com as duas metodologias, permitindo deste modo, proceder à classificação energética da fracção em estudo. De acordo com o RSECE a fracção em estudo obteve a classificação D, já segundo o RECS alcançou a classe C. Para aumentar a eficiência energética da fracção e consequentemente diminuir o consumo energético, foi proposto proceder à substituição das lâmpadas existentes por lâmpadas tubulares de tecnologia LED e à substituição do sistema de ventilação mecânico por um sistema de ventilação dimensionado para os novos valores de caudal de ar novo regulamentares. Com a implementação destas duas medidas a fracção em estudo melhoraria a sua classificação energética, exigindo um investimento baixo e apresentando um período de retorno de 1 ano e 5 meses. Segundo o RSECE passaria para a classe B, e aplicando a metodologia regulamentar do RECS alcançaria a classe B-.

Emove

A Work Project, presented as part of the requirements for the Award of a Masters Degree in Management from the NOVA – School of Business and Economics

Pure elastic contact force models

"Series: Solid mechanics and its applications, vol. 226"

A musculoskeletal shoulder model based on pseudo-inverse and null-space optimization.

The goal of the present work was assess the feasibility of using a pseudo-inverse and null-space optimization approach in the modeling of the shoulder biomechanics. The method was applied to a simplified musculoskeletal shoulder model. The mechanical system consisted in the arm, and the external forces were the arm weight, 6 scapulo-humeral muscles and the reaction at the glenohumeral joint, which was considered as a spherical joint. The muscle wrapping was considered around the humeral head assumed spherical. The dynamical equations were solved in a Lagrangian approach. The mathematical redundancy of the mechanical system was solved in two steps: a pseudo-inverse optimization to minimize the square of the muscle stress and a null-space optimization to restrict the muscle force to physiological limits. Several movements were simulated. The mathematical and numerical aspects of the constrained redundancy problem were efficiently solved by the proposed method. The prediction of muscle moment arms was consistent with cadaveric measurements and the joint reaction force was consistent with in vivo measurements. This preliminary work demonstrated that the developed algorithm has a great potential for more complex musculoskeletal modeling of the shoulder joint. In particular it could be further applied to a non-spherical joint model, allowing for the natural translation of the humeral head in the glenoid fossa.

Classical predictive electrodynamics of two charges with radiation: Energy and 3. momentum balance and scattering crossections-II

We deal with a classical predictive mechanical system of two spinless charges where radiation is considered and there are no external fields. The terms (2,2)Paa of the expansion in the charges of the HamiltonJacobi momenta are calculated. Using these, together with known previous results, we can obtain the paa up to the fourth order. Then we have calculated the radiated energy and the 3-momentum in a scattering process as functions of the impact parameter and the incident energy for the former and 3-momentum for the latter. Scattering cross-sections are also calculated. Good agreement with well known results, including those of quantum electrodynamics, has been found.

Analysis of torque and speed ripple producing non-idealities of frequency converters in electric drives

Electric motors driven by adjustable-frequency converters may produce periodic excitation forces that can cause torque and speed ripple. Interaction with the driven mechanical system may cause undesirable vibrations that affect the system performance and lifetime. Direct drives in sensitive applications, such as elevators or paper machines, emphasize the importance of smooth torque production. This thesis analyses the non-idealities of frequencyconverters that produce speed and torque ripple in electric drives. The origin of low order harmonics in speed and torque is examined. It is shown how different current measurement error types affect the torque. As the application environment, direct torque control (DTC) method is applied to permanent magnet synchronous machines (PMSM). A simulation model to analyse the effect of the frequency converter non-idealities on the performance of the electric drives is created. Themodel enables to identify potential problems causing torque vibrations and possibly damaging oscillations in electrically driven machine systems. The model is capable of coupling with separate simulation software of complex mechanical loads. Furthermore, the simulation model of the frequency converter's control algorithm can be applied to control a real frequency converter. A commercial frequencyconverter with standard software, a permanent magnet axial flux synchronous motor and a DC motor as the load are used to detect the effect of current measurement errors on load torque. A method to reduce the speed and torque ripple by compensating the current measurement errors is introduced. The method is based on analysing the amplitude of a selected harmonic component of speed as a function oftime and selecting a suitable compensation alternative for the current error. The speed can be either measured or estimated, so the compensation method is applicable also for speed sensorless drives. The proposed compensation method is tested with a laboratory drive, which consists of commercial frequency converter hardware with self-made software and a prototype PMSM. The speed and torque rippleof the test drive are reduced by applying the compensation method. In addition to the direct torque controlled PMSM drives, the compensation method can also beapplied to other motor types and control methods.

Reaaliaikainen virtuaalihydrauliikka osana todellista konejärjestelmää

Diplomityössä tutkittiin hydrauliikan reaaliaikasimulointia ja sen mahdollisuuksia tuotekehityksen apuvälineenä. Työssä käytettiin dSPACE:n reaaliaikasimulointiin valmistamia laitteita ja ohjelmia. Työssä luotiin Matlab/Simulink –ympäristöön tyypillisimmistä hydrauliikkakomponenttien puoliempiirisistä malleista koostuva komponenttikirjasto, joista kootut hydrauliikkapiirien mallit voitiin kääntää reaaliaikaympäristöön. Työn tavoitteena oli kehittää menetelmä, jonka avulla voidaan nopeuttaa ja helpottaa hydraulismekaanisten konejärjestelmien suunnittelua ja tuotekehitystä. Kehitetyt menetelmät perustuvat todellisen konejärjestelmän osaksi kytketyn reaaliaikaisen virtuaalihydrauliikan avulla laskettuun uuteen ohjaussignaaliin, jonka avulla voidaan todellisella hydrauliikalla kuvata virtuaalisen hydrauliikan vaikutukset todelliseen järjestelmään. Näin ollen muutokset voidaan siis tehdä virtuaaliseen hydrauliikkaan ja niiden vaikutukset nähdä todellisen järjestelmän käyttäytymisessä.

Trimmerin kapasiteetin kasvattaminen dynamiikan mallinnuksen avulla

Työn tavoitteena oli kasvattaa sahan dimensiolaitoksella käytettävän trimmerin rakenteellista kapasiteettia. Tavoitteeseen pyrittiin modernisoimalla trimmerin teräyksikköä käyttävää toimilaite ja teräyksikön säätö dynamiikan mallinnuksen avulla. Trimmerin teräyksikön dynamiikka mallinnettiin MATLAB-matematiikkaohjelmistolla kaksiulotteisena kinematiikkamallina ja kolmeulotteisena kinetiikkamallina. Dynamiikkamallien tulosten perusteella valittin teräyksikköä käyttävä toimilaite komponentteineen. Kinetiikkamalliin mallinnettiin trimmeriä käyttävä hydraulipiiri valittuine komponentteineen keskittyneiden paineiden ja puoliempiirisen mallinnuksen periaatteita käyttäen. Teräyksikön työkiertoa säätämään mallinnettiin suljettu takaisinkytketty säätöpiiri. Tuloksien perusteella valittiin optimaalinen toimilaitteen asemointigeometria ja todettiin mallinnetun järjestelmän täyttävän asetetut vaatimukset. Järjestelmää testattiin muuttamalla jarjestelman parametreja ja tutkimalla muutosten vaikutuksia jarjestelman toimintaan. Lisaksi tutkittiin lyhyesti terayksikon rakenteen keventamisen vaikutuksia.

Sähköisen lineaariservomoottorijärjestelmän dynamiikan simulointi

Työssä johdettiin sähköisen lineaariservomoottorijärjestelmän dynaaminen malli. Lineaarimoottori on keksintönä vanha, mutta vasta viimeaikoina kestomagneettimateriaalien kehittyessä ja halvetessa lineaarimoottorista on tullut varteenotettava vaihtoehto pyörivän moottorin ja lineaarisen liikkeen toteuttavan mekanismin yhdistelmälle. Kestomagnetoituja lineaarimoottoreita käytetään sovelluksissa, joissa tarvitaan tarkkaa paikoitusta ja nopeudella ja kiihtyvyydellä on suuret vaatimukset. Moottorimalli toteutettiin vuorovaikutteisena simulointimallina. Moottorimalli, josta saatiin moottorin voima, rakennettiin MatLabâ 6.0/Simulinkâ –ohjelmalle ja moottoriin kiinnitetyn mekaniikan malli ADAMS 10.0 –ohjelmalle. Mallit on liitetty tämän jälkeen vuorovaikutteiseksi simulointimalliksi. Simuloinnista saatuja tuloksia on verrattu koneautomaation laboratorioon hankitun lineaarimoottorijärjestelmän mitattuihin vasteisiin.

On the Analysis and Control of a Linear Synchronous Servomotor with a Flexible Load

Industry's growing need for higher productivity is placing new demands on mechanisms connected with electrical motors, because these can easily lead to vibration problems due to fast dynamics. Furthermore, the nonlinear effects caused by a motor frequently reduce servo stability, which diminishes the controller's ability to predict and maintain speed. Hence, the flexibility of a mechanism and its control has become an important area of research. The basic approach in control system engineering is to assume that the mechanism connected to a motor is rigid, so that vibrations in the tool mechanism, reel, gripper or any apparatus connected to the motor are not taken into account. This might reduce the ability of the machine system to carry out its assignment and shorten the lifetime of the equipment. Nonetheless, it is usually more important to know how the mechanism, or in other words the load on the motor, behaves. A nonlinear load control method for a permanent magnet linear synchronous motor is developed and implemented in the thesis. The purpose of the controller is to track a flexible load to the desired velocity reference as fast as possible and without awkward oscillations. The control method is based on an adaptive backstepping algorithm with its stability ensured by the Lyapunov stability theorem. As a reference controller for the backstepping method, a hybrid neural controller is introduced in which the linear motor itself is controlled by a conventional PI velocity controller and the vibration of the associated flexible mechanism is suppressed from an outer control loop using a compensation signal from a multilayer perceptron network. To avoid the local minimum problem entailed in neural networks, the initial weights are searched for offline by means of a differential evolution algorithm. The states of a mechanical system for controllers are estimated using the Kalman filter. The theoretical results obtained from the control design are validated with the lumped mass model for a mechanism. Generalization of the mechanism allows the methods derived here to be widely implemented in machine automation. The control algorithms are first designed in a specially introduced nonlinear simulation model and then implemented in the physical linear motor using a DSP (Digital Signal Processor) application. The measurements prove that both controllers are capable of suppressing vibration, but that the backstepping method is superior to others due to its accuracy of response and stability properties.

MEMS-based Tunable Optical Filter Arrays for Nano-Spectrometer in the Visible Spectral Range

Optische Spektrometer sind bekannte Instrumente für viele Anwendungen in Life Sciences, Produktion und Technik aufgrund ihrer guten Selektivität und Sensitivität zusammen mit ihren berührungslosen Messverfahren. MEMS (engl. Micro-electro-mechanical system)-basierten Spektrometer werden als disruptive Technologie betrachtet, in der miniaturisierte Fabry-Pérot Filter als sehr attraktiv für die optische Kommunikation und 'Smart Personal Environments', einschließlich des medizinischen Anwendungen, zu nennen sind. Das Ziel dieser Arbeit ist, durchstimmbare Filter-Arrays mit kostengünstigen Technologien herzustellen. Materialien und technologische Prozesse, die für die Herstellung der Filter-Arrays benötigt werden, wurden untersucht. Im Rahmen dieser Arbeit, wurden durchstimmbare Fabry Pérot Filter-Arrays für den sichtbaren Spektralbereich untersucht, die als Nano-Spektrometer eingesetzt werden. Darüber hinaus wurde ein Modell der numerischen Simulation vorgestellt, die zur Ermittlung eines optimales geometrisches Designs verwendet wurde, wobei sich das Hauptaugenmerk der Untersuchung auf die Durchbiegung der Filtermembranen aufgrund der mechanischen Verspannung der Schichten richtet. Die geometrische Form und Größe der Filtermembranen zusammen mit der Verbindungsbrücken sind von entscheidender Bedeutung, da sie die Durchbiegung beeinflussen. Lange und schmale Verbindungsbrücken führen zur stärkeren Durchbiegung der Filtermembranen. Dieser Effekt wurde auch bei der Vergrößerung der Durchmesser der Membran beobachtet. Die Filter mit spiralige (engl. curl-bent) Verbindungsbrücken führten zu geringerer Deformation als die mit geraden oder gebogenen Verbindungsbrücken. Durchstimmbare Si3N4/SiO2 DBR-basierende Filter-Arrays wurden erfolgreich hergestellt. Eine Untersuchung über die UV-NIL Polymere, die als Opferschicht und Haltepfosten-Material der Filter verwendet wurden, wurde durchgeführt. Die Polymere sind kompatibel zu dem PECVD-Verfahren, das für die Spiegel-Herstellung verwendet wird. Die laterale Strukturierung der DBR-Spiegel mittels des RIE (engl. Reactive Ion Etching)-Prozesses sowie der Unterätz-Prozess im Sauerstoffplasma zur Entfernung der Opferschicht und zum Erreichen der Luftspalt-Kavität, wurden durchgeführt. Durchstimmbare Filter-Arrays zeigten einen Abstimmbereich von 70 nm bei angelegten Spannungen von weniger als 20 V. Optimierungen bei der Strukturierung von TiO2/SiO2 DBR-basierenden Filtern konnte erzielt werden. Mit der CCP (engl. Capacitively Coupling Plasma)-RIE, wurde eine Ätzrate von 20 nm/min erreicht, wobei Fotolack als Ätzmaske diente. Mit der ICP (engl. Inductively Coupling Plasma)-RIE, wurden die Ätzrate von mehr als 60 nm/min mit einem Verhältniss der Ar/SF6 Gasflüssen von 10/10 sccm und Fotolack als Ätzmasken erzielt. Eine Ätzrate von 80 bis 90 nm/min wurde erreicht, hier diente ITO als Ätzmaske. Ausgezeichnete geätzte Profile wurden durch den Ätzprozess unter Verwendung von 500 W ICP/300 W RF-Leistung und Ar/SF6 Gasflüsse von 20/10 sccm erreicht. Die Ergebnisse dieser Arbeit ermöglichen die Realisierung eines breiten Spektralbereichs der Filter-Arrays im Nano-Spektrometer.

Segmentation and Alignment of Speech and Sketching in a Design Environment

Sketches are commonly used in the early stages of design. Our previous system allows users to sketch mechanical systems that the computer interprets. However, some parts of the mechanical system might be too hard or too complicated to express in the sketch. Adding speech recognition to create a multimodal system would move us toward our goal of creating a more natural user interface. This thesis examines the relationship between the verbal and sketch input, particularly how to segment and align the two inputs. Toward this end, subjects were recorded while they sketched and talked. These recordings were transcribed, and a set of rules to perform segmentation and alignment was created. These rules represent the knowledge that the computer needs to perform segmentation and alignment. The rules successfully interpreted the 24 data sets that they were given.

Efficient fuzzy control of a rotary inverted pendulum based on LQR mapping

This paper develops fuzzy methods for control of the rotary inverted pendulum, an underactuated mechanical system. Two control laws are presented, one for swing up and another for the stabilization. The pendulum is swung up from the vertical down stable position to the upward unstable position in a controlled trajectory. The rules for the swing up are heuristically written such that each swing results in greater energy build up. The stabilization is achieved by mapping a stabilizing LQR control law to two fuzzy inference engines, which reduces the computational load compared with using a single fuzzy inference engine. The robustness of the balancing control is tested by attaching a bottle of water at the tip of the pendulum.

Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor

In this Thesis, the development of the dynamic model of multirotor unmanned aerial vehicle with vertical takeoff and landing characteristics, considering input nonlinearities and a full state robust backstepping controller are presented. The dynamic model is expressed using the Newton-Euler laws, aiming to obtain a better mathematical representation of the mechanical system for system analysis and control design, not only when it is hovering, but also when it is taking-off, or landing, or flying to perform a task. The input nonlinearities are the deadzone and saturation, where the gravitational effect and the inherent physical constrains of the rotors are related and addressed. The experimental multirotor aerial vehicle is equipped with an inertial measurement unit and a sonar sensor, which appropriately provides measurements of attitude and altitude. A real-time attitude estimation scheme based on the extended Kalman filter using quaternions was developed. Then, for robustness analysis, sensors were modeled as the ideal value with addition of an unknown bias and unknown white noise. The bounded robust attitude/altitude controller were derived based on globally uniformly practically asymptotically stable for real systems, that remains globally uniformly asymptotically stable if and only if their solutions are globally uniformly bounded, dealing with convergence and stability into a ball of the state space with non-null radius, under some assumptions. The Lyapunov analysis technique was used to prove the stability of the closed-loop system, compute bounds on control gains and guaranteeing desired bounds on attitude dynamics tracking errors in the presence of measurement disturbances. The controller laws were tested in numerical simulations and in an experimental hexarotor, developed at the UFRN Robotics Laboratory