On Modelling, System Identification and Control of Servo-Systems with a Flexible Load

The present study was done with two different servo-systems. In the first system, a servo-hydraulic system was identified and then controlled by a fuzzy gainscheduling controller. The second servo-system, an electro-magnetic linear motor in suppressing the mechanical vibration and position tracking of a reference model are studied by using a neural network and an adaptive backstepping controller respectively. Followings are some descriptions of research methods. Electro Hydraulic Servo Systems (EHSS) are commonly used in industry. These kinds of systems are nonlinearin nature and their dynamic equations have several unknown parameters.System identification is a prerequisite to analysis of a dynamic system. One of the most promising novel evolutionary algorithms is the Differential Evolution (DE) for solving global optimization problems. In the study, the DE algorithm is proposed for handling nonlinear constraint functionswith boundary limits of variables to find the best parameters of a servo-hydraulic system with flexible load. The DE guarantees fast speed convergence and accurate solutions regardless the initial conditions of parameters. The control of hydraulic servo-systems has been the focus ofintense research over the past decades. These kinds of systems are nonlinear in nature and generally difficult to control. Since changing system parameters using the same gains will cause overshoot or even loss of system stability. The highly non-linear behaviour of these devices makes them ideal subjects for applying different types of sophisticated controllers. The study is concerned with a second order model reference to positioning control of a flexible load servo-hydraulic system using fuzzy gainscheduling. In the present research, to compensate the lack of dampingin a hydraulic system, an acceleration feedback was used. To compare the results, a pcontroller with feed-forward acceleration and different gains in extension and retraction is used. The design procedure for the controller and experimental results are discussed. The results suggest that using the fuzzy gain-scheduling controller decrease the error of position reference tracking. The second part of research was done on a PermanentMagnet Linear Synchronous Motor (PMLSM). In this study, a recurrent neural network compensator for suppressing mechanical vibration in PMLSM with a flexible load is studied. The linear motor is controlled by a conventional PI velocity controller, and the vibration of the flexible mechanism is suppressed by using a hybrid recurrent neural network. The differential evolution strategy and Kalman filter method are used to avoid the local minimum problem, and estimate the states of system respectively. The proposed control method is firstly designed by using non-linear simulation model built in Matlab Simulink and then implemented in practical test rig. The proposed method works satisfactorily and suppresses the vibration successfully. In the last part of research, a nonlinear load control method is developed and implemented for a PMLSM with a flexible load. The purpose of the controller is to track a flexible load to the desired position reference as fast as possible and without awkward oscillation. The control method is based on an adaptive backstepping algorithm whose stability is ensured by the Lyapunov stability theorem. The states of the system needed in the controller are estimated by using the Kalman filter. The proposed controller is implemented and tested in a linear motor test drive and responses are presented.

Direct torque control of permanent magnet synchronous machines - analysis and implementation

Thedirect torque control (DTC) has become an accepted vector control method besidethe current vector control. The DTC was first applied to asynchronous machines,and has later been applied also to synchronous machines. This thesis analyses the application of the DTC to permanent magnet synchronous machines (PMSM). In order to take the full advantage of the DTC, the PMSM has to be properly dimensioned. Therefore the effect of the motor parameters is analysed taking the control principle into account. Based on the analysis, a parameter selection procedure is presented. The analysis and the selection procedure utilize nonlinear optimization methods. The key element of a direct torque controlled drive is the estimation of the stator flux linkage. Different estimation methods - a combination of current and voltage models and improved integration methods - are analysed. The effect of an incorrect measured rotor angle in the current model is analysed andan error detection and compensation method is presented. The dynamic performance of an earlier presented sensorless flux estimation method is made better by improving the dynamic performance of the low-pass filter used and by adapting the correction of the flux linkage to torque changes. A method for the estimation ofthe initial angle of the rotor is presented. The method is based on measuring the inductance of the machine in several directions and fitting the measurements into a model. The model is nonlinear with respect to the rotor angle and therefore a nonlinear least squares optimization method is needed in the procedure. A commonly used current vector control scheme is the minimum current control. In the DTC the stator flux linkage reference is usually kept constant. Achieving the minimum current requires the control of the reference. An on-line method to perform the minimization of the current by controlling the stator flux linkage reference is presented. Also, the control of the reference above the base speed is considered. A new estimation flux linkage is introduced for the estimation of the parameters of the machine model. In order to utilize the flux linkage estimates in off-line parameter estimation, the integration methods are improved. An adaptive correction is used in the same way as in the estimation of the controller stator flux linkage. The presented parameter estimation methods are then used in aself-commissioning scheme. The proposed methods are tested with a laboratory drive, which consists of a commercial inverter hardware with a modified software and several prototype PMSMs.

Päällystävän paperikoneen vesikiertojen mallinnus

Työssä mallinnettiin kevyesti päällystettyjä aikakauslehtipapereita valmistavan paperikoneen vesikierrot Balas-ohjelman avulla. Mallin avulla selvitettiin paperikoneelle suunniteltujen muutosten vaikutuksia haitallisten aineiden tasoihin, muihin mallinnettuihin parametreihin ja vedenkulutukseen. Mallin luotettavuutta testattiin käytännössä tehdyillä muutoksilla. Vesinäytteistä haitallisina aineina tarkasteltiin lipofiilisten uuteaineiden, kalsiumin, alumiinin, raudan, piin ja sulfaatin pitoisuuksia. Pohjapaperinäytteistä määritettiin lipofiilisten uuteaineiden sekä kalsiumin ja alumiinin pitoisuudet. Paperikoneelle suunniteltuja muutoksia olivat kiekkosuodattimien kirkkaan suodoksen käyttö viiraosan suihkuvetenä ja päällystyksen yhteydessä syntyvän pastajätteen käyttö pohjapaperin täyteaineena. Kirkkaan suodoksen käytön lisäämisellä pyrittiin vähentämään raakaveden käyttöä. Pastajäte sisältää arvokkaita raaka-aineita, jotka kannattaisi hyödyntää paperitehtaalla. Nykyisin pastajäte kuljetetaan läjitysalueelle. Balas-mallin todettiin mallintavan melko luotettavasti liuenneiden haitallisten aineiden pitoisuuksien sekä muista parametreista muun muassa sakeuden ja tuhkapitoisuuden muutoksia. Pastajätteen palautuksen mallinnuksessa haitallisten aineiden pitoisuudet laskivat prosessissa. Tämä toteutui koeajossa, koska jätepastasta suurin osa oli vettä, joka huuhtoi prosessia. Kirkkaan suodoksen käyttö suihkuvetenä ei nostanut epäorgaanisten haitallisten aineiden pitoisuuksia niin paljon kuin malli ennusti. Todennäköisesti haitalliset aineet saostuivat tai poistuivat tuotteen mukana prosessista. Kirkassuodos-koeajon aikana otetussa pohjapaperinäytteessä kiinteän kalsiumin pitoisuus oli 40 % ja kiinteän alumiinin pitoisuus 11 % korkeampi mutta uuteaineiden pitoisuus 20 % alhaisempi kuin referenssipohjapaperissa.

DTC-OHJATUN TAHTIKONEKÄYTÖN PYÖRIMISNOPEUSSÄÄDÖN ANALYYSI INTEGROIDUN SIMULOINTIMALLIN AVULLA

Työssä rakennettiin integroitu simulointimalli sähkökäytölle, jonka mekaniikka koostuu joustava-akselisesta kaksimassa systeemistä. Lisäksi tarkasteltiin kyseiselle sähkökäytölle ominaisia piirteitä ja niiden aiheuttamia ongelmia eri sovelluksissa, sekä tutkittiin teollisuudessa yleisesti esiintyvän pyörimisnopeussäädön, PI-säädön, parametrien vaikutusta kyseisen mekaniikan omaaviin sähkökäyttöihin. Taajuusmuuttajalle kehiteltiin yksinkertaistettu simulointimalli, jolla pystytään pienentämään merkittävästi simuloinnin laskenta-aikaa. Vääntövärähtelyiden kompensointiin tutkittiin optimaalista tilasäätöä, jossa Kalman suotimella estimoidaan systeemin tilojen lisäksi myös kuormamomentti ja jossa nopeussäätö suunnitellaan lineaarisella neliöllisellä menetelmällä (Linear Quadratic).

Monitoring the viability of citrus rootstocks seeds stored under refrigeration

The citrus nursery tree is produced through the bud grafting process, in which rootstock is usually grown from seed germination. The objective of this research was to evaluate, in two dissimilar environmental conditions, the viability and polyembryony expression of five citrus rootstocks seeds stored in different periods under refrigeration. The rootstock varieties evaluated were: Rangpur lime (Citrus limonia Osb. cv. Limeira), Trifoliate orange (Poncirus trifoliata Raf. cv. Limeira), Citrumelo (P. trifoliata x C. paradisi Macf. cv. Swingle), Sunki mandarin (C. sunki Hort. ex Tanaka) and Volkamer lemon (C. volkameriana Ten. & Pasq. cv. Catania 2). The experimental design was the randomized blocks in a 11 x 5 x 2 factorial scheme, evaluating from time zero to the tenth month of storage, the five varieties of rootstock in two environments: germination and growth B.O.D type chamber (Biological Oxygen Demand - Eletrolab Brand Model FC 122) at 25 °C; and greenhouse seedbed with partial temperature control (22 °C to 36 °C) and humidity control (75-85%). The plot had 24 seeds in four replicates, using trays with substrate in greenhouse and Petri dishes with filter paper in B.O.D. chamber. The seed germination rate and polyembryony expression were evaluated monthly. It was concluded that Trifoliate and Citrumelo Swingle seeds can be stored for up to seven months, while Volkamer lemon, Rangpur lime and Sunki seeds can be stored for up to ten months. The polyembryony expression rate was slightly higher when measured in greenhouse than in B.O.D. chamber and remained stable in both environments until the seventh month, from which dropped sharply. Citrumelo Swingle seeds expressed the highest polyembryony rate (18.8%), followed by Rangpur lime and Volkamer lemon (average value of 13.7%), Sunki (9.4%) and Trifoliate (3.2%). Despite some differences among varieties, the viability of rootstock stored seeds can be monitored either in the greenhouse or in B.O.D. germination chamber, the latter being the faster and more suitable method.

Sähkökäyttöjen kaapelivärähtelyt

Taajuudenmuuttajan kytkennän synnyttämä nopea jännitemuutos aiheuttaa pitkään moottorikaapeliin sähköisen värähtelyilmiön. Ilmiö on tullut erityisesti esille uusien nopeasti kytkevien puolijohdetehokytkimien ilmestyttyä markkinoille. Taajuudenmuuttajan lähtöön asennettu jännitteen nousunopeutta rajoittava suodin vähentää kaapelivärähtelyä, mutta riittävän pitkässä kaapelissa värähtely on voimakasta lähtösuotimesta huolimatta. Kaapelivärähtelyilmiön seurauksena moottorikaapelin taajuudenmuuttajan puoleiseen päähän syntyy voimakas virtavärähtely ja moottorin puoleiseen päähän voimakas jännitevärähtely. Sähkökäyttöjen vektorisäätöalgoritmit tekevät ohjauspäätöksiä moottorikaapelin taajuudenmuuttajan päästä tehtyjen virtamittausten perusteella. Säädön päätösväli on niin lyhyt, että kaapelin virtavärähtely ehtii häiritä säädön toimintaa. Tässä työssä on esitetty kaapelivärähtelyä kuvaava taajuudenmuuttajan lähtösuotimen huomioon ottava siirtofunktioperustainen matemaattinen malli. Mallin avulla kaapelivärähtelyilmiötä voi analysoida lineaarisen säätöteorian menetelmillä. Virtavärähtelyn moottorisäätöön tuomiin ongelmiin ratkaisuksi on esitetty virran mittasignaalin käsittelemistä analogisella ja digitaalisella suotimella. Simulointitulosten perusteella ratkaisua voidaan pitää toimivana. Lopuksi esitetään, kuinka avaruusvektoriteorian mukaista induktiomoottorimallia ja kaapelivärähtelymallia voidaan simuloida yhdessä.

Hylky- ja vesijärjestelmän vaikutus kartongin tuotepuhtauteen

Kirjallisuusosassa käsitellään paperi- ja kartonkikoneiden eri vesijärjestelmiä, vedenkäytön vähentämistä ja sen vaikutusta prosessiin. Mikrobiologiaa, mikrobien aiheuttamia prosessiongelmia, mikrobien torjuntaa ja simulointia on myös käsitelty kirjallisuusosassa. Kokeellisessa osassa laadittiin Kartonkikone 1:n massa- ja vesijärjestelmän mikrobiologisen puhtauden simulointimalli Balas-prosessisimulointiohjelmalla. Kartongin mikrobiologinen puhtaus määritettiin kokonaispesäkelukuna. Kokeellinen osa sisälsi pilot-mittakaavan suodatinkoeajoja, joissa määritettiin tarvittavat erotusparametrit simulointimallille, selvitettiin Dynasand-hiekkasuodattimen soveltuvuus suihkuvesien puhdistukseen, Dynadisc-kiekkosuodattimen käyttökelpoisuus kiertoveden puhdistukseen kiertovesisuodattimena ja hiekkasuodattimien esisuodattimena sekä UV-reaktorin soveltuvuus suodatettujen vesien desifiointiin. Simulointimallilla tarkasteltiin eri prosessivaihtoehtojen vaikutus kartongin mikrobiologiseen puhtauteen. Suihkuvesien puhdistaminen hiekkasuodattimilla alentaa kokonaispesäkelukua vain vähän. Koneen ajettavuus paranee suihkuputkien roskaryöppyjen ja viiraosan limoittumisen vähenemisen takia. Kiertovesijärjestelmän pelkkä jakaminen hylkyprosessi- ja sakeudensäätövedeksi aiheuttaa kokonaispesäkeluvun kasvun prosessista poistettavien vesien puhdistumisen takia. Kokonaispesäkeluku minimoidaan poistamalla ylimääräinen vesi hylkysaostajan suodoksena. Suodatettua hylkysaostajan suodoksen ja viiraveden seosta käytetään sekä sakeudensäätö- että hylkyprosessivedeksi. Hylkymassalla on dominoiva vaikutus kokonaispesäkelukuun. Suurin vähennys kokonaispesäkeluvussa saadaan estämällä mikrobikasvu hylkymassassa. Tämä voidaan tehdä kuumentamalla hylkymassa 80 °C:n höyryllä. Suodatuskoeajojen perusteella Dynasand-hiekkasuodattimella voidaan puhdistaa pisaralämmönvaihtimelta saatavaa lämmintä suihkuvettä. Esisuodatettua kiertovettä voidaan puhdistaa Dynasand-hiekkasuodattimella viiran johtotelojen suihkuvedeksi. Dynadisc-kiekkosuodatinta voidaan käyttää hiekkasuodattimen esisuodattimena ja kiertovesisuodattimena. UV-säteily poistaa tehokkaasti mikrobeja suodatetuista vesistä.

Nonlinear prediction based on score function

The linear prediction coding of speech is based in the assumption that the generation model is autoregresive. In this paper we propose a structure to cope with the nonlinear effects presents in the generation of the speech signal. This structure will consist of two stages, the first one will be a classical linear prediction filter, and the second one will model the residual signal by means of two nonlinearities between a linear filter. The coefficients of this filter are computed by means of a gradient search on the score function. This is done in order to deal with the fact that the probability distribution of the residual signal still is not gaussian. This fact is taken into account when the coefficients are computed by a ML estimate. The algorithm based on the minimization of a high-order statistics criterion, uses on-line estimation of the residue statistics and is based on blind deconvolution of Wiener systems [1]. Improvements in the experimental results with speech signals emphasize on the interest of this approach.

Gene filtering with optimal threshold selection

Gene filtering is a useful preprocessing technique often applied to microarray datasets. However, it is no common practice because clear guidelines are lacking and it bears the risk of excluding some potentially relevant genes. In this work, we propose to model microarray data as a mixture of two Gaussian distributions that will allow us to obtain an optimal filter threshold in terms of the gene expression level.

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.

Treatment of micropollutants in municipal wastewater: study of a sequential batch biofilter

All the experimental part of this final project was done at Laboratoire de Biotechnologie Environnementale (LBE) from the École Polytechnique Fédérale de Lausanne (EPFL), Switzerland, during 6 months (November 2013- May 2014). A fungal biofilter composed of woodchips was designed in order to remove micropollutants from the effluents of waste water treatment plants. Two fungi were tested: Pleurotus ostreatus and Trametes versicolor in order to evaluate their efficiency for the removal of two micropollutants: the anti-inflammatory drug naproxen and the antibiotic sulfamethoxazole,. Although Trametes versicolor was able to degrade quickly naproxen, this fungus was not any more active after one week of operation in the filter. Pleurotus ostreatus was, on contrary, able to survive more than 3 months in the filter, showing good removal efficiencies of naproxen and sulfamethoxazole during all this period, in tap water but also in real treated municipal wastewater. Several other experiments have provided insight on the removal mechanisms of these micropollutants in the fungal biofilter (degradation and adsorption) and also allowed to model the removal trend. Fungal treatment with Pleurotus ostreatus grown on wood substrates appeared to be a promising solution to improve micropollutants removal in wastewater.

Monte Carlo derivation of filtered tungsten anode X-ray spectra for dose computation in digital mammography

Abstract Objective: Derive filtered tungsten X-ray spectra used in digital mammography systems by means of Monte Carlo simulations. Materials and Methods: Filtered spectra for rhodium filter were obtained for tube potentials between 26 and 32 kV. The half-value layer (HVL) of simulated filtered spectra were compared with those obtained experimentally with a solid state detector Unfors model 8202031-H Xi R/F & MAM Detector Platinum and 8201023-C Xi Base unit Platinum Plus w mAs in a Hologic Selenia Dimensions system using a direct radiography mode. Results: Calculated HVL values showed good agreement as compared with those obtained experimentally. The greatest relative difference between the Monte Carlo calculated HVL values and experimental HVL values was 4%. Conclusion: The results show that the filtered tungsten anode X-ray spectra and the EGSnrc Monte Carlo code can be used for mean glandular dose determination in mammography.

On Variational Ensemble Kalman Filtering

The Extended Kalman Filter (EKF) and four dimensional assimilation variational method (4D-VAR) are both advanced data assimilation methods. The EKF is impractical in large scale problems and 4D-VAR needs much effort in building the adjoint model. In this work we have formulated a data assimilation method that will tackle the above difficulties. The method will be later called the Variational Ensemble Kalman Filter (VEnKF). The method has been tested with the Lorenz95 model. Data has been simulated from the solution of the Lorenz95 equation with normally distributed noise. Two experiments have been conducted, first with full observations and the other one with partial observations. In each experiment we assimilate data with three-hour and six-hour time windows. Different ensemble sizes have been tested to examine the method. There is no strong difference between the results shown by the two time windows in either experiment. Experiment I gave similar results for all ensemble sizes tested while in experiment II, higher ensembles produce better results. In experiment I, a small ensemble size was enough to produce nice results while in experiment II the size had to be larger. Computational speed is not as good as we would want. The use of the Limited memory BFGS method instead of the current BFGS method might improve this. The method has proven succesful. Even if, it is unable to match the quality of analyses of EKF, it attains significant skill in forecasts ensuing from the analysis it has produced. It has two advantages over EKF; VEnKF does not require an adjoint model and it can be easily parallelized.

Tuottojen tunnistaminen ja kustannuskertymän ennustaminen pitkäaikaishankkeissa: tapaustutkimus

Tutkimuksen tavoitteena oli kehittää Larox Oyj:n alihankintaprojektien kustannuslaskentaa. Yrityksessä oli havaittu, että pitkäaikaishankkeiden kustan-nusten kertymistä pitää pystyä ennustamaan tarkemmin. Konstruktiivisen tutkimusotteen mukaisesti tutkimuksessa luotiin esiymmärrys kohdeyrityksen nykytilanteesta, perehdyttiin vaikuttavaan lainsäädäntöön ja aikaisempaan tutkimustietoon. Kuvaus nykytilanteesta luotiin kohdeyrityksen ja alihankkijan edustajien haastatteluiden avulla, tutustumalla yrityksen toimintaohjeisiin ja keräämällä tietoa projektien kustannusten kertymisestä. Kerätyn tiedon perusteella luotiin konstruktiot eli ratkaisuehdotukset toiminnan kehittämiseksi. Tutkimuksessa kehitettiin raportointimalli alihankintaprojektien edistymisen raportointiin. Mallin tavoitteena on yhtenäistää alihankkijoiden raportointikäy-täntöjä ja tuottaa sellaista tietoa, jota Larox tarvitsee tuottojen tunnistamista varten. Toinen konkreettinen ratkaisu on alihankintaprojektien kustannuskertymän ennustetyökalu, jonka avulla voidaan ennakoida hankkeen valmiusasteen kehitystä projektin aikana. Malli on rakennettu yhden konetyypin projektien ennustamiseen, mutta siitä voidaan helposti muokata ennustemallit muidenkin projektityyppien tarpeisiin. Tarkempien ennusteiden avulla voidaan kehittää johdon raportointia ja parantaa kassavirtojen ennustettavuutta.

Kalman Filtering in Online Paper Quality Assessment

Controlling the quality variables (such as basis weight, moisture etc.) is a vital part of making top quality paper or board. In this thesis, an advanced data assimilation tool is applied to the quality control system (QCS) of a paper or board machine. The functionality of the QCS is based on quality observations that are measured with a traversing scanner making a zigzag path. The basic idea is the following: The measured quality variable has to be separated into its machine direction (MD) and cross direction (CD) variations due to the fact that the QCS works separately in MD and CD. Traditionally this is done simply by assuming one scan of the zigzag path to be the CD profile and its mean value to be one point of the MD trend. In this thesis, a more advanced method is introduced. The fundamental idea is to use the signals’ frequency components to represent the variation in both CD and MD. To be able to get to the frequency domain, the Fourier transform is utilized. The frequency domain, that is, the Fourier components are then used as a state vector in a Kalman filter. The Kalman filter is a widely used data assimilation tool to combine noisy observations with a model. The observations here refer to the quality measurements and the model to the Fourier frequency components. By implementing the two dimensional Fourier transform into the Kalman filter, we get an advanced tool for the separation of CD and MD components in total variation or, to be more general, for data assimilation. A piece of a paper roll is analyzed and this tool is applied to model the dataset. As a result, it is clear that the Kalman filter algorithm is able to reconstruct the main features of the dataset from a zigzag path. Although the results are made with a very short sample of paper roll, it seems that this method has great potential to be used later on as a part of the quality control system.