Hybrid LC Filter for Power Electronic Drives: Theory and Implementation

Power electronic converter drives use, for the sake of high efficiency, pulse-width modulation that results in sequences of high-voltage high-frequency steep-edged pulses. Such a signal contains a set of high harmonics not required for control purposes. Harmonics cause reflections in the cable between the motor and the inverter leading to faster winding insulation ageing. Bearing failures and problems with electromagnetic compatibility may also result. Electrical du/dt filters provide an effective solution to problems caused by pulse-width modulation, thereby increasing the performance and service life of the electrical machines. It is shown that RLC filters effectively decrease the reflection phenomena in the cable. Improved (simple, but effective) solutions are found for both differential- and common-mode signals; these solutions use a galvanic connection between the RLC filter star point and the converter DC link. Foil chokes and film capacitors are among the most widely used components in high-power applications. In actual applications they can be placed in different parts of the cabinet. This fact complicates the arrangement of the cabinet and decreases the reliability of the system. In addition, the inductances of connection wires may prevent filtration at high frequencies. This thesis introduces a new hybrid LC filter that uses a natural capacitance between the turns of the foil choke based on integration of an auxiliary layer into it. The main idea of the hybrid LC filter results from the fact that both the foil choke and the film capacitors have the same roll structure. Moreover, the capacitance between the turns (“intra capacitance”) of the foil inductors is the reason for the deterioration of their properties at high frequencies. It is shown that the proposed filter has a natural cancellation of the intra capacitance. A hybrid LC filter may contain two or more foil layers isolated from each other and coiled on a core. The core material can be iron or even air as in the filter considered in this work. One of the foils, called the main foil, can be placed between the inverter and the motor cable. Other ones, called auxiliary foils, may be connected in star to create differential-mode noise paths, and then coupled to the DC link midpoint to guarantee a traveling path, especially for the common-mode currents. This way, there is a remarkable capacitance between the main foil and the auxiliary foil. Investigations showed that such a system can be described by a simple equivalent LC filter in a wide range of frequencies. Because of its simple hybrid construction, the proposed LC filter can be a cost-effective and competitive solution for modern power drives. In the thesis, the application field of the proposed filter is considered and determined. The basics of hybrid LC filter design are developed further. High-frequency behaviour of the proposed filter is analysed by simulations. Finally, the thesis presents experimental data proving that the hybrid LC filter can be used for du/dt of PWM pulses and reduction of common-mode currents.

Disseny pràctic d'un transmissor d'àudio complert utilitzant una modulació AM

Un transmissor d’AM (modulació per amplitud), utilitza una de les moltes tècniques de modulació existents avui en dia. És molta la importància que té la modulació de senyals i aquests en són alguns exemples: -Facilita la propagació del senyal per cable o per aire. -Ordena l’espectre, distribuint Canals a les diferents informacions. -Disminueix la dimensió de les antenes. -Optimitza l’ample de banda de cada canal. -Evita interferències entre Canals. -Protegeix la informació de les degradacions per soroll. -Defineix la qualitat de la informació transmesa. L’objectiu principal d’aquest treball, serà realitzar un transmissor d’AM utilitzant components electrònics disponibles al mercat. Això es realitzarà mitjançant diversos procediments de disseny. Es realitzarà un procediment de disseny teòric, tot utilitzant els “datasheets” dels diferents components. Es realitzarà un procediment de disseny mitjançant la simulació, gràcies al qual es podrà provar el disseny del dispositiu i realitzar-ne algunes parts impossibles a reproduir teòricament. I finalment es realitzarà el dispositiu a la pràctica. Entre les conclusions més rellevants obtingudes en aquest treball, voldríem destacar la importància de la simulació per poder dissenyar circuits de radiofreqüència. En aquest treball s’ha demostrat que gràcies a una bona simulació, el primer prototip de dispositiu creat ens ha funcionat a la perfecció. D’altre banda, també comentar la importància d’un disseny adequat d’antena per poder aprofitar al màxim el rendiment del nostre dispositiu. Per concloure, la realització d’un aparell transmissor aporta unes nocions equilibrades d’electrònica i telecomunicacions importants per al disseny de dispositius de comunicació.

Kokonaiskustannusajattelu hankintastrategian muodostamisen tukena

Työn tavoitteena on syventää ymmärrystä siitä, miten hankintatoimi voi hyödyntää kokonaiskustannusajattelua hankintastrategiaan liittyvien päätösten, kuten toimittajamäärän ja toimittajavalinnan tukena. Työn tarkoituksena on kehittää case- yrityksen kaapelituoteryhmälle kokonaiskustannusmalli ja antaa suosituksia tämän tuoteryhmän hankintaan soveltuvasta hankintastrategiasta. Tutkimus on luonteeltaan laadullinen ja se jakaantuu teoreettiseen ja empiiriseen osaan. Teoreettinen tutkimus perustuu kirjallisuustutkimukseen kokonaiskustannusajattelun, hankintastrategian osatekijöiden ja hankintastrategian muodostamisen teorioista. Empiirinen tutkimus on metodologialtaan kuvaileva ja vertaileva tapaustutkimus, jossa keskitytään kaapeleiden hankintaan. Empiirisessä osassa selvitetään kaapeleiden hankinnan nykytila, muodostetaan kokonaiskustannusmalli kaapeleille ja määritetään tärkeimmät kaapeleiden hankinnan kustannuksia aiheuttavat tekijät sekä muut hankintastrategian muodostamisessa huomioitavat tekijät. Hankintatoimi voi hyödyntää kokonaiskustannusajattelua useiden eri hankintapäätösten tukena. Tutkimuksessa kokonaiskustannusanalyysin avulla vertailtiin valmistajien ja tukkuliikkeiden välisiä kokonaiskustannuksia. Analyysin pohjalta valmistajien todettiin olevan kokonaiskustannuksiltaan huomattavasti edullisempia kaapelitoimittajia kuin tukkuliikkeet. Kokonaiskustannusanalyysi auttoi myös osoittamaan, että tukkuliikkeiden käyttö nykyisellä toimintamallilla on kannattamatonta ja, ettei tukkuliikkeiden palveluja hyödynnetä parhaalla mahdollisella tavalla.

Active du/dt Filtering for Variable-Speed AC Drives

An oscillating overvoltage has become a common phenomenon at the motor terminal in inverter-fed variable-speed drives. The problem has emerged since modern insulated gate bipolar transistors have become the standard choice as the power switch component in lowvoltage frequency converter drives. Theovervoltage phenomenon is a consequence of the pulse shape of inverter output voltage and impedance mismatches between the inverter, motor cable, and motor. The overvoltages are harmful to the electric motor, and may cause, for instance, insulation failure in the motor. Several methods have been developed to mitigate the problem. However, most of them are based on filtering with lossy passive components, the drawbacks of which are typically their cost and size. In this doctoral dissertation, application of a new active du/dt filtering method based on a low-loss LC circuit and active control to eliminate the motor overvoltages is discussed. The main benefits of the method are the controllability of the output voltage du/dt within certain limits, considerably smaller inductances in the filter circuit resulting in a smaller physical component size, and excellent filtering performance when compared with typical traditional du/dt filtering solutions. Moreover, no additional components are required, since the active control of the filter circuit takes place in the process of the upper-level PWM modulation using the same power switches as the inverter output stage. Further, the active du/dt method will benefit from the development of semiconductor power switch modules, as new technologies and materials emerge, because the method requires additional switching in the output stage of the inverter and generation of narrow voltage pulses. Since additional switching is required in the output stage, additional losses are generated in the inverter as a result of the application of the method. Considerations on the application of the active du/dt filtering method in electric drives are presented together with experimental data in order to verify the potential of the method.

Atual estágio de desenvolvimento da tecnologia GTL e perspectivas para o Brasil

Although the production of liquid fuels from coal, natural gas (CTL and GTL processes) and other carbon sources has been discovered 90 years ago, the interest was renewed in the last years motivated by stranded gas reserves and by petroleum market instability. This review intends to show the scenario of these technologies nowadays, discussing the applied technologies, the steps in an industrial plant, the ways to produce syngas and liquid fuels, the catalysts used, the type of reactors and the operating plants with their respective capacities, besides the technical, economical and environmental viability, challenges and perspectives for Brazil.

Investigação eletroquímica e calorimétrica da interação de novos agentes antitumorais biscatiônicos com DNA

Biscationic amidines bind in the DNA minor groove and present biological activity against a range of infectious diseases. Two new biscationic compounds (bis-α,ω-S-thioureido, amino and sulfide analogues) were synthesized in good yields and fully characterized, and their interaction with DNA was also investigated. Isothermal titration calorimetry (ITC) was used to measure the thermodynamic properties of binding interactions between DNA and these ligands. A double stranded calf thymus DNA immobilized on an electrode surface was used to study the possible DNA-interacting abilities of these compounds towards dsDNA in situ. A remarkable interaction of these compounds with DNA was demonstrated and their potential application as anticancer agents was furthered.

Maakaapelien kuntomittaukset

Kandidaatintyössä on luotu katsaus maakaapelirakenteisiin ja erilaisiin maakaapelien kuntomittausmenetelmiin, kuten osittaispurkausmittaus ja dielektrisen vasteen mittaaminen. Työssä on myös esitelty muutamat yleisimmät mittauslaitteistot ja sivuttu lyhyesti mittausten hyödyntämistä kunnossapidossa.

Efeito do tratamento de sementes de algodão com fungicidas no controle do tombamento de plântulas causado por Rhizoctonia solani

Este trabalho foi desenvolvido na Embrapa Agropecuária Oeste, em Dourados, MS, e teve por objetivo avaliar a eficiência de alguns fungicidas, aplicados no tratamento de sementes de algodão (Gossypium hirsutum), no controle do tombamento de plântulas causado por Rhizoctonia solani. Foi realizado teste em casa de vegetação, utilizando a cultivar DeltaOpal. Sementes tratadas e não tratadas com fungicidas foram semeadas em areia contida em bandejas plásticas, dispostas em orifícios individuais, eqüidistantes e a 3 cm de profundidade. A inoculação com R. solani foi feita pela distribuição homogênea do inóculo do fungo na superfície do substrato. O fungo foi cultivado por 35 dias em sementes de aveia autoclavadas e trituradas em moinho (1 mm). Foram utilizados 9 g de inóculo por bandeja de areia. Foi observado efeito do tratamento fungicida na emergência inicial e final de plântulas, com destaque para triadimenol + pencycuron + tolylfluanid e triadimenol + tolylfluanid, seguidos de carboxin + thiram, triadimenol e carboxin + thiram + carbendazim. Os tratamentos mais eficientes no controle do tombamento de pós-emergência do algodoeiro foi obtido com a mistura triadimenol + pencycuron + tolylfluanid, seguida de triadimenol, triadimenol + tolylfluanid e carboxin+thiram. Nenhum dos fungicidas testados foi fitotóxico ao algodão.

Seleção de plantas resistentes e de fungicidas para o controle da podridão do colo do maracujazeiro causada por Nectria haematococca

A podridão do colo do maracujazeiro (Passiflora edulis f. flavicarpa), causada por Nectria haematococca e Phytophthora spp., é um dos principais problemas da cultura no Brasil, sendo responsável pelo decréscimo da produtividade e constantes migrações da cultura. O controle da doença é basicamente preventivo, visando a não introdução dos patógenos na área. O presente trabalho visou 1) avaliar métodos de inoculação de N. haematococca e a suscetibilidade do maracujazeiro amarelo ao patógeno em diferentes idades; 2) a ocorrência de "damping-off"; 3) o comportamento de diferentes espécies do gênero Passiflora e de genótipos de P. edulis f. flavicarpa ao patógeno; e 4) realizar testes de controle químico. Inoculações no colo de maracujazeiro amarelo proporcionaram maiores níveis de doença comparadas às inoculações no sistema radicular. Os resultados sugerem que N. haematococca seja um patógeno que penetra por ferimentos. A mortalidade foi maior quando a inoculação foi realizada em plantas mais jovens e quando N. haematococca e Phytophthora nicotianae estavam associados. Dentre as 17 espécies do gênero Passiflora avaliadas para resistência a N. haematococca, P. nitida, P. laurifolia e P. alata foram as menos lesionadas. Os genótipos de P. edulis f. flavicarpa mais resistentes ao patógeno foram os procedentes de Morretes (PR), Sapucaí (SP) e a cultivar Maguari. Os fungicidas prochloraz, thiabendazole, thiram+thiabendazole, carbendazim, triflumizole e captan exerceram controle erradicante em solo infestado com N. haematococca. Os fungicidas prochloraz e carbendazim evitaram a morte de plantas em tratamento curativo, com os melhores resultados quando aplicados dois dias após a inoculação, comparado a sete dias.

Dried powders of velvetbean and pine bark added to soil reduce Rhizoctonia solani-induced disease on soybean

Diseases induced by Rhizoctonia solani, like damping-off and root and stem rot on soybean (Glycine max), are a serious problem around the world. The addition of some organic material to soil is an alternative control for these diseases. In this study, benzaldehyde and dried powders of kudzu (Pueraria lobata), velvetbean or mucuna (Mucuna deeringiana), and pine bark (Pinus spp.) were used in an attempt to improve soybean plant growth and to reduce the disease R. solani (AG-4) causes on soybean. Benzaldehyde (0.1-0.4 mL/kg of soil) and velvetbean (25-100 g/kg) significantly (P < 0.05) reduced mycelial growth of R. solani in laboratory tests. In greenhouse experiments, the percentage of non-diseased plants was higher in treatments with pine bark and velvetbean (50-100 g/kg). In soil treated with kudzu (r²=0.91) or velvetbean (r²=0.94), increasing rates of these amendments tended to increase plant fresh mass. In microplot field conditions, soil amended with velvetbean (r²=0.85) and pine-bark (r²=0.61) significantly reduced disease on soybean. Numbers of Bacillus megaterium (r²=0.87) and Trichoderma hamatum (r²=0.92) and hydrolysis of fluorescein diacetate (r²=0.91) were higher in soil amended with increasing rates of velvetbean, indicating an increase in microbial activity. From this study it is concluded that dried powders of velvetbean and pine bark added to soil can reduce Rhizoctonia-induced disease on soybean.

Citrus exocortis viroid and Hop Stunt viroid Doubly infecting grapevines in Brazil

Viroids, non-protein-coding small (246-401 nt) circular single-stranded RNAs with autonomous replication, are currently classified into two families. Within the family Pospiviroidae, Citrus exocortis viroid (CEVd) belongs to the genus Pospiviroid while Hop stunt viroid (HSVd) is the single member of the genus Hostuviroid. These pathogens are distributed worldwide and infect a large number of hosts. In Brazil, isolates of CEVd and HSVd have been detected in both citrus and grapevine. To characterize and study the genetic variability of these viroids, total RNA from leaves of grapevine Vitis vinifera 'Cabernet Sauvignon' and V. labrusca 'Niagara Rosada' from Bento Gonçalves, RS, was used as a template for RT-PCR amplification with specific primers for the five viroids described infecting grapevines [HSVd, CEVd, Grapevine yellow speckle viroid 1 (GYSVd-1), Grapevine yellow speckle viroid 2 (GYSVd-2) and Australian grapevine viroid (AGVd)]. Leaf samples of Citrus medica infected with CEVd from São Paulo were also analyzed. The resulting products were separated by agarose gel electrophoresis and DNA fragments of the expected size were eluted, cloned and sequenced. The grapevine samples analyzed were doubly infected by CEVd and HSVd. A phylogenetic analysis showed that the Brazilian grapevine HSVd variants clustered with other grapevine HSVd variants, forming a specific group separated from citrus variants, whereas the Brazilian CEVd variants clustered with other citrus and grapevine variants.

Nosturin kuormauselimen liitynnän suunnittelu

Paperiteollisuuden prosessituotteista paperia varastoidaan erikokoisina rullina esim. pystyrullavarastoihin. Tämän diplomityön tavoitteena oli kehittää Konecranesin prosessinosturille liityntä paperirullia käsittelevän kuormauselimen ja nosturin välille. Tavoitteena oli löytää kiinnitysmenetelmä, joka mahdollistaa nosturien joustavan käytön mahdollisimman pienin muutoksin itse nosturin standardoituun rakenteeseen. Pääasiallisena syventymisen kohteena oli alipaineella paperirullia nostettavan kuormauselimen liityntä. Liitynnän on kyettävä joustamaan ja vaimentamaan paperirullia nostavaan kuormauselimeen nosturin liikkeelle lähdöstä ja pysähtymisestä syntyvät herätteet ja voimat. Nosturin liikenopeus on kyettävä pitämään mahdollisimman suurena lyhyen rullienkäsittelyajan saavuttamiseksi. Liitynnältä vaaditaan kykyä ottaa kuormauselin vastaan mahdollisimman suurella nostonopeudella. Lisäksi kuorman ja kuormauselimen oskillaatio on vaimennettava mahdollisimman nopeasti samalla rajoittaen heilunnasta aiheutuvaa maksimi siirtymää. Liitynnän suunnittelu pohjautuu nosturin, kuormauselimen ja paperirullan muodostaman systeemin teoreettiseen tarkasteluun. Systeemistä laadittiin dynaaminen malli, jonka avulla tutkittiin oskillaation ja syntyvien kiihtyvyyksien suuruutta. Näiden teoriaan perustuvien tuloksien pohjalta suunniteltiin vaimennukseen tarvittavat vaimennuselementit ja liitynnän rakenne. Suunnittelutyön tuloksena saatiin liitynnälle alustava rakenne, joka mahdollistaa käytettävien vaimennuselementtien vaihtamisen ja siten tehokkaan heilunnan vaimmennuksen. Suunnittelutyön lähtökohtana oleva teoreettinen tarkastelu vaatii tuekseen esim. prototyypin kokeellisten tulosten saamiseksi ennen lopullisen tuotteen valmistamista. Suunnitteluprosessissa noudatettiin järjestelmällisen tuotesuunnittelun vaiheita ja menetelmiä.

Multilevel converter modulation: implementation and analysis

Multilevel converters provide an attractive solution to bring the benefits of speed-controlled rotational movement to high-power applications. Therefore, multilevel inverters have attracted wide interest in both the academic community and in the industry for the past two decades. In this doctoral thesis, modulation methods suitable especially for series connected H-bridge multilevel inverters are discussed. A concept of duty cycle modulation is presented and its modification is proposed. These methods are compared with other well-known modulation schemes, such as space-vector pulse width modulation and carrier-based modulation schemes. The advantage of the modified duty-cycle modulation is its algorithmic simplicity. A similar mathematical formulation for the original duty cycle modulation is proposed. The modified duty cycle modulation is shown to produce well-formed phase-to-neutral voltages that have lower total harmonic distortion than the space-vector pulse width modulation and the duty cycle modulation. The space-vector-based solution and the duty cycle modulation, on the other hand, result in a better-quality line-to-line voltage and current waveform. The voltage of the DC links in the modules of the series-connected H-bridge inverter are shown to fluctuate while they are under load. The fluctuation causes inaccuracies in the voltage production, which may result in a failure of the flux estimator in the controller. An extension for upper-level modulation schemes, which changes the switching instants of the inverter so that the output voltage meets the reference voltage accurately regardless of the DC link voltages, is proposed. The method is shown to reduce the error to a very low level when a sufficient switching frequency is used. An appropriate way to organize the switching instants of the multilevel inverter is to make only one-level steps at a time. This causes restrictions on the dynamical features of the modulation schemes. The produced voltage vector cannot be rotated several tens of degrees in a single switching period without violating the above-mentioned one-level-step rule. The dynamical capabilities of multilevel inverters are analyzed in this doctoral thesis, and it is shown that the multilevel inverters are capable of operating even in dynamically demanding metal industry applications. In addition to the discussion on modulation schemes, an overvoltage in multilevel converter drives caused by cable reflection is addressed. The voltage reflection phenomenon in drives with long feeder cables causes premature insulation deterioration and also affects the commonmode voltage, which is one of the main reasons for bearing currents. Bearing currents, on the other hand, cause fluting in the bearings, which results in premature bearing failure. The reflection phenomenon is traditionally prevented by filtering, but in this thesis, a modulationbased filterless method to mitigate the overvoltage in multilevel drives is proposed. Moreover, the mitigation method can be implemented as an extension for upper-level modulation schemes. The method exploits the oscillations caused by two consecutive voltage edges so that the sum of the oscillations results in a mitigated peak of the overvoltage. The applicability of the method is verified by simulations together with experiments with a full-scale prototype.

Learning Robot Motions from Visual Sensing

Learning from demonstration becomes increasingly popular as an efficient way of robot programming. Not only a scientific interest acts as an inspiration in this case but also the possibility of producing the machines that would find application in different areas of life: robots helping with daily routine at home, high performance automata in industries or friendly toys for children. One way to teach a robot to fulfill complex tasks is to start with simple training exercises, combining them to form more difficult behavior. The objective of the Master’s thesis work was to study robot programming with visual input. Dynamic movement primitives (DMPs) were chosen as a tool for motion learning and generation. Assuming a movement to be a spring system influenced by an external force, making this system move, DMPs represent the motion as a set of non-linear differential equations. During the experiments the properties of DMP, such as temporal and spacial invariance, were examined. The effect of the DMP parameters, including spring coefficient, damping factor, temporal scaling, on the trajectory generated were studied.

LVDC-tiedonsiirtokanavan mallinnus

Yleisesti sähkönjakelussa käytettyä vaihtosähköä ollaan korvaamassa tasasähköllä pienjänniteverkoissa. Vaihtojännitteeseen verrattuna tasajännitteen käyttö mahdollistaa korkeampien jännitetasojen käytön ja paremman sähkönlaadun ja sitä kautta paremman käyttövarmuuden. Sähköverkossa käytettävien muuntajien ja suuntaajien osalta tarvitaan uudenlaisia rakenteita ja kehitystä, että tasajännitejakelun käyttöönotto olisi mahdollista. Oikeiden ratkaisujen löytämiseksi on tehty jo paljon tutkimusta, mutta valmiita järjestelmiä ei vielä ole laajemmin otettu käyttöön. Tasajänniteverkot tarvitsevat myös ohjauksen, säädön ja valvonnan takia tiedonsiirto-ominaisuuksia. Tietoa on mahdollista siirtää samassa kaapelissa, jota käytetään myös sähkön siirtoon. Haasteita asettavat mm. kaapeliin kytketyminen ja tiedonsiirtokanavassa esiintyvät häiriöt. Työssä muodostetaan malli tiedonsiirtokanavasta, jonka avulla voidaan mallintaa verkon käyttäytymistä eri taajuuksilla sekä simuloida sähköverkkoon muodostettavia tiedonsiirtokanavia.