An examination of sudden acceleration. Final report.

National Highway Traffic Safety Administration, Washington, D.C.

Survey of driver aid devices for improved fuel economy. Interim report.

Transportation Systems Center, Cambridge, Mass.

Road tests of alertness variables. Final report.

National Highway Traffic Safety Administration, Washington, D.C.

Estudo de um sistema de frenagem eletromagnética empregando correntes parasitas

This work deals with the analytical, computational and experimental study of phenomena related to the Eddy current induction in low permeability means for embedded electromagnetic braking systems applications. The phenomena of forces generation in opposing to the variation of stationary magnetic flux produced by DC power supplies, set in motion by the application of an external propulsive force are addressed. The study is motivated by search for solving the problem of speed control of PIGs used to verifying and maintaining pipelines, and is led based on the analytical models synthesis, validated by means of computer simulations in Finite Elements environment, provided by engineering support software; and with experimental tests conducted under controlled laboratory conditions. Finally, a damping systems design methodology based on analyzes results conducted throughout the study is presented

Regulador eletromagnético de frequência aplicado no controle de velocidade de geradores eólicos

The constant necessity for new sources of renewable energy is increasingly promoting the increase of investments in this area. Among other sources, the wind power has been becoming prominent. It is important to promote the search for the improvement of the technologies involved in the topologies of the wind turbines, seeking for alternatives which enhance the gotten performance, despite the irregularity of the wind speed. This study presents a new system for speed control, in this case applied to the wind turbines - the Electromagnetic Frequency Regulator (EFR). One of the most used devices in some topologies is the mechanical gearboxes which, along with a short service life, often represent sources of noise and defects. The EFR does not need these transmission boxes, representing a technological advancement, using for that an adapted induction machine, in which the stator becomes mobile, supportive to the axis of the turbine. In the topology used in this study, the EFR also allows us to leave out the usage of the eletronic converters to establish the coupling between the generator and the electrical grid. It also the reason why it provides the possibility of obtaining the generation in alternating current, with constant voltage and frequency, where there is no electrical grid. Responsable for the mechanical speed control of the generator, the EFR can be useful in other transmission systems in which the mechanical speed control output is the objective. In addition, the EFR operates through the combination of two inputs, a mechanical and other electrical. It multiplies the possibilities of application because it is able to synergistic coupling between different arrays of energy, and, for such reasons, it enables the various sources of energy involved to be uncoupled from the network, being the synchronous generator responsible for the system connection with the electrical grid, simplifying the control strategies on the power injected in it. Experimental and simulation results are presented through this study, about a wind turbine, validating the proposal related to the efficience in the speed control of the system for different wind conditions.

Caracterização da tecnologia de frio comercial e profissional

Hoje em dia a preocupação ambiental e a economia são fatores de sustentabilidade que são tidos em conta em países desenvolvidos, especialmente no seio da União Europeia. Reduzir os consumos de energia é, portanto, um ponto-chave para a redução das emissões de gases com efeito de estufa e aumentar a dependência das energias renováveis. Consequentemente surge então a necessidade de aumentar a eficiência dos equipamentos, em particular no presente caso, equipamentos de refrigeração. Para isso foi adotado pela Comissão Europeia uma rotulagem nos produtos consumidores de energia, em particular na refrigeração, os frigoríficos e congeladores domésticos permitindo informar o consumidor para os equipamentos mais eficientes. Mais recentemente, frigoríficos comerciais e profissionais também terão obrigatoriedade de incluir um rótulo energético na parte externa dos mesmos. Nesses rótulos estão incluídas várias informações técnicas do aparelho representadas de uma forma compreensível e lúdica aos olhos do consumidor mais leigo, entre as quais as classes de eficiência energética. As classes de eficiência energética caracterizam-se pela componente tecnológica dos frigoríficos. Perceber quais os componentes e materiais em particular que promovem uma melhor eficiência, quantificar a sua influência e avaliar os seus custos de integração torna-se assim essencial para toda a cadeia envolvida na produção destes equipamentos. Os fluídos frigorigénios e compressores aparentam ser os que mais exercem influência na eficiência de frigoríficos de baixa potência. Tubos capilares com trocador de calor são uma escolha mais eficiente comparado com o tubo capilar padrão que é utilizado nestes frigoríficos. Por forma a obter informação adicional e relevante do ponto de vista da análise energética realizaram-se simulações para determinação do consumo elétrico anual com recurso ao software Pack Calculation Pro. Entre os fluídos frigorigénios R-134a, R-22 e R-410a, os compressores scroll apresentaram consumos mais reduzidos (no máximo de 16%) do que os compressores alternativos. No caso do amoníaco (R-717) os compressores alternativos consumiram em média 14% menos do que os compressores parafuso. O recurso a velocidade variável em compressores permite reduzir o consumo na ordem dos 25%. Válvulas de expansão eletrónicas trazem reduções no consumo de 1,5% quando comparadas com válvulas de expansão termostáticas em compressores de velocidade variável. O propano (R-290) é um gás que mostra ter um melhor desempenho do que o R-134a e R404a em vários compressores, consumindo 16% menos do que o R-404a. Em função da temperatura exterior, o R-290 também apresentou um bom desempenho consumindo em climas quentes (Belém, Brasil) 24% menos do que o R-404a.

Development and Automatization of a Planar Jet Wind Tunnel for the X-wire Calibration

The scope of this study is to design an automatic control system and create an automatic x-wire calibrator for a facility named Plane Air Tunnel; whose exit creates planar jet flow. The controlling power state as well as automatic speed adjustment of the inverter has been achieved. Thus, the wind tunnel can be run with respect to any desired speed and the x-wire can automatically be calibrated at that speed. To achieve that, VI programming using the LabView environment was learned, to acquire the pressure and temperature, and to calculate the velocity based on the acquisition data thanks to a pitot-static tube. Furthermore, communication with the inverter to give the commands for power on/off and speed control was also done using the LabView VI coding environment. The connection of the computer to the inverter was achieved by the proper cabling using DAQmx Analog/Digital (A/D) input/output (I/O). Moreover, the pressure profile along the streamwise direction of the plane air tunnel was studied. Pressure tappings and a multichannel pressure scanner were used to acquire the pressure values at different locations. Thanks to that, the aerodynamic efficiency of the contraction ratio was observed, and the pressure behavior was related to the velocity at the exit section. Furthermore, the control of the speed was accomplished by implementing a closed-loop PI controller on the LabView environment with and without using a pitot-static tube thanks to the pressure behavior information. The responses of the two controllers were analyzed and commented on by giving suggestions. In addition, hot wire experiments were performed to calibrate automatically and investigate the velocity profile of a turbulent planar jet. To be able to analyze the results, the physics of turbulent planar jet flow was studied. The fundamental terms, the methods used in the derivation of the equations, velocity profile, shear stress behavior, and the effect of vorticity were reviewed.

Parameter optimization for noise and vibration reduction associated with position and speed sensorless control of permanent magnet machines at low speed

With the advantages and popularity of Permanent Magnet (PM) motors due to their high power density, there is an increasing incentive to use them in variety of applications including electric actuation. These applications have strict noise emission standards. The generation of audible noise and associated vibration modes are characteristics of all electric motors, it is especially problematic in low speed sensorless control rotary actuation applications using high frequency voltage injection technique. This dissertation is aimed at solving the problem of optimizing the sensorless control algorithm for low noise and vibration while achieving at least 12 bit absolute accuracy for speed and position control. The low speed sensorless algorithm is simulated using an improved Phase Variable Model, developed and implemented in a hardware-in-the-loop prototyping environment. Two experimental testbeds were developed and built to test and verify the algorithm in real time.^ A neural network based modeling approach was used to predict the audible noise due to the high frequency injected carrier signal. This model was created based on noise measurements in an especially built chamber. The developed noise model is then integrated into the high frequency based sensorless control scheme so that appropriate tradeoffs and mitigation techniques can be devised. This will improve the position estimation and control performance while keeping the noise below a certain level. Genetic algorithms were used for including the noise optimization parameters into the developed control algorithm.^ A novel wavelet based filtering approach was proposed in this dissertation for the sensorless control algorithm at low speed. This novel filter was capable of extracting the position information at low values of injection voltage where conventional filters fail. This filtering approach can be used in practice to reduce the injected voltage in sensorless control algorithm resulting in significant reduction of noise and vibration.^ Online optimization of sensorless position estimation algorithm was performed to reduce vibration and to improve the position estimation performance. The results obtained are important and represent original contributions that can be helpful in choosing optimal parameters for sensorless control algorithm in many practical applications.^

Application of the Extended Kalman filter for speed sensorless control of PM synchronous machines

The increasing interest in the decarbonization process led to a rapidly growing trend of electrification strategies in the automotive industry. In particular, OEMs are pushing towards the development and production of efficient electric vehicles. Moreover, research on electric motors and their control are exploding in popularity. The increase of computational power in embedded control hardware is allowing the development of new control algorithm, such as sensorless control strategy. Such control strategy allows the reduction of the number of sensors, which implies reduced costs and increased system reliability. The thesis objective is to realize a sensorless control for high-performance automotive motors. Several algorithms for rotor angle observers are implemented in the MATLAB and Simulink environment, with emphasis on the Kalman observer. One of the Kalman algorithms already available in the literature has been selected, implemented and benchmarked, with emphasis on its comparison with the Sliding Mode observer. Different models characterized by increasing levels of complexity are simulated. A simplified synchronous motor with ”constant parameters”, controlled by an ideal inverter is first analyzed; followed by a complete model defined by real motor maps, and controlled by a switching inverter. Finally, it was possible to test the developed algorithm on a real electric motor mounted on a test bench. A wide range of different electric motors have been simulated, which led to an exhaustive review of the sensorless control algorithm. The final results underline the capability of the Kalman observer to effectively control the motor on a real test bench.

Position sensorless electrically excited synchronous motor drive for industrial use based on direct flux linkage and torque control

Synchronous machines with an AC converter are used mainly in large drives, for example in ship propulsion drives as well as in rolling mill drives in steel industry. These motors are used because of their high efficiency, high overload capacity and good performance in the field weakening area. Present day drives for electrically excited synchronous motors are equipped with position sensors. Most drives for electrically excited synchronous motors will be equipped with position sensors also in future. This kind of drives with good dynamics are mainly used in metal industry. Drives without a position sensor can be used e.g. in ship propulsion and in large pump and blower drives. Nowadays, these drives are equipped with a position sensor, too. The tendency is to avoid a position sensor if possible, since a sensor reduces the reliability of the drive and increases costs (latter is not very significant for large drives). A new control technique for a synchronous motor drive is a combination of the Direct Flux Linkage Control (DFLC) based on a voltage model and a supervising method (e.g. current model). This combination is called Direct Torque Control method (DTC). In the case of the position sensorless drive, the DTC can be implemented by using other supervising methods that keep the stator flux linkage origin centered. In this thesis, a method for the observation of the drift of the real stator flux linkage in the DTC drive is introduced. It is also shown how this method can be used as a supervising method that keeps the stator flux linkage origin centered in the case of the DTC. In the position sensorless case, a synchronous motor can be started up with the DTC control, when a method for the determination of the initial rotor position presented in this thesis is used. The load characteristics of such a drive are not very good at low rotational speeds. Furthermore, continuous operation at a zero speed and at a low rotational speed is not possible, which is partly due to the problems related to the flux linkage estimate. For operation in a low speed area, a stator current control method based on the DFLC modulator (DMCQ is presented. With the DMCC, it is possible to start up and operate a synchronous motor at a zero speed and at low rotational speeds in general. The DMCC is necessary in situations where high torque (e.g. nominal torque) is required at the starting moment, or if the motor runs several seconds at a zero speed or at a low speed range (up to 2 Hz). The behaviour of the described methods is shown with test results. The test results are presented for the direct flux linkage and torque controlled test drive system with a 14.5 kVA, four pole salient pole synchronous motor with a damper winding and electric excitation. The static accuracy of the drive is verified by measuring the torque in a static load operation, and the dynamics of the drive is proven in load transient tests. The performance of the drive concept presented in this work is sufficient e.g. for ship propulsion and for large pump drives. Furthermore, the developed methods are almost independent of the machine parameters.

Estimation of electrical machine speed using sensorless technology and neural networks

The use of sensorless technologies is an increasing tendency on industrial drivers for electrical machines. The estimation of electrical and mechanical parameters involved with the electrical machine control is used very frequently in order to avoid measurement of all variables related to this process. The cost reduction may also be considered in industrial drivers, besides the increasing robustness of the system, as an advantage of the use of sensorless technologies. This work proposes the use of a recurrent artificial neural network to estimate the speed of induction motor for sensorless control schemes using one single current sensor. Simulation and experimental results are presented to validate the proposed approach. ©2008 IEEE.

Nonlinear Observers for Sensorless Control of Permanent Magnet Synchronous Motors

In this thesis, the industrial application of control a Permanent Magnet Synchronous Motor in a sensorless configuration has been faced, and in particular the task of estimating the unknown “parameters” necessary for the application of standard motor control algorithms. In literature several techniques have been proposed to cope with this task, among them the technique based on model-based nonlinear observer has been followed. The hypothesis of neglecting the mechanical dynamics from the motor model has been applied due to practical and physical considerations, therefore only the electromagnetic dynamics has been used for the observers design. First observer proposed is based on stator currents and Stator Flux dynamics described in a generic rotating reference frame. Stator flux dynamics are known apart their initial conditions which are estimated, with speed that is also unknown, through the use of the Adaptive Theory. The second observer proposed is based on stator currents and Rotor Flux dynamics described in a self-aligning reference frame. Rotor flux dynamics are described in the stationary reference frame exploiting polar coordinates instead of classical Cartesian coordinates, by means the estimation of amplitude and speed of the rotor flux. The stability proof is derived in a Singular Perturbation Framework, which allows for the use the current estimation errors as a measure of rotor flux estimation errors. The stability properties has been derived using a specific theory for systems with time scale separation, which guarantees a semi-global practical stability. For the two observer ideal simulations and real simulations have been performed to prove the effectiveness of the observers proposed, real simulations on which the effects of the Inverter nonlinearities have been introduced, showing the already known problems of the model-based observers for low speed applications.

Robust STATCOM control for the stabilisation of fixed-speed wind turbines during low voltages

This paper presents a robust voltage control scheme for fixed-speed wind generators using a static synchronous compensator (STATCOM) controller. To enable a linear and robust control framework with structured uncertainty, the overall system is represented by a linear part plus a nonlinear part that covers an operating range of interest required to ensure stability during severe low voltages. The proposed methodology is flexible and readily applicable to larger wind farms of different configurations. The performance of the control strategy is demonstrated on a two area test system. Large disturbance simulations demonstrate that the proposed controller enhances voltage stability as well as transient stability of induction generators during low voltage ride through (LVRT) transients and thus enhances the LVRT capability. (C) 2011 Elsevier Ltd. All rights reserved.

A new control strategy with saturation effect compensation for an autonomous induction generator drivenby wide speed range turbines

This paper presents a variable speed autonomous squirrel cage generator excited by a current-controlled voltage source inverter to be used in stand-alone micro-hydro power plants. The paper proposes a system control strategy aiming to properly excite the machine as well as to achieve the load voltage control. A feed-forward control sets the appropriate generator flux by taking into account the actual speed and the desired load voltage. A load voltage control loop is used to adjust the generated active power in order to sustain the load voltage at a reference value. The control system is based on a rotor flux oriented vector control technique which takes into account the machine saturation effect. The proposed control strategy and the adopted system models were validated both by numerical simulation and by experimental results obtained from a laboratory prototype. Results covering the prototype start-up, as well as its steady-state and dynamical behavior are presented. (C) 2011 Elsevier Ltd. All rights reserved.