Estudo e implementação de sinais de excitação aplicados em identificação de sistemas multivariáveis.

Devido à crescente implementação do Controle Preditivo baseado em Modelo (MPC) em outros processos além de refino e plantas petroquímicas, que geralmente possuem múltiplas entradas e saídas, tem-se um aumento na demanda de modelos gerados por identificação de sistemas. Identificar modelos que representem fielmente a dinâmica do processo depende em grande medida das características dos sinais de excitação dos processos. Assim, o foco deste trabalho é realizar um estudo dos sinais típicos usados em identificação de sistemas, PRBS e GBN, em uma abordagem multivariável. O estudo feito neste trabalho parte das características da geração dos sinais individualmente, depois é feita uma análise de correlação cruzada dos sinais de entrada, observando a influência desta sobre os resultados de identificação. Evitar uma alta correlação entre os sinais de entrada permite determinar o efeito de cada entrada sobre a saída no processo de identificação. Um ponto importante no projeto de sinais de identificação de sistemas multivariáveis é a frequência dos mesmos para conseguir excitar os processos nas regiões de frequência de operação normal e assim extrair a maior informação dinâmica possível do processo. As características estudadas são avaliadas por meio de testes em três plantas simuladas diferentes, categorizadas como mal, medianamente e bem condicionadas. Estas implementações foram feitas usando sinais GBN e PRBS de diferentes frequências. Expressões para a caracterização dos sinais de excitação foram avaliadas identificando os processos em malha aberta e malha fechada. Para as plantas mal condicionadas foram implementados sinais compostos por uma parte completamente correlacionada e uma parte não-correlacionada, conhecido como método de dois passos. Finalmente são realizados experimentos de identificação em uma aplicação em tempo real de uma planta piloto de neutralização de pH. Os testes realizados na planta foram feitos visando avaliar os estudos de frequência e correlação em uma aplicaficção real. Os resultados mostram que a condição de sinais completamente descorrelacionados n~ao deve ser cumprida para ter bons resultados nos modelos identificados. Isto permite ter mais exibilidade na geração do conjunto de sinais de excitação.

Arquitetura computacional para redes orgânicas e heterogêneas: plano de controle do sistema operacional swarm.

Computational Swarms (enxames computacionais), consistindo da integração de sensores e atuadores inteligentes no nosso mundo conectado, possibilitam uma extensão da info-esfera no mundo físico. Nós chamamos esta info-esfera extendida, cíber-física, de Swarm. Este trabalho propõe uma visão de Swarm onde dispositivos computacionais cooperam dinâmica e oportunisticamente, gerando redes orgânicas e heterogêneas. A tese apresenta uma arquitetura computacional do Plano de Controle do Sistema Operacional do Swarm, que é uma camada de software distribuída embarcada em todos os dispositivos que fazem parte do Swarm, responsável por gerenciar recursos, definindo atores, como descrever e utilizar serviços e recursos (como divulgá-los e descobrí-los, como realizar transações, adaptações de conteúdos e cooperação multiagentes). O projeto da arquitetura foi iniciado com uma revisão da caracterização do conceito de Swarm, revisitando a definição de termos e estabelecendo uma terminologia para ser utilizada. Requisitos e desafios foram identificados e uma visão operacional foi proposta. Esta visão operacional foi exercitada com casos de uso e os elementos arquiteturais foram extraídos dela e organizados em uma arquitetura. A arquitetura foi testada com os casos de uso, gerando revisões do sistema. Cada um dos elementos arquiteturais requereram revisões do estado da arte. Uma prova de conceito do Plano de Controle foi implementada e uma demonstração foi proposta e implementada. A demonstração selecionada foi o Smart Jukebox, que exercita os aspectos distribuídos e a dinamicidade do sistema proposto. Este trabalho apresenta a visão do Swarm computacional e apresenta uma plataforma aplicável na prática. A evolução desta arquitetura pode ser a base de uma rede global, heterogênea e orgânica de redes de dispositivos computacionais alavancando a integração de sistemas cíber-físicos na núvem permitindo a cooperação de sistemas escaláveis e flexíveis, interoperando para alcançar objetivos comuns.

Controlador integrado baseado em conceito híbrido e controle geométrico para embarcações posicionadas dinamicamente.

O conceito de controle híbrido é aplicado à operação de alívio entre um FPWSO e um navio aliviador. Ambos os navios mantêm suas posições e aproamentos pelo resultado da ação do seu Sistema de Posicionamento Dinâmico (SPD). O alívio dura cerca de 24 horas para ser concluído. Durante este período, o estado de mar pode se alterar e os calados estão sendo constantemente alterados. Um controlador híbrido é projetado para permitir modificacões dos parâmetros de controle/observação se alguma alteração significante do estado de mar e/ou calado das embarcações ocorrer. O principal objetivo dos controladores é manter o posicionamento relativo entre os navios com o intuito de evitar perigosa proximidade ou excesso de tensão no cabo. Com isto em mente, uma nova estratégia de controle que atue integradamente em ambos os navios é proposta baseda em geometria diferencial. Observadores não lineares baseados em passividade são aplicados para estimar a posição, a velocidade e as forças externas de mares calmos até extremos. O critério para troca do controle/observação é baseado na variação do calado e no estado de mar. O calado é assumido conhecido e o estado de mar é estimado pela frequência de pico do espectro do movimento de primeira ordem dos navios. Um modelo de perturbação é proposto para encontrar o número de controladores do sistema híbrido. A equivalência entre o controle geométrico e o controlador baseado em Multiplicadores de Lagrange é demonstrada. Assumindo algumas hipóteses, a equivalência entre os controladores geométrico e o PD é também apresentada. O desempenho da nova estratégia é avaliada por meio de simulações numéricas e comparada a um controlador PD. Os resultados apresentam muito bom desempenho em função do objetivo proposto. A comparação entre a abordagem geométrica e o controlador PD aponta um desempenho muito parecido entre eles.

O EFEITO DO CONTROLE RESPIRATÓRIO EM VARIÁVEIS ELETROFISIOLÓGICAS DA ATENÇÃO

A prática do ioga tem se tornado cada vez mais popular, não apenas pelos benefícios físicos, mas principalmente pelo bem-estar psicológico trazido pela sua prática. Um dos componentes do ioga é o Prãnãyama, ou controle da respiração. A atenção e a respiração são dois mecanismos fisiológicos e involuntários requeridos para a execução do Prãnãyama. O principal objetivo desse estudo foi verificar se variáveis contínuas do EEG (potência de diferentes faixas que o compõem) seriam moduladas pelo controle respiratório, comparando-se separadamente as duas fases do ciclo respiratório (inspiração e expiração), na situação de respiração espontânea e controlada. Fizeram parte do estudo 19 sujeitos (7 homens/12 mulheres, idade média de 36,89 e DP = ± 14,46) que foram convidados a participar da pesquisa nas dependências da Faculdade de Saúde da Universidade Metodista de São Paulo. Para o registro do eletroencefalograma foi utilizado um sistema de posicionamento de cinco eletrodos Ag AgCl (FPz, Fz, Cz, Pz e Oz) fixados a uma touca de posicionamento rápido (Quick-Cap, Neuromedical Supplies®), em sistema 10-20. Foram obtidos valores de máxima amplitude de potência (espectro de potência no domínio da frequência) nas frequências teta, alfa e beta e delta e calculada a razão teta/beta nas diferentes fases do ciclo respiratório (inspiração e expiração), separadamente, nas condições de respiração espontânea e de controle respiratório. Para o registro do ciclo respiratório, foi utilizada uma cinta de esforço respiratório M01 (Pletismógrafo). Os resultados mostram diferenças significativas entre as condições de respiração espontânea e de controle com valores das médias da razão teta/beta menores na respiração controlada do que na respiração espontânea e valores de média da potência alfa sempre maiores no controle respiratório. Diferenças significativas foram encontradas na comparação entre inspiração e expiração da respiração controlada com diminuição dos valores das médias da razão teta/beta na inspiração e aumento nos valores das médias da potência alfa, sobretudo na expiração. Os achados deste estudo trazem evidências de que o controle respiratório modula variáveis eletrofisiológicas relativas à atenção refletindo um estado de alerta, porém mais relaxado do que na situação de respiração espontânea.

Estabilização de órbitas periódicas instáveis utilizando controle por modos deslizantes com compensação adaptativa

The chaotic behavior has been widely observed in nature, from physical and chemical phenomena to biological systems, present in many engineering applications and found in both simple mechanical oscillators and advanced communication systems. With regard to mechanical systems, the effects of nonlinearities on the dynamic behavior of the system are often of undesirable character, which has motivated the development of compensation strategies. However, it has been recently found that there are situations in which the richness of nonlinear dynamics becomes attractive. Due to their parametric sensitivity, chaotic systems can suffer considerable changes by small variations on the value of their parameters, which is extremely favorable when we want to give greater flexibility to the controlled system. Hence, we analyze in this work the parametric sensitivity of Duffing oscillator, in particular its unstable periodic orbits and Poincar´e section due to changes in nominal value of the parameter that multiplies the cubic term. Since the amount of energy needed to stabilize Unstable Periodic Orbits is minimum, we analyze the control action needed to control and stabilize such orbits which belong to different versions of the Duffing oscillator. For that we will use a smoothed sliding mode controller with an adaptive compensation term based on Fourier series.

Estudo comparativo de diferentes sistemas de injeção de vapor aplicados à remediação de solos contaminados por diesel

Among the potentially polluting economic activities that compromise the quality of soil and groundwater stations are fuel dealers. Leakage of oil derived fuels in underground tanks or activities improperly with these pollutants can contaminate large areas, causing serious environmental and toxicological problems. The number of gas stations grew haphazardly, without any kind of control, thus the environmental impacts generated by these enterprises grew causing pollution of soil and groundwater. Surfactants using various techniques have been proposed to remedy this kind of contamination. This study presents innovation as the application of different systems containing surfactant in the vapor phase and compares their diesel removal efficiencies of soil containing this contaminant. For this, a system that contains seven injection wells the following vaporized solutions: water, surfactant solution, microemulsion and nanoemulsion, The surfactants used were saponified coconut oil (OCS), in aqueous solution and an ethoxylated alcohol UNTL-90: aqueous solution , and nanoemulsion and microemulsion systems. Among the systems investigated, the nanoemulsion showed the highest efficiency, achieving 88% removal of residual phase diesel, the most ecologically and technically feasible by a system with lower content of active matter

Novas abordagens para configurações automáticas dos parâmetros de controle em comitês de classificadores

Significant advances have emerged in research related to the topic of Classifier Committees. The models that receive the most attention in the literature are those of the static nature, also known as ensembles. The algorithms that are part of this class, we highlight the methods that using techniques of resampling of the training data: Bagging, Boosting and Multiboosting. The choice of the architecture and base components to be recruited is not a trivial task and has motivated new proposals in an attempt to build such models automatically, and many of them are based on optimization methods. Many of these contributions have not shown satisfactory results when applied to more complex problems with different nature. In contrast, the thesis presented here, proposes three new hybrid approaches for automatic construction for ensembles: Increment of Diversity, Adaptive-fitness Function and Meta-learning for the development of systems for automatic configuration of parameters for models of ensemble. In the first one approach, we propose a solution that combines different diversity techniques in a single conceptual framework, in attempt to achieve higher levels of diversity in ensembles, and with it, the better the performance of such systems. In the second one approach, using a genetic algorithm for automatic design of ensembles. The contribution is to combine the techniques of filter and wrapper adaptively to evolve a better distribution of the feature space to be presented for the components of ensemble. Finally, the last one approach, which proposes new techniques for recommendation of architecture and based components on ensemble, by techniques of traditional meta-learning and multi-label meta-learning. In general, the results are encouraging and corroborate with the thesis that hybrid tools are a powerful solution in building effective ensembles for pattern classification problems.

Análise da atividade cognitiva do operador de sala de controle da produção de controle da produção de petróleo on-shore: uma abordagem da ergonomia para a gestão das restrições do sistema sociotécnico

This master's thesis aims to analyze the activity of the operators in a control room of the processes of production on-shore petroleum, with a focus on sociotechnical restrictions that interfere in the decision-making process and the actions of operators and therefore, the strategies (individual and collective) to regulate and maintain the operator action required and the safety of the system, together. The activity in focus involves the supervision and control of the production of thousands of barrels of oil/day in a complex and dispersed production’s structures built in an extension of 80 km. This operational framework highlights the importance of this activity for the fulfilment of the targets local and corporate efficiency, good management of the environment, health and safety of operators. This is an exploratory research and in the field, which uses the methodology of Ergonomic Analysis of the Work, composed of observational techniques and interactional, having as locus control room of the processes of production on-shore oil of an oil company. The population of this research is formed by operators in the control room of an Brazilian oil company. The results showed that the supervisory activity and control of the superheated steam injection is an complex context, demands greater attention, concentration, calculations, comparisons, trend analysis and decision making. The activity is collectively constructed between the control room operator, field operator and the supplier of steam. The research showed that the processes of communication and collaboration between the control room , fields and support staff are the key elements of this activity. The study shows that the operators have the autonomy and the elements necessary for work; and that there is continuous investments to improve the technology used and that the operators report sleep disturbances as a result of chronic exposure to night work. The study contributed with proposals for transformation of this activity: with regard to the installation of a area reserved for food in control room, the update the screens of the supervisory current operating condition, the periodic visits by room operators in the field, standardization of production reports, development assistance and standardization of nomenclature of controlling stations steam systems, to improve the conditions of realization of the activity, improve the quality of products produced by operators and contribute to reduce the possibility of slips or shifts in the activity.

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.

Controle em modo dual adaptativo robusto aplicado a um sistema de geração de energia elétrica

Synchronous machines, widely used in energy generation systems, require constant voltage and frequency to obtain good quality of energy. However, for large load variati- ons, it is difficult to maintain outputs on nominal values due to parametric uncertainties, nonlinearities and coupling among variables. Then, we propose to apply the Dual Mode Adaptive Robust Controller (DMARC) in the field flux control loop, replacing the tradi- tional PI controller. The DMARC links a Model Reference Adaptive Controller (MRAC) and a Variable Structure Model Reference Adaptive Controller (VS-MRAC), incorpora- ting transient performance advantages from VS-MRAC and steady state properties from MRAC. Moreover, simulation results are included to corroborate the theoretical studies.

Proteção em sistemas elétricos com geração distribuída utilizando a transformada wavelet

A typical electrical power system is characterized by centr alization of power gene- ration. However, with the restructuring of the electric sys tem, this topology is changing with the insertion of generators in parallel with the distri bution system (distributed gene- ration) that provides several benefits to be located near to e nergy consumers. Therefore, the integration of distributed generators, especially fro m renewable sources in the Brazi- lian system has been common every year. However, this new sys tem topology may result in new challenges in the field of the power system control, ope ration, and protection. One of the main problems related to the distributed generati on is the islanding formation, witch can result in safety risk to the people and to the power g rid. Among the several islanding protection techniques, passive techniques have low implementation cost and simplicity, requiring only voltage and current measuremen ts to detect system problems. This paper proposes a protection system based on the wavelet transform with overcur- rent and under/overvoltage functions as well as infomation of fault-induced transients in order to provide a fast detection and identification of fault s in the system. The propo- sed protection scheme was evaluated through simulation and experimental studies, with performance similar to the overcurrent and under/overvolt age conventional methods, but with the additional detection of the exact moment of the fault.

Otimização do controle do diagrama de radiação de radares de varredura para rastreio de foguetes usando o método GAMMC para o Caso Planar (GAMMC-P)

Launching centers are designed for scientific and commercial activities with aerospace vehicles. Rockets Tracking Systems (RTS) are part of the infrastructure of these centers and they are responsible for collecting and processing the data trajectory of vehicles. Generally, Parabolic Reflector Radars (PRRs) are used in RTS. However, it is possible to use radars with antenna arrays, or Phased Arrays (PAs), so called Phased Arrays Radars (PARs). Thus, the excitation signal of each radiating element of the array can be adjusted to perform electronic control of the radiation pattern in order to improve functionality and maintenance of the system. Therefore, in the implementation and reuse projects of PARs, modeling is subject to various combinations of excitation signals, producing a complex optimization problem due to the large number of available solutions. In this case, it is possible to use offline optimization methods, such as Genetic Algorithms (GAs), to calculate the problem solutions, which are stored for online applications. Hence, the Genetic Algorithm with Maximum-Minimum Crossover (GAMMC) optimization method was used to develop the GAMMC-P algorithm that optimizes the modeling step of radiation pattern control from planar PAs. Compared with a conventional crossover GA, the GAMMC has a different approach from the conventional one, because it performs the crossover of the fittest individuals with the least fit individuals in order to enhance the genetic diversity. Thus, the GAMMC prevents premature convergence, increases population fitness and reduces the processing time. Therefore, the GAMMC-P uses a reconfigurable algorithm with multiple objectives, different coding and genetic operator MMC. The test results show that GAMMC-P reached the proposed requirements for different operating conditions of a planar RAV.

Critério de correntropia no treinamento de redes fuzzy wavelet neural networks para identificação de sistemas dinâmicos não lineares

The great interest in nonlinear system identification is mainly due to the fact that a large amount of real systems are complex and need to have their nonlinearities considered so that their models can be successfully used in applications of control, prediction, inference, among others. This work evaluates the application of Fuzzy Wavelet Neural Networks (FWNN) to identify nonlinear dynamical systems subjected to noise and outliers. Generally, these elements cause negative effects on the identification procedure, resulting in erroneous interpretations regarding the dynamical behavior of the system. The FWNN combines in a single structure the ability to deal with uncertainties of fuzzy logic, the multiresolution characteristics of wavelet theory and learning and generalization abilities of the artificial neural networks. Usually, the learning procedure of these neural networks is realized by a gradient based method, which uses the mean squared error as its cost function. This work proposes the replacement of this traditional function by an Information Theoretic Learning similarity measure, called correntropy. With the use of this similarity measure, higher order statistics can be considered during the FWNN training process. For this reason, this measure is more suitable for non-Gaussian error distributions and makes the training less sensitive to the presence of outliers. In order to evaluate this replacement, FWNN models are obtained in two identification case studies: a real nonlinear system, consisting of a multisection tank, and a simulated system based on a model of the human knee joint. The results demonstrate that the application of correntropy as the error backpropagation algorithm cost function makes the identification procedure using FWNN models more robust to outliers. However, this is only achieved if the gaussian kernel width of correntropy is properly adjusted.

Contribuições para estratégia de controle aplicada à geração fotovoltaica interconectada à rede elétrica

Generation systems, using renewable sources, are becoming increasingly popular due to the need for increased use of electricity. Currently, renewables sources have a role to cooperate with conventional generation, due to the system limitation in delivering the required power, the need for reduction of unwanted effects from sources that use fossil fuels (pollution) and the difficulty of building new transmission and/or distribution lines. This cooperation takes place through distributed generation. Therefore, this work proposes a control strategy for the interconnection of a PV (Photovoltaic) system generation distributed with a three-phase power grid through a connection filter the type LCL. The compensation of power quality at point of common coupling (PCC) is performed ensuring that the mains supply or consume only active power and that his currents have low distorcion. Unlike traditional techniques which require schemes for harmonic detection, the technique performs the harmonic compensation without the use of this schemes, controlling the output currents of the system in an indirect way. So that there is effective control of the DC (Direct Current) bus voltage is used the robust controller mode dual DSMPI (Dual-Sliding Mode-Proportional Integral), that behaves as a sliding mode controller SM-PI (Sliding Mode-Proportional Integral) during the transition and like a conventional PI (Proportional Integral) in the steady-state. For control of current is used to repetitive control strategy, which are used double sequence controllers (DSC) tuned to the fundamental component, the fifth and seventh harmonic. The output phase current are aligned with the phase angle of the utility voltage vector obtained from the use of a SRF-PLL (Synchronous Reference Frame Phase-Locked-Loop). In order to obtain the maximum power from the PV array is used a MPPT (Maximum Power Point Tracking) algorithm without the need for adding sensors. Experimental results are presented to demonstrate the effectiveness of the proposed control system.

Uma técnica de linearização por realimentação para compensação de agarramento em válvulas de controle pneumáticas

In control loops valve stiction is a very common problem. Generally, it is one of main causes of poor performance of industrial systems. Its most commonly observed effect is oscillation in the process variables. To circumvent the undesirable effects, friction compensators have been proposed in order to reduce the variability in the output. This work analyzes the friction compensation in pneumatic control valves by using feedback linearization technique. The valve model includes both dead zone and jump. Simulations show that the use of this more complete model results in controllers with superior performance. The method is also compared through simulations with the method known as Constant Reinforcement (CR), widely used in this problem.