Variable structure control with chattering elimination and guaranteed stability for a generalized T-S model

In this paper, a fuzzy based Variable Structure Control (VSC) with guaranteed stability is presented. The main objective is to obtain an improved performance of highly non-linear unstable systems. The main contribution of this work is that, firstly, new functions for chattering reduction and error convergence without sacrificing invariant properties are proposed, which is considered the main drawback of the VSC control. Secondly, the global stability of the controlled system is guaranteed.The well known weighting parameters approach, is used in this paper to optimize local and global approximation and modeling capability of T-S fuzzy model.A one link robot is chosen as a nonlinear unstable system to evaluate the robustness, effectiveness and remarkable performance of optimization approach and the high accuracy obtained in approximating nonlinear systems in comparison with the original T-S model. Simulation results indicate the potential and generality of the algorithm. The application of the proposed FLC-VSC shows that both alleviation of chattering and robust performance are achieved with the proposed FLC-VSC controller. The effectiveness of the proposed controller is proven in front of disturbances and noise effects.

Variable Speed Limits. Review and development of an aggregate indicator based on floating car data.

Changing factors (mainly traffic intensity and weather conditions) affecting road conditions require a suitable optimal speed at any time. To solve this problem, variable speed limit systems (VSL) ? as opposed to fixed limits ? have been developed in recent decades. This term has included a number of speed management systems, most notably dynamic speed limits (DSL). In order to avoid the indiscriminate use of both terms in the literature, this paper proposes a simple classification and offers a review of some experiences, how their effects are evaluated and their results This study also presents a key indicator, which measures the speed homogeneity and a methodology to obtain the data based on floating cars and GPS technology applying it to a case study on a section of the M30 urban motorway in Madrid (Spain).

Variable structure control with chattering reduction of a generalized T-S model

In this paper, a fuzzy logic controller (FLC) based variable structure control (VSC) is presented. The main objective is to obtain an improved performance of highly non-linear unstable systems. New functions for chattering reduction and error convergence without sacrificing invariant properties are proposed. The main feature of the proposed method is that the switching function is added as an additional fuzzy variable and will be introduced in the premise part of the fuzzy rules; together with the state variables. In this work, a tuning of the well known weighting parameters approach is proposed to optimize local and global approximation and modelling capability of the Takagi-Sugeno (T-S) fuzzy model to improve the choice of the performance index and minimize it. The main problem encountered is that the T-S identification method can not be applied when the membership functions are overlapped by pairs. This in turn restricts the application of the T-S method because this type of membership function has been widely used in control applications. The approach developed here can be considered as a generalized version of the T-S method. An inverted pendulum mounted on a cart is chosen to evaluate the robustness, effectiveness, accuracy and remarkable performance of the proposed estimation approach in comparison with the original T-S model. Simulation results indicate the potential, simplicity and generality of the estimation method and the robustness of the chattering reduction algorithm. In this paper, we prove that the proposed estimation algorithm converge the very fast, thereby making it very practical to use. The application of the proposed FLC-VSC shows that both alleviation of chattering and robust performance are achieved.

Space-state robust control of a Buck converter with amorphous core coil and variable load

Pulse-width modulation is widely used to control electronic converters. One of the most frequently used topologies for high DC voltage/low DC voltage conversion is the Buck converter. These converters are described by a second order system with an LC filter between the switching subsystem and the load. The use of a coil with an amorphous magnetic material core rather than an air core permits the design of smaller converters. If high switching frequencies are used to obtain high quality voltage output, then the value of the auto inductance L is reduced over time. Robust controllers are thus needed if the accuracy of the converter response must be preserved under auto inductance and payload variations. This paper presents a robust controller for a Buck converter based on a state space feedback control system combined with an additional virtual space variable which minimizes the effects of the inductance and load variations when a switching frequency that is not too high is applied. The system exhibits a null steady-state average error response for the entire range of parameter variations. Simulation results and a comparison with a standard PID controller are also presented.

Modelización de reacciones químicas en presencia de un campo electromagnético variable

En esta tesis se aborda el estudio del proceso de isomerización del sistema molecular LiNC/LiCN tanto aislado como en presencia de un pulso láser aplicando la teoría del estado de transición (TST). Esta teoría tiene como pilar fundamental el hecho de que el conocimiento de la dinámica en las proximidades de un punto de silla de la superficie de energía potencial permite determinar los parámetros cinéticos de la reacción objeto de estudio. Históricamente, existen dos formulaciones de la teoría del estado de transición, la versión termodinámica de Eyring (Eyr38) y la visión dinámica de Wigner (Wig38). Ésta última ha sufrido recientemente un amplio desarrollo, paralelo a los avances en sistemas dinámicos que ha dado lugar a una formulación geométrica en el espacio de fases que sirve como base al trabajo desarrollado en esta tesis. Nos hemos centrado en abordar el problema desde una visión fundamentalmente práctica, ya que la teoría del estado de transición presenta una desventaja: su elevado coste computacional y de tiempo de cálculo. Dos han sido los principales objetivos de este trabajo. El primero de ellos ha sido sentar las bases teóricas y computacionales de un algoritmo eficiente que permita obtener las magnitudes fundamentales de la TST. Así, hemos adaptado con éxito un algoritmo computacional desarrollado en el ámbito de la mecánica celeste (Jor99), obteniendo un método rápido y eficiente para la obtención de los objetos geométricos que rigen la dinámica en el espacio de fases y que ha permitido calcular magnitudes cinéticas tales como el flujo reactivo, la densidad de estados de reactivos y productos y en última instancia la constante de velocidad. Dichos cálculos han sido comparados con resultados estadísticos (presentados en (Mül07)) lo cual nos ha permitido demostrar la eficacia del método empleado. El segundo objetivo de esta tesis, ha sido la evaluación de la influencia de los parámetros de un pulso electromagnético sobre la dinámica de reacción. Para ello se ha generalizado la metodología de obtención de la forma normal del hamiltoniano cuando el sistema químico es alterado mediante una perturbación temporal periódica. En este caso el punto fijo inestable en cuya vecindad se calculan los objetos geométricos de interés para la aplicación de la TST, se transforma en una órbita periódica del mismo periodo que la perturbación. Esto ha permitido la simulación de la reactividad en presencia de un pulso láser. Conocer el efecto de esta perturbación posibilita el control de la reactividad química. Además de obtener los objetos geométricos que rigen la dinámica en una cierta vecindad de la órbita periódica y que son la clave de la TST, se ha estudiado el efecto de los parámetros del pulso sobre la reactividad en el espacio de fases global así como sobre el flujo reactivo que atraviesa la superficie divisoria que separa reactivos de productos. Así, se ha puesto de manifiesto, que la amplitud del pulso es el parámetro más influyente sobre la reactividad química, pudiendo producir la aparición de flujos reactivos a energías inferiores a las de aparición del sistema aislado y el aumento del flujo reactivo a valores constantes de energía inicial. ABSTRACT We have studied the isomerization reaction LiNC/LiCN isolated and perturbed by a laser pulse. Transition State theory (TST) is the main tool we have used. The basis of this theory is knowing the dynamics close to a fixed point of the potential energy surface. It is possible to calculate kinetic magnitudes by knowing the dynamics in a neighbourhood of the fixed point. TST was first formulated in the 30's and there were 2 points of view, one thermodynamical by Eyring (Eyr38) and another dynamical one by Wigner (Wig38). The latter one has grown lately due to the growth of the dynamical systems leading to a geometrical view of the TST. This is the basis of the work shown in this thesis. As the TST has one main handicap: the high computational cost, one of the main goals of this work is to find an efficient method. We have adapted a methodology developed in the field of celestial mechanics (Jor99). The result: an efficient, fast and accurate algorithm that allows us to obtain the geometric objects that lead the dynamics close to the fixed point. Flux across the dividing surface, density of states and reaction rate coefficient have been calculated and compared with previous statistical results, (Mül07), leading to the conclusion that the method is accurate and good enough. We have widen the methodology to include a time dependent perturbation. If the perturbation is periodic in time, the fixed point becomes a periodic orbit whose period is the same as the period of the perturbation. This way we have been able to simulate the isomerization reaction when the system has been perturbed by a laser pulse. By knowing the effect of that perturbation we will be able to control the chemical reactivity. We have also studied the effect of the parameters on the global phase space dynamics and on the flux across the dividing surface. It has been prove that amplitude is the most influent parameter on the reaction dynamics. Increasing amplitude leads to greater fluxes and to some flux at energies it would not if the systems would not have been perturbed.

Estudio numérico de flujo turbulento cargado con partículas sólidas a través de canales y tuberías de sección variable

La presente Tesis Doctoral tiene como objetivo el estudio de flujo turbulento cargado con partículas sólidas a través de canales y tuberías de sección constante usando un enfoque Euleriano-Lagrangiano. El campo de flujo de la fase de transporte (aire) se resuelve usando simulación de grandes escalas (LES), implementada en un programa de volúmenes finitos mientras que las ecuaciones gobernantes de la fase dispersa son resueltas por medio de un algoritmo de seguimiento Lagrangiano de partículas que ha sido desarrollado y acoplado al programa que resuelve el flujo. Se estudia de manera sistemática y progresiva la interacción fluido→partícula (one-way coupling), a través de diferentes configuraciones geométricas en coordenadas cartesianas (canales de sección constante y variable) y en coordenadas cilíndricas (tuberías de sección constante y sección variable) abarcando diferentes números de Reynolds y diferentes tamaños de partículas; todos los resultados obtenidos han sido comparados con datos publicados previamente. El estudio de flujo multifásico a través de, tuberías de sección variable, ha sido abordada en otras investigaciones mayoritariamente de forma experimental o mediante simulación usando modelos de turbulencia menos complejos y no mediante LES. El patrón de flujo que se verifica en una tubería con expansión es muy complejo y dicha configuración geométrica se halla en múltiples aplicaciones industriales que involucran el transporte de partículas sólidas, por ello es de gran interés su estudio. Como hecho innovador, en esta tesis no solo se resuelven las estadísticas de velocidad del fluido y las partículas en tuberías con diferentes tamaños de expansión y diferentes regímenes de flujo sino que se caracteriza, usando diversas formulaciones del número de Stokes y el parámetro de arrastre, el ingreso y acumulación de partículas dentro de la zona de recirculación, obteniéndose resultados coincidentes con datos experimentales. ABSTRACT The objective of this Thesis research is to study the turbulent flow laden with solid particles through channels and pipes with using Eulerian-Lagrangian approach. The flow field of the transport phase (air ) is solved using large eddy simulation ( LES ) implemented in a program of finite volume while the governing equations of the dispersed phase are resolved by means of a particle Lagrangian tracking algorithm which was developed and coupled to principal program flow solver . We studied systematically and progressively the fluid interaction → particle ( one- way coupling ) , through different geometric configurations in Cartesian coordinates ( channel with constant and variable section) and in cylindrical coordinates ( pipes with constant section and variable section ) covering different Reynolds numbers and different particle sizes, all results have been compared with previously published data . The study of multiphase flow through, pipes with variable section has been addressed in other investigations predominantly experimentally or by simulation using less complex models and no turbulence by LES. The flow pattern is verified in a pipe expansion is very complex and this geometry is found in many industrial applications involving the transport of solid particles, so it is of great interest to study. As an innovator fact , in this Thesis not only finds fluid velocity statistics and particles with different sizes of pipe expansion and different flow regimes but characterized, using various formulations of the Stokes number and the drag parameter are resolved, the entry and accumulation of particles within the recirculation zone , matching results obtained with experimental data.

Plausibility of a subglacial lake under Amundsenisen Icefield (Svalbard): spatially variable water content and sensitivity to thermal effect of snow and firn layers

Within our study of the plausibility of a subglacial lake under the Amundsenisen Icefield in Southern Spitzbergen, Svalbard achipelago (Glowacki et al., 2007), here we focus on the sensitivity of the system to the thermal effect of the firn and snow layers. Rough heat balance analysis shows that the firn layer plays an important role by driving the heat release to the atmosphere, so that its influence on the ice-water phase transition cannot be neglected (Bucchignani et al., 2012).

Homogeneization effects of variable speed limits.

Changing factors (mainly traffic intensity and weather conditions) affecting road conditions require a suitable optimal speed at any time. To solve this problem, variable speed limit systems (VSL) - as opposed to fixed limits - have been developed in recent decades. This term has included a number of speed management systems, most notably dynamic speed limits (DSL). In order to avoid the indiscriminate use of both terms in the literature, this paper proposes a simple classification and offers a review of some experiences, how their effects are evaluated and their results. This study also presents a key indicator which measures the speed homogeneity and a methodology to obtain the data based on floating cars and GPS technology applying it to a case study on a section of the M30 urban motorway in Madrid (Spain). It also presents the relation between this indicator and road performance and emissions values.

Efecto del tamaño de la ventana de promediado y la histéresis variable en algoritmos de handover horizontal en redes convergentes

En las redes convergentes inalámbricas, el traspaso horizontal entre distintos puntos de acceso de la red WLAN es una gran fuente de degradación de la calidad de la VoIP y otros servicios conversacionales en tiempo real. Esto es debido a que este tipo de redes no fueron concebidas originalmente para soportar este tipo de servicios, y los traspasos siguen un protocolo ¿cortar antes de realizar¿, produciéndose interrupciones en la comunicación motivadas por el tiempo que necesitan los terminales en volver a asociarse a la red. En este artículo se estudia el efecto que tienen el tamaño de la ventana de promediado de la señal, la histéresis variable y el retardo del handover por parecido entre potencia de puntos de acceso de destino sobre el número de traspasos y las caídas de la potencia de señal por debajo del valor de sensibilidad del terminal, causantes principales de las interrupciones en la comunicación, y, con ello, de la degradación de la calidad de las comunicaciones.

Phenotypic plasticity facilitates resistance to climate change in a highly variable environment

Increased summer drought will exacerbate the regeneration of many tree species at their lower latitudinal and altitudinal distribution limits. In vulnerable habitats, introduction of more drought-tolerant provenances or species is currently considered to accelerate tree species migration and facilitate forest persistence. Trade-offs between drought adaptation and growth plasticity might, however, limit the effectiveness of assisted migration, especially if introductions focus on provenances or species from different climatic regions. We tested in a common garden experiment the performance of Pinus sylvestris seedlings from the continental Central Alps under increased temperatures and extended spring and/or summer drought, and compared seedling emergence, survival and biomass allocation to that of P. sylvestris and closely related Pinus nigra from a Mediterranean seed source. Soil heating had only minor effects on seedling performance but high spring precipitation doubled the number of continental P. sylvestris seedlings present after the summer drought. At the same time, twice as many seedlings of the Mediterranean than the continental P. sylvestris provenance were present, which was due to both higher emergence and lower mortality under dry conditions. Both P. sylvestris provenances allocated similar amounts of biomass to roots when grown under low summer precipitation. Mediterranean seedlings, however, revealed lower phenotypic plasticity than continental seedlings under high precipitation, which might limit their competitive ability in continental Alpine forests in non-drought years. By contrast, high variability in the response of individual seedlings to summer drought indicates the potential of continental P. sylvestris provenances to adapt to changing environmental conditions.

Un estudio sobre la exactitud del método de los elementos finitos : aplicación a la barra recta de sección variable bajo esfuerzos axiles

El objetivo de este trabajo se centra en la formulación clásica del método de los elementos finitos y dentro de ella, únicamente en un aspecto todavía no bien estudiado: su exactitud. En opinión del autor, la complejidad de este estudio, en el estado actual de conocimientos, motiva que aquel no sea susceptible de un planteamiento general. Por esta razón, ha parecido conveniente la consideración de un caso estructural muy simple -la columna de sección variable-, correspondiente a un problema en elementos finitos - de clase C0, que, sin embargo, permite, por un lado, su extensión a situaciones estructurales análogas (problemas de torsión, membranas de revolución, bandas finitas, etc.), sin apenas modificación conceptual, y, por otra parte, aportar indicaciones sobre las posibilidades de llevar a cabo un análisis paralelo en elementos y estructuras más complejos, bien en mayor dimensión (estructuras 2-D y 3-D), bien en requerimientos de continuidad más elevada (estructuras de flexión, tipo c1 , etc.).

Derivada parcial de un campo vectorial respecto de una variable escalar

Derivar un campo vectorial respecto una variable escalar (por ejemplo el tiempo o la frecuencia) no es nada evidente. Hay un momento en que nos encontramos con la necesidad de derivar los vectores unitarios de la base del sistema de coordenadas respecto de esa variable escalar. Si trabajamos con coordenadas cilíndricas o esféricas dicha derivada no tiene por qué ser nula y hay que calcularla, que es lo difícil del asunto. Para poder calcularla habrá que hacer un cálculo tedioso que involucrará un cambio a coordenadas cartesianas.

Diseño de receptor de torre central para generación directa de vapor con perfil de potencia variable longitudinal y transversalmente

En este estudio se ha realizado el diseño de un receptor de una central de Torre Central de energía solar para generación directa de vapor, mediante el uso de métodos numéricos, con un perfil de potencia incidente variable longitudinal y transversalmente. Para ello se ha dividido la geometría del receptor según el método de diferencias finitas, y se ha procedido a resolver las ecuaciones del balance de energía. Una vez resuelto el sistema de ecuaciones se dispone de la distribución de temperaturas en el receptor y se puede proceder a analizar los resultados así como a calcular otros datos de interés. ABSTRACT In this study it has been made a Central Receiver Solar Thermal Power Plant’s Receiver design for direct steam production, by using numerical methods, with a variable longitudinally and transversely income solar power profile. With this propose, the receiver’s geometry has been divided using the finite difference method, and the energy balance equations have been solved. Once the equations system has been solved, the receiver´s temperature distribution is known, and you can analyze the results as well as calculate other interesting data.

Analytic optical design of linear Fresnel collectors with variable widths and shifts of mirrors

Linear Fresnel collectors still present a large margin to improve efficiency. Solar fields of this kind installed until current time, both prototypes and commercial plants, are designed with widths and shifts of mirrors that are constant across the solar field. However, the physical processes that limit the width of the mirrors depend on their relative locations to the receiver; the same applies to shading and blocking effects, that oblige to have a minimum shift between mirrors. In this work such phenomena are studied analytically in order to obtain a coherent design, able to improve the efficiency with no increase in cost. A ray tracing simulation along one year has been carried out for a given design, obtaining a moderate increase in radiation collecting efficiency in comparison to conventional designs. Moreover, this analytic theory can guide future designs aiming at fully optimizing linear Fresnel collectors' performance.

Variable-density jet flows induced by concentrated sources of momentum and energy

The planar and axisymmetric variable-density flows induced in a quiescent gas by a concentrated source of momentum that is simultaneously either a source or a sink of energy are investigated for application to the description of the velocity and temperature far fields in laminar gaseous jets with either large or small values of the initial jet-to-ambient temperature ratio. The source fluxes of momentum and heat are used to construct the characteristic scales of velocity and length in the region where the density differences are of the order of the ambient density, which is slender for the large values of the Reynolds number considered herein. The problem reduces to the integration of the dimensionless boundary-layer conservation equations, giving a solution that depends on the gas transport properties but is otherwise free of parameters. The boundary conditions at the jet exit for integration are obtained by analysing the self-similar flow that appears near the heat source in planar and axisymmetric configurations and also near the heat sink in the planar case. Numerical integrations of the boundary-layer equations with these conditions give solutions that describe accurately the velocity and temperature fields of very hot planar and round jets and also of very cold plane jets in the far field region where the density and temperature differences are comparable to the ambient values. Simple scaling arguments indicate that the point source description does not apply, however, to cold round jets, whose far field region is not large compared with the jet development region, as verified by numerical integrations