Este trabalho aborda as oscilações eletromecânicas de baixa frequência, relativas a modos interáreas, pouco amortecidos, avaliando o seu impacto no desempenho de redes elétricas multi-máquinas com o objetivo de elevar o amortecimento destes modos com equipamentos TCSC. Os locais apropriados para instalação destes equipamentos são escolhidos com a análise dos resíduos de funções de transferência e o ajuste de parâmetros, para o projeto coordenado de controladores, utiliza o método de imposição de polos. O sistema não linear de equações, obtido com a aplicação do método de imposição de polos, supondo coeficientes de amortecimento pré-estabelecidos, é resolvido utilizando-se o método de Newton Raphson. Adicionalmente, avalia-se a possibilidade do método auxiliar na análise de interações entre controladores e identificação de acoplamentos, por meio da análise dos termos que compõem as equações de imposição de polos. / This work deals with low frequency oscillations related to inter-area modes, evaluating their impact on the performance of multi-machine electrical networks with the aim to increase the damping of these modes using TCSC. The best places to install these devices are chosen with the analysis of the residues of transfer functions and the parameter fitting for coordinated application of stabilizers is performed with the pole placement method. The nonlinear system of equations, obtained with the pole placement method, assuming specified damping factors, is solved with the Newton-Raphson method. The method is also used in the analysis of control interaction among stabilizers through the evaluation of individual parcels of the pole placement equations, as an additional feature of the approach.

Este trabalho aborda as oscilações eletromecânicas de baixa frequência, relativas a modos interáreas, pouco amortecidos, avaliando o seu impacto no desempenho de redes elétricas multi-máquinas com o objetivo de elevar o amortecimento destes modos com equipamentos TCSC. Os locais apropriados para instalação destes equipamentos são escolhidos com a análise dos resíduos de funções de transferência e o ajuste de parâmetros, para o projeto coordenado de controladores, utiliza o método de imposição de polos. O sistema não linear de equações, obtido com a aplicação do método de imposição de polos, supondo coeficientes de amortecimento pré-estabelecidos, é resolvido utilizando-se o método de Newton Raphson. Adicionalmente, avalia-se a possibilidade do método auxiliar na análise de interações entre controladores e identificação de acoplamentos, por meio da análise dos termos que compõem as equações de imposição de polos. / This work deals with low frequency oscillations related to inter-area modes, evaluating their impact on the performance of multi-machine electrical networks with the aim to increase the damping of these modes using TCSC. The best places to install these devices are chosen with the analysis of the residues of transfer functions and the parameter fitting for coordinated application of stabilizers is performed with the pole placement method. The nonlinear system of equations, obtained with the pole placement method, assuming specified damping factors, is solved with the Newton-Raphson method. The method is also used in the analysis of control interaction among stabilizers through the evaluation of individual parcels of the pole placement equations, as an additional feature of the approach.

The nonlinear simulation model of an unmanned aerial vehicle (UAV) in MATLAB&reg / /Simulink&reg / environment is developed by taking into consideration all the possible major system components such as actuators, gravity, engine, atmosphere, wind-turbulence models, as well as the aerodynamics components in the 6 DOF equations of motion. Trim and linearization of the developed nonlinear model are accomplished and various related analyses are carried out. The model is validated by comparing with a similar UAV data in terms of open loop dynamic stability characteristics. Using two main approaches / namely, classical and optimal, linear controllers are designed. For the classical approach, Simulink Response Optimization (SRO) tool of MATLAB&reg / /Simulink&reg / is utilized, whereas for the optimal controller approach, linear quadratic (LQ) controller design method is implemented, again by the help of the tools put forth by MATLAB&reg / . The controllers are designed for control of roll, heading, coordinated turn, flight path, pitch, altitude, and airspeed, i.e., for the achievement of all low-level control functions. These linear controllers are integrated into the nonlinear model, by carrying out gain scheduling with respect to airspeed and altitude, controller input linearization regarding the perturbed states and control inputs, and anti integral wind-up scheme regarding the possible wind-up of the integrators in the controller structures. The responses of the nonlinear model controlled with the two controllers are compared based on the military flight control requirements. The advantages and disadvantages of these two frequently used controllers in industry are investigated and discussed. These results are to be evaluated by the designers themselves based on the design criteria of a project that is worked on.

This thesis describes the development of a series of codes for trim and longitudinal stability analysis of a helicopter in forward flight. In general, particular use of these codes can be made for parametric investigation of the effects of the external and internal systems integrated to UH-60 helicopters. However, in this thesis the trim analysis results are obtained for a clean UH-60 configuration and the results are compared with the flight test data that were acquired by ASELSAN, Inc. The first of the developed trim codes, called TRIM-CF, is based on closedform equations which give the opportunity of having quick results. The second code stems from the trim code of Prouty. That code is modified and improved during the course of this study based on the theories outlined in [3], and the resultant code is named TRIM-BE. These two trim codes are verified by solving the trim conditions of the example helicopter of [3]. Since it is simpler and requires fewer input parameters, it is more often more convenient to use the TRIM-CF code. This code is also verified by analyzing the Bo105 helicopter with the specifications given in [2]. The results are compared with the Helisim results and flight test data given in this reference. The trim analysis results of UH-60 helicopter are obtained by the TRIM-CF code and compared with flight test data. A forward flight longitudinal dynamic stability code, called DYNA-STAB, is also developed in the thesis. This code also uses the methods presented in [3]. It solves the longitudinal part of the whole coupled matrix of equations of motion of a helicopter in forward flight. The coupling is eliminated by linearization. The trim analysis results are used as inputs to the dynamic stability code and the dynamic stability characteristics of a forward flight trim case of the example helicopter [3] are analyzed. The forward flight stability code is applied to UH-60 helicopter. The codes are easily applicable to a helicopter equipped with external stores. The application procedures are also explained in this thesis.

Dans un contexte de développement des énergies renouvelables et des liaisons HVDC dans les systèmes électriques, les travaux présentés s’attachent au fonctionnement technique de tels systèmes. La génération éolienne, photovoltaïque et les liaisons HVDC sont interfacées par dispositifs d’électronique de puissance au réseau de transport électrique. Dès lors, serait-il envisageable d’alimenter la demande électrique uniquement via des sources électriques interfacées par des convertisseurs statiques ?Le pilotage du système électrique par électronique de puissance constitue un changement radical du fonctionnement dynamique des réseaux. La traditionnelle stratégie de commande « grid-following » des onduleurs a montré ses limites lorsque la pénétration de ces dispositifs devient importante. Elle doit être révisée au profit de stratégies dîtes « parallel grid-forming ».Dans cette thèse, les besoins fondamentaux du système électrique sont d’abord analysés pour définir les exigences de la stratégie « parallel grid-forming », ainsi que les défis associés. Selon ces spécifications, une méthode de synchronisation de sources « grid-forming » est ensuite proposée ainsi qu’un contrôle de tension, adapté aux limitations physiques des convertisseurs de tension PWM. La stabilité de la solution est discutée pour différentes configuration de réseau. Enfin, une stratégie de limitation du courant a été spécifiquement développée pour palier la sensibilité des VSC aux sur courants, lors d’évènements réseaux éprouvant. Les idées développées sur un convertisseur unique sont appliquées à petits réseaux afin d’extraire des interprétations physiques depuis des simulations temporelles / In the context of renewable energy and HVDC links development in power systems, the present work concerns the technical operations of such systems. As wind power, solar photovoltaics and HVDC links are interfaced to the transmission grid with power-electronics, can the system be operated in the extreme case where the load is fed only through static converters?Driving a power system only based on power electronic interfaced generation is a tremendous change of the power system paradigm that must be clearly understood by transmission grid operators. The traditional “grid-feeding” control strategy of inverters exhibits a stability limit when their proportion becomes too important. The inverter control strategy must be turned into a “parallel grid-forming” strategy.This thesis first analyses the power system needs, proposes the requirements for “parallel grid-forming” converters and describes the associated challenges. Accordingly, the thesis gives a method for designing a stable autonomous synchronization controls so that grid-forming sources can operate in parallel with a good level of reliability. Then, a method is proposed to design a voltage control for a grid-forming PWM source taking into account the limited dynamic of large converters. The robustness of the solution is discussed for different configuration of the grid topology. A current limiting strategy is presented to solve the current sensitivity issue of grid-forming converters, subject to different stressing events of the transmission grid. The ideas developed on a single converter are then applied on small grids with a limited number of converters to allow a physical interpretation on the simulation results.

Abstract : Recently, there is a great interest to study the flow characteristics of suspensions in different environmental and industrial applications, such as snow avalanches, debris flows, hydrotransport systems, and material casting processes. Regarding rheological aspects, the majority of these suspensions, such as fresh concrete, behave mostly as non-Newtonian fluids. Concrete is the most widely used construction material in the world. Due to the limitations that exist in terms of workability and formwork filling abilities of normal concrete, a new class of concrete that is able to flow under its own weight, especially through narrow gaps in the congested areas of the formwork was developed. Accordingly, self-consolidating concrete (SCC) is a novel construction material that is gaining market acceptance in various applications. Higher fluidity characteristics of SCC enable it to be used in a number of special applications, such as densely reinforced sections. However, higher flowability of SCC makes it more sensitive to segregation of coarse particles during flow (i.e., dynamic segregation) and thereafter at rest (i.e., static segregation). Dynamic segregation can increase when SCC flows over a long distance or in the presence of obstacles. Therefore, there is always a need to establish a trade-off between the flowability, passing ability, and stability properties of SCC suspensions. This should be taken into consideration to design the casting process and the mixture proportioning of SCC. This is called “workability design” of SCC. An efficient and non-expensive workability design approach consists of the prediction and optimization of the workability of the concrete mixtures for the selected construction processes, such as transportation, pumping, casting, compaction, and finishing. Indeed, the mixture proportioning of SCC should ensure the construction quality demands, such as demanded levels of flowability, passing ability, filling ability, and stability (dynamic and static). This is necessary to develop some theoretical tools to assess under what conditions the construction quality demands are satisfied. Accordingly, this thesis is dedicated to carry out analytical and numerical simulations to predict flow performance of SCC under different casting processes, such as pumping and tremie applications, or casting using buckets. The L-Box and T-Box set-ups can evaluate flow performance properties of SCC (e.g., flowability, passing ability, filling ability, shear-induced and gravitational dynamic segregation) in casting process of wall and beam elements. The specific objective of the study consists of relating numerical results of flow simulation of SCC in L-Box and T-Box test set-ups, reported in this thesis, to the flow performance properties of SCC during casting. Accordingly, the SCC is modeled as a heterogeneous material. Furthermore, an analytical model is proposed to predict flow performance of SCC in L-Box set-up using the Dam Break Theory. On the other hand, results of the numerical simulation of SCC casting in a reinforced beam are verified by experimental free surface profiles. The results of numerical simulations of SCC casting (modeled as a single homogeneous fluid), are used to determine the critical zones corresponding to the higher risks of segregation and blocking. The effects of rheological parameters, density, particle contents, distribution of reinforcing bars, and particle-bar interactions on flow performance of SCC are evaluated using CFD simulations of SCC flow in L-Box and T-box test set-ups (modeled as a heterogeneous material). Two new approaches are proposed to classify the SCC mixtures based on filling ability and performability properties, as a contribution of flowability, passing ability, and dynamic stability of SCC. / Résumé : Récemment, il y a un grand intérêt à étudier les caractéristiques d'écoulement des suspensions dans différentes applications environnementales et industrielles, telles que les avalanches des neiges, les coulées de débris, les systèmes de transport et les processus d’écoulement des matériaux. En ce qui concerne les aspects rhéologiques, la plupart des suspensions, comme le béton frais, se comportent comme un fluide non-Newtonien. Le béton est le matériau de construction le plus largement utilisé dans le monde. En raison de limites qui caractérisent le béton normal en termes de maniabilité et de capacité de remplissage de coffrage, il était nécessaire de développer une nouvelle classe de béton qui peut couler sous son propre poids, en particulier à travers les zones congestionnées du coffrage. Par conséquent, le béton autoplaçant (BAP) est un nouveau matériau de construction qui est de plus en plus utilisé dans les différentes applications. Étant donné sa fluidité élevée de BAP peut être utilisé dans certaines applications particulières, notamment dans la section densément renforcée. Cependant, la fluidité élevée rend le béton plus sensible à la ségrégation des gros granulats pendant l'écoulement (la ségrégation dynamique) et ensuite au repos (ségrégation statique). La ségrégation dynamique peut augmenter lorsque le BAP est coulé sur une longue distance ou en présence d'obstacles. Par conséquent, il est toujours nécessaire d'établir un compromis entre la fluidité, la capacité de passage, et la stabilité du BAP. Ceci doit être pris en considération afin de concevoir le processus de coulée et dosage des mélanges du BAP. Ceci est appelé la conception d'ouvrabilité du BAP. Une conception de maniabilité efficace et non coûteuse peut être achevée à travers la e prévision et l'optimisation de l'ouvrabilité des mélanges de béton pour les procédés de construction sélectionnés, notamment le transport, le pompage, la mise en place, le compactage, la finition, etc. En effet, les formulations de mélange doivent se confirmer à la qualité de la construction demandée, par exemple les niveaux exigés de fluidité, la capacité de passage, la capacité de remplissage, et la stabilité (statique et dynamique). Celui est nécessaire pour développer des outils théoriques afin d’évaluer dans quelles conditions les exigences de qualité de la construction sont satisfaites. Cette thèse est consacrée à la réaliser des simulations analytiques et numériques pour prédire la performance d'écoulement du BAP dans différents procédés de la mise en place du béton. L'objectif spécifique de cette étude consiste à simuler l'écoulement du BAP dans essais empiriques, notamment la boite en L et la boite en T pour évaluer la performance du BAP pendent la mise en place (la fluidité, la capacité de passage, la capacité de remplissage, et la ségrégation dynamique induite par cisaillement ou par gravité). Par conséquent, le BAP est modélisé comme matériau hétérogène. En outre, un modèle analytique est proposé pour prédire la performance à l'écoulement du BAP dans la boite en L en utilisant la théorie de Dam Break. D'autre part, les résultats des simulations numériques de l’écoulement du BAP dans une poutre renforcée sont comparés aux résultats expérimentaux par des profils de surface libres. Les résultats des simulations numériques de BAP coulée (modélisée comme un fluide homogène unique), sont utilisés pour déterminer les zones critiques correspondant à des risques plus élevés de ségrégation et de blocage. Les effets des paramètres rhéologiques, la masse volumique, le contenu des particules, la distribution de barres d'armature, et les interactions particule-barres sur les performances d'écoulement du BAP sont évaluées à l'aide de simulations MFN d’écoulement du BAP par les essais des L-Box et T-box (modélisée comme une matériau hétérogène). Deux nouvelles approches sont proposées pour classifier les mélanges du BAP sur la base de la capacité de remplissage, et les propriétés de performabilité, en fonction de la fluidité, la capacité de passage et de la stabilité dynamique du BAP.

This diploma thesis deals with the design of a two-axis multi-spindle lathe carriage. In the first part, there is made a research, and its aim is to find possible variants of design solutions. After the best rated variant was selected, the thesis further continues with the necessary technical calculations of the main design nodes such as a synchronous servomotor, ball screw, linear guide and bearing. The design itself was carried out with regard to calculations and the resulting model was examined in terms of dynamic stability. The subject of examination was to find the natural frequencies of the assembly and to determine the amplitudes of the oscillations which arise from the harmonic excitation force. Finally, Lobe diagrams for grooving and longitudinal turning operations were drawn.

General aircraft dynamic stability theory was used to predict the natural frequencies, damping ratios and time constants of the dynamic modes for three specific small UAVs with wingspans on the scale from 0.6 meters to 1.2 meters. Using USAF DatCom methods, a spreadsheet program for predicting the dynamic stability and handling qualities of small UAVs was created for use in the design stage of new small UAV concept development. This program was verified by inputting data for a Cessna-182, and by then comparing the program output with that of a similar program developed by DAR Corporation. Predictions with acceptable errors were made for all of the dynamic modes except for the spiral mode. The design tool was also used to verify and develop dynamic stability and handling qualities design guidelines for small UAV designers. Using this design tool, it was observed that small UAVs tend to exhibit higher natural frequencies of oscillation for all of the dynamic modes. Comparing the program outputs with military handling qualities specifications, the small UAVs at standard configurations fell outside the range of acceptable handling qualities for short-period mode natural frequency, even though multiple test pilots rated the flying qualities as acceptable. Using dynamic scaling methods to adjust the current military standards for the short period mode, a new scale was proposed specifically for small UAVs. This scale was verified by conducting flight tests of three small UAVs at various configurations until poor handling qualities were observed. These transitions were observed to occur at approximately the boundary predicted by the new, adjusted scale.

Die Bewegungs-kontrollstrategien kontextabhängig und abhängig von unterschiedlichen Kriterien ausgewählt werden. Einerseits ist die Stabilität in den Bewegungszuständen wie der Fortbewegung ausschlaggebend für die ungestörte Ausführung bestimmter Handlungen und erfordert eine effektive Steuerung durch das zentrale Nervensystem. Andererseits wird die Bewegungsstrategieauswahl durch das zentrale Nervensystem dadurch bestimmt, dass die Energiekosten minimiert werden soll. Beide Konzepte (d.h. die Aufrechterhaltung der Stabilität und die Energiekostenminimierung) spielen eine fundamentale Rolle bei der Frage, warum sich Menschen so bewegen, wie sie es tun. Unklar ist dabei allerdings, auf welche Weise das zentrale Nervensystem beide Prinzipien gegeneinander gewichtet. In den letzten 20 Jahren haben uns wissenschaftliche Konzepte wie die Chaostheorie oder die Theorie komplexer Systeme eine neue Herangehensweise an diese Fragen ermöglicht. Diese Arbeit untersucht die dynamische Stabilität menschlicher Fortbewegung mit Hilfe des Konzepts der Ljapunowanalyse. Als erstes wird eine methodologische Untersuchung der Verlässlichkeit des maximalen Ljapunowexponenten beim Gehen und Laufen durchgeführt (Kapitel 2). Danach wird verglichen zwischen dem Laufen unter normalen Umständen und dem darauffolgenden Laufen ohne Schuhe, wobei letzteres eine Abnahme der Stabilität nach dem Übergang zu den neuen Umständen zur Folge hat (Kapitel 3). In der letzten Untersuchung wurde ein unterschiedlich langes Training zur Verbesserung der Laufenergetik durchgeführt, in einer Gruppe nur über einen kurzen und in einer anderen Gruppe über einen etwas längeren Zeitraum (Kapitel 4). Die Ergebnisse zeigen, dass Bewegungskontrollfehler für die Energiekosten beim Laufen eine Rolle spielen können, und legen somit eine flexible Priorisierung der Bewegungskontrolle nahe. / Motor control strategies are chosen in a context dependent manner, based on different criteria. On the one hand stability in dynamic conditions such as locomotion, is crucial to uninterrupted task execution and requires effective regulation by the central nervous system. On the other, minimization of the energetic cost of transport is instrumental in choosing the locomotion strategy by the central nervous system. Both these concepts, (i.e. maintaining stability and optimization of energetic cost of locomotion) have a fundamental role on how and why humans move in the way they do. However, how the human central nervous system prioritizes between the different goals is unknown. In the last 20 years, ideas from scientific paradigms such as chaos theory and complex systems have given us novel tools to approach these questions. The current thesis examines the dynamic stability during human locomotion under such an approach using the concept of Lyapunov analysis. At first a methodological examination of the reliability of the maximum Lyapunov exponent in walking and running has been conducted (chapter 2). Afterwards, an examination between the habitual running condition and after removal of footwear was conducted, exhibiting a decrease in stability following the acute transition to the new condition (chapter 3). In the last study, a training intervention aiming at improvements in running energetics was performed using a short-term and a long-term intervention group (chapter 4). The results evidence that motor control errors can have a role in the energy cost of running and thus, a flexible prioritization of the motor control output.

Gleichgewichtsstörungen und Stürze gehören zu den wichtigsten Symptomen der Parkinson Krankheit (PD). Bei jungen PD-Patienten werden diese Probleme durch Nebenwirkungen der Medikation zusätzlich verstärkt. Aufgrund des noch sehr limitierten Verständnisses der zugrunde liegenden Mechanismen, die zum erhöhten Sturzrisiko bei jungen PD-Patienten beitragen, mangelt es derzeit an alternativen und effektiven bewegungsbasierten Therapien, um diese Sturzgefahr zu verringern. Diese Arbeit zielt darauf ab, solche Mechanismen zu identifizieren und eine effektive Methode zur Früherkennung des Sturzrisikos bei jungen PD-Patienten zu entwickeln. Es wurde der Beitrag der zentralen und peripheren neuromuskulären sowie sensomotorischen Fähigkeiten, dynamischen Stabilitätskontrolle und Anpassungsfähigkeit der Fortbewegung auf die Sturzrate junger PD-Patienten mittels eines Vergleichs zwischen gesunden Probanden und jungen PD-Patienten mit und ohne Sturzerfahrung (Fallers vs. Non-Fallers) untersucht. Der Vergleich zeigte, dass die PD-Fallers zentral begründete Defizite in der Muskelkraft ihrer Beinstrecker aufwiesen sowie eine verringerte Abfangleistung nach simulierten Vorwärtsstürzen. Die Parameter „Muskelkraft“ und „Annäherung an die vordere Stabilitätsgrenze“ identifizieren gemeinsam 90% der Fälle junger PD-Faller. PD-Patienten zeigten auch eine uneingeschränkte prädiktive Anpassungsfähigkeit auf Gangstörungen, aber ein weniger stabiles Gangmuster und weniger effektive reaktive Antworten auf wiederholte Gangstörungen im Vergleich zu Kontrollpersonen. Diese Arbeit stellt relevante Informationen dar, die für die Entwicklung von alternativen nicht-medikamentösen Therapien zur Reduzierung des Sturzrisikos bei jungen PD-Patienten nützlich sind. Darüber hinaus wurde eine akkurate Methode zur Früherkennung von jungen PD-Patienten mit einem erhöhen Sturzrisiko erarbeitet. Diese Patienten könnten von Training der Beinstrecker und der dynamischen Stabilität profitieren. / Postural instability and falls are some of the main symptoms associated with the Parkinson`s disease (PD). In early-onset patients (diagnosed before the age of 51) these problems are worsened by medication-related side-effects. There is a lack of effective exercise-based training interventions to reduce the risk of falling due to our limited understanding of the underlying mechanisms contributing to falls in early-onset PD. The present thesis aims to identify those mechanisms responsible for falls and to develop a sensitive method of assessment for the early discrimination of patients at risk of falling in early-onset PD. We investigated the contribution of central and peripheral neuromuscular and sensory-motor capacities, dynamic stability control and locomotor adaptability to the increased risk of falling in young PD patients by means of comparing healthy controls and early-onset PD fallers and non-fallers. The comparison revealed that PD fallers have central originated deficits in leg extensors` muscle strength - evidenced by increased antagonistic moments and activation deficit of the agonists - and a reduced increase of the base of support in response to simulated forward falls, both resulting in decreased recovery performance. The factors “muscle strength” and “approach to the anterior limit of stability” together could correctly classify 90% of the PD fallers. In addition, while young PD patients showed unaltered predictive adaptability to gait perturbations, they exhibited less stable gait patterns and less effective reactive responses to repeated gait perturbations compared to controls. This thesis provides relevant information for the development of alternative non-medication based therapies aiming to reduce falls in early-onset PD and an accurate assessment tool for the early identification of young patients at a high risk of falling. These patients may benefit from leg-extensors'' strengthening and dynamic stability training.