Esta dissertação apresenta a modelagem matemática de um giroscópio de controle de momento (CMG) e aplica técnicas de controle digital para o controle de atitude dessa planta. CMGs são atuadores importantes para o controle de atitude de corpos no espaço, tais como satélites e veículos espaciais. Desenvolve-se a modelagem da planta por meio da mecânica Lagrangiana e estudam-se técnicas específicas de controle PID (proporcional-integral-derivativo) e LQR (linear-quadratic regulator ) digitais para aplicação em sistemas com a planta nas configurações desacoplada e acopladas de fase mínima e não-mínima. Realizam-se ensaios via simulação, com o modelo não-linear da planta, bem como via experimentos práticos, com o sistema real, para validar os controladores projetados. Com isso, obtêm-se resultados positivos com ambas as técnicas estudadas, com exceção ao caso acoplado de fase não-mínima, para o qual uma das técnicas não foi capaz de controlar a atitude da planta. / This dissertation presents the mathematical modeling of a control moment gyroscope (CMG) and applies digital control techniques for its attitude control. CMGs are important actuators for bodies attitude control in the space, such as satellites and space vehicles. The system modeling is developed with the Lagrangian mechanics and a digital proportionalintegral- derivative (PID) and a digital linear-quadratic regulator (LQR) control techniques are studied and applied to a decoupled system and coupled systems with minimum and non-minimum phases. Simulation tests with the non-linear plant model and experimental tests with the real plant are done in order to validate the control techniques. Then, positive results are reached with both studied techniques, excepting in the coupled system with non-minimum phase, in which one technique was not able to control it.

In this thesis, a test platform based on real-time facilities and embedded software is designed to verify the performance of a controller model in real time. By the help of this platform, design errors can be detected earlier and possible problems can be solved cost-effectively without interrupting the development process. An unmanned combat air vehicle (UCAV) model is taken as a plant model due to its importance in current and future military operations. Among several autopilot modes, the altitude hold mode is selected since it is an important pilot-relief mode and widely used in aviation. A discrete PID controller is designed in MATLAB/Simulink environment for using in verification studies. To control the dynamic system in wide range, a gain scheduling is employed where the altitude and velocity are taken as scheduling variables. Codes for plant and controller model are obtained by using real time workshop embedded coder (RTWEC) and downloaded to two separate computers, in which xPC kernel and VxWorks operating system are run, respectively. A set of flight test scenarios are generated in Simulink environment. They are analyzed, discussed, and then some of them are picked up to verify the platform. These test scenarios are run in the setup and their results are compared with the ones obtained in Simulink environment. The reusability of the platform is verified by using a commercial aircraft, Boeing 747, and its controller models. The test results obtained in the setup and in Simulink environment are presented and discussed.

Esta dissertação apresenta a modelagem matemática de um giroscópio de controle de momento (CMG) e aplica técnicas de controle digital para o controle de atitude dessa planta. CMGs são atuadores importantes para o controle de atitude de corpos no espaço, tais como satélites e veículos espaciais. Desenvolve-se a modelagem da planta por meio da mecânica Lagrangiana e estudam-se técnicas específicas de controle PID (proporcional-integral-derivativo) e LQR (linear-quadratic regulator ) digitais para aplicação em sistemas com a planta nas configurações desacoplada e acopladas de fase mínima e não-mínima. Realizam-se ensaios via simulação, com o modelo não-linear da planta, bem como via experimentos práticos, com o sistema real, para validar os controladores projetados. Com isso, obtêm-se resultados positivos com ambas as técnicas estudadas, com exceção ao caso acoplado de fase não-mínima, para o qual uma das técnicas não foi capaz de controlar a atitude da planta. / This dissertation presents the mathematical modeling of a control moment gyroscope (CMG) and applies digital control techniques for its attitude control. CMGs are important actuators for bodies attitude control in the space, such as satellites and space vehicles. The system modeling is developed with the Lagrangian mechanics and a digital proportionalintegral- derivative (PID) and a digital linear-quadratic regulator (LQR) control techniques are studied and applied to a decoupled system and coupled systems with minimum and non-minimum phases. Simulation tests with the non-linear plant model and experimental tests with the real plant are done in order to validate the control techniques. Then, positive results are reached with both studied techniques, excepting in the coupled system with non-minimum phase, in which one technique was not able to control it.

This work is focused on the design and realization of a station for measuring the performance of modern fuel filter heaters. The openning part of the thesis is focused on the theoretical introduction to the issue of diesel purity and the function of fuel filters. The second part includes the process of measuring station creation, including the creation of a control application in LabView. The final part is devoted to measuring of several types of filters and method verification.