Direct current motors and stepping motors are very often used for electric drives in cars. The most frequent representatives of direct current motors are electric starter and wind- screen wiper motor. Stepping motors are very often used for electric regulating of outsides driving mirrors and seats. This study is focused on innovation and DC permanent magnet motor. The disadvanage of direct current motors is so called „sliding contact“. A possible compensation of direct current motor are EC (electronically commutator) motors that do not need sliding contact for their work.

Electric drives used in automotive industry are often based on standard DC motor as it is widely recognised as mature and reliable technology. The most common applications of DC motors in automotive industry are starters and wind screen wiper motors. Aim of this thesis is to provide design overview of typical automotive DC motor therefore main parts and features of the machine will be described in detail. Main disadvantage of DC motor is „sliding contact“ between commutator and carbon brushes which introduces source of electromagnetic disturbance and requires regular maintenance. Within this project different aspects of DC motor design and innovation are expected to be tackled including examples of loss calculation.

This Master's Thesis is focused on the design and control of a small-series production line, for the production of segmetal arches and plastic reductions. It is about the conversion from a semi-automatic line to a fully automatic line. The production line consists of an extruder, a cutting unit, a exhaust unit, three pressing machines and a manipulator. Every single machine has a custom control for which was selected a baseplate with microcontroler ATmega 128 and designed powerful part of inputs and outputs. There is a simple communication between the machines. Appropriate elements were used for conversion of every individual part of the production line. The whole system is programmed with software called AVR Studio4.

An AC system’s voltage unbalance by a fundamental frequency negative sequence system is usually the main cause for the emission of non-characteristic harmonics by current source converters as used in conventional HVDC systems. This emission takes place on both sides of each 12-pulse converter. On the DC side mainly a 2nd harmonic voltage appears driving a 2nd harmonic current. The magnitude of this harmonic current can exceed the magnitudes of the characteristic harmonics even if no low order resonance exists. Further non-characteristic harmonics generated by the converter under such unbalanced supply voltage conditions have frequencies with a frequency distance to the characteristic harmonics of 2 times the fundamental frequency. The main technical drawbacks are the unintended coupling between both AC systems and the risk of thyristor over-stresses by DC current discontinuities at low power transfer levels. On both AC sides the largest 2 non-characteristic current harmonics generated by a 12-pulse HVDC converter under unbalanced supply voltage conditions are a negative sequence system of the fundamental harmonic and a positive sequence system of the 3rd harmonic. Also on the AC sides further harmonics are emitted by the converter with a order number distance of 2 to the orders of the characteristic harmonics. However, in practical AC system operation special attention has to be paid to the 3rd harmonic distortion level, in particular when low order resonance appears between the system impedance and the impedance of the converter station AC filters. In order to avoid the above mentioned problems, large smoothing reactors and sometimes large blocking filters are installed on the DC side and the voltage distortion on the AC sides is reduced by AC filters. However, these filters require an expensive high component rating if they are tuned to the 2nd or 3rd harmonic respectively. The work shows that a modification of the valve firing can reduce the levels of the 2nd and 3rd harmonic without investment into additional primary equipment. Furthermore, this offers the chance to reduce the minimum power transfer level since also the risk of an intermittent DC current can be reduced. A corresponding algorithm and a control strategy are proposed. However, the calculation of an appropriate firing pattern requires a detailed modelling of the processes within the converters, especially the formation of the harmonics and the harmonic transfer between AC and DC sides. The work proposes a component vector model for the calculation of the harmonics. This model assumes that each harmonic consists of a first component representing the ideal conversion process, a 2nd component representing the impact of different commutation angles and in the case of the modified firing a 3rd component considering the impact of the intended non-equidistant firing. The work shows, that the harmonic component vectors resulting from voltage unbalance and from firing modulation can be treated separately and superimposed linearly. The calculation of the harmonic component vectors is performed applying the method of switching functions. For the consideration of the commutation and firing angle differences the modelling of switching functions based on differential impulses is proposed. However, especially an accurate representation of the above mentioned 2nd component vector requires a correct calculation of the commutation angles and their valve-specific differences. The investigations of this work have revealed that the conventional method of calculating the commutation angles – assuming an ideal smoothed DC current - may not produce results of sufficient accuracy. This is especially true in the case of a high ripple of the DC current, e.g. smoothed with a small smoothing reactor. A small smoothing reactor is typical for HVDC back-to-back applications. Therefore a new analytical method for the calculation of the commutation angles has been developed which in particular considers the typical pulse form of the DC current and additionally the impacts of the voltage unbalance and of the proposed modification of the firing on the ripple shape of the DC current. Moreover, as this analytical method requires the instantaneous values of the DC current at the instants of valve firing, a further analytical method for the calculation of these discrete current values has been developed. The equations are valid under the same conditions as the new ones for calculation of the commutation angles, i.e. resistive-inductive AC system fundamental frequency impedances, any degree of DC current smoothing between ideal smoothing and a ripple at the limit for current discontinuities. Symmetrical conditions, supply voltage unbalances and non-equidistant firing as proposed are applied. It is shown that, using this method, also the discrete values of the DC current at the end of the commutation intervals can be determined. In practice one of these discrete current values indicates the minimum value during one period of the fundamental frequency. This offers the chance for a more exact analytical determination of the limit for the appearance of DC current discontinuities. For typical parameters of a back-to-back installation the new methods and the new analytical equations have been compared with simulation results showing excellent correlation for typical voltage unbalances of not more than 1...2% and firing angle differences of not more than 2.5°. This verification is performed for the harmonics, the commutation angles and the discrete values of the DC current at the firing instants as well.:1 Einleitung und Ziel der Arbeit 1.1 Einführung in die Problematik 1.2 HGÜ-Systeme als Quelle von Strom- und Spannungsharmonischen 1.3 Netzspannungsunsymmetrien 1.4 Abgrenzung der betrachteten technischen Systeme 1.5 Beweggründe für die Betrachtung 1.6 Zielstellungen 2 Erkenntnisstand und Analyse der Aufgabenstellung 2.1 Harmonische 2.2 Aktive Kompensation von Harmonischen 2.3 Diskrete Werte des Zwischenkreisstromes am Beginn und Ende der Kommutierungsintervalle 2.4 Kommutierungswinkel 3 Grundlagen 3.1 Methodischer Ansatz 3.2 Allgemeine Voraussetzungen, Annahmen und Festlegungen 3.3 Maßgebliche Impedanzen für die Stromaufteilung 3.4 Maßgebliche Impedanz für die gleichstromseitigen Stromharmonischen 3.5 Leerlauf-Klemmenspannung des Stromrichters 3.6 Kommutierungsspannung 3.7 Nummerierungssystem der Ventile 3.8 Überlappungsformen der Kommutierungsintervalle 3.9 Komplexer Spannungsunsymmetriefaktor 3.10 Anwendung und Modifikation von Schaltfunktionen 3.11 Verifikation der Ergebnisse 4 Harmonische auf der Gleichstromseite 4.1 Bildungsgesetz 4.2 Charakteristische Harmonische 4.3 Nichtcharakteristische Harmonische infolge unsymmetrischer Netzspannungen 4.4 Nichtcharakteristische Harmonische infolge Ansteuermodifikation 5 Diskreter Wert des Zwischenkreisstromes im Zündzeitpunkt 5.1 Vorgehensweise 5.2 Lösungsansatz 5.3 Konstante Gegenspannung 5.4 Reale Gegenspannung des HGÜ-Stromrichters 5.5 Berücksichtigung von Resistanzen 5.6 Unsymmetrische Netzspannungen 5.7 Ansteuermodifikation 5.8 Unsymmetrische Netzspannungen und gleichzeitige Ansteuermodifikation 5.9 Ergebnisse 6 Kommutierungswinkel 6.1 Vorgehensweise 6.2 Konstante Gegenspannung 6.3 Reale Gegenspannung des HGÜ-Stromrichters 6.4 Berücksichtigung von Resistanzen 6.5 Unsymmetrische Netzspannungen 6.6 Ansteuermodifikation 6.7 Unsymmetrische Netzspannungen und gleichzeitige Ansteuermodifikation 6.8 Ergebnisse 7 Vertiefende Betrachtung der nichtcharakteristischen Harmonischen auf der Gleichstromseite 7.1 Vorbemerkungen 7.2 Unsymmetrische Netzspannungen 7.3 Ansteuermodifikation 7.4 Spannungsunsymmetrie und gleichzeitige Ansteuermodifikation 7.5 Ergebnisse 8 Harmonische auf der Netzseite 8.1 Bildungsgesetz 8.2 Charakteristische Harmonische 8.3 Nichtcharakteristische Harmonische 9 Betrachtungen zur aktiven Kompensation 9.1 Vorbemerkungen 9.2 Betrachtungsumfang 9.3 Grundlagen 9.4 Konzeptioneller Vorschlag für die Kompensation der 2. Stromharmonischen 9.5 Betrachtung der Drehstromseite 9.6 Vorschlag zur Weiterentwicklung des Konzeptes 9.7 Berechnungsbeispiel zur Kompensation der 2. Harmonischen im Zwischenkreis 9.8 Ergebnisse und Schlussfolgerungen 10 Zusammenfassung 11 Literatur 12 Formelzeichen und Abkürzungen 13 Anlagenverzeichnis

This thesis deals with the subject of a mobile robot design for an international competition Minisumo. The work includes both a theoretical presentation of the robot design as well as the documentation of its realization. The development process starts with a creation of a theoretical basis, which is functioning as a source of information for the consecutive design of the mechanics, electronics and final production of the robot. The work also includes the development of control software necessary for the correct operation of the robot.

No description available.

La recherche des dernières décennies nous a offert une compréhension détaillée des processus par lesquels les aires visuelles du cerveau reconstituent les signaux physiques de l’environnement pour en générer des représentations. Cependant, la proposition selon laquelle la perception serait également le produit d’inférences et attentes, qui nous permettraient d’interpréter plus exactement les informations entrantes à l’aide d’expériences passées, est récurrente dans l’histoire des neurosciences cognitives. Le predictive coding (PC), qui est actuellement un modèle influent de la perception, propose qu’un des rôles principaux du cerveau est de prédire les informations entrantes. L’apprentissage visuel serait ainsi orienté en fonction d’informations n’ayant pas été correctement prédites ou d’erreurs de prédiction. Le PC est associé depuis quelques années par le phénomène de suppression neuronale (SN), où la réduction graduelle de l’activité cérébrale associée au traitement répété d’un stimulus, représenterait la réduction des erreurs de prédiction. Cette thèse propose premièrement que bien que la SN puisse être le reflet d’un processus assimilable au PC, celle-ci ne le représente possiblement qu’en partie. Une mesure additionnelle reflétant la correction ou l’ajustement des prédictions déclenché par l’erreur de prédiction serait alors nécessaire. Dans un premier temps, une revue critique des principaux courants de la recherche sur l’apprentissage est présentée sous la forme d’un chapitre de livre du domaine plus large du développement des capacités d’apprentissage. Celle-ci permet de préciser les aspects fondamentaux de l’habituation, la SN et la capacité à associer des éléments en mémoire, ainsi que l’importance de caractériser ces phénomènes aussi pleinement que possible par l’utilisation de nouvelles mesures, ce qui motive les études expérimentales présentées subséquemment. Par la suite, une première étude visant à identifier une mesure complémentaire à celle de la SN reflétant un processus d’ajustement de prédictions est présentée. Cette mesure, nommée entropie multi-échelles (EME), offre une estimation de la quantité d’information d’un signal électroencéphalographique (EEG) et de la capacité de traitement des réseaux neuronaux sous-jacents. La première hypothèse de cette étude était donc que la SN serait accompagnée d’une augmentation de l’EME au-dessus de la région occipito-temporale lors d’un apprentissage de visages. Puisque les phénomènes reflétés par la SN et l’EME s’appuieraient sur la contribution de régions distantes dont le cortex préfrontal dorsolatéral, la deuxième hypothèse était que ces mesures seraient altérées par une modulation exogène de l’activité de cette région préfrontale par stimulation électrique transcrânienne à courant direct (SETCD). Les résultats ont montré que le signal EEG présentait à la fois une SN et une augmentation de l’EME avec l’apprentissage. De plus, la modulation préfrontale par SETCD a entraîné des variations de l’EME de la région occipito-temporale, sans toutefois avoir un impact sur la mesure de SN. La première étude suggère ainsi que la SN et l’EME reflètent des mécanismes cérébraux impliqués dans l’apprentissage visuel et compatibles au modèle de PC. Dans la deuxième étude, l’hypothèse d’une association entre les mesures de SN et d’EME a été reprise, cette fois dans le contexte d’un apprentissage visuel relationnel, étant donné le potentiel que représente les connaissances d’associations passées entre items pour la génération de prédictions. Dans ce contexte, des effets de SN et d’augmentation d’EME ont été obtenus à nouveau et étaient associées à la réussite de l’encodage d’associations de visages-paysages. Un deuxième aspect de cette étude visait à investiguer la présence d’effets semblables chez de jeunes enfants sains, étant donné plusieurs études suggérant que le PC et la mémoire relationnelle soient fonctionnels dans la première année de vie. Cependant, étant donné l’absence d’effets dans ce groupe, les résultats de la deuxième étude suggèrent que la présence du PC tôt dans le développement s’appuie possiblement sur d’autres ressources que la mémoire relationnelle. Les études de cette thèse sont une première démonstration du potentiel que représentent les mesures de SN et d’EME dans la compréhension des mécanismes qui sous-tendent la perception et l’apprentissage visuel. / Research over the last decades has offered detailed knowledge of the processes by which visual areas use physical signals from the environment to represent it accurately. However, the proposition that perception also relies on inferences and predictions based on past experience to allow more efficiency in the interpretation of incoming signals has been recurrent throughout the history of cognitive neuroscience. In recent years, the predictive coding (PC) model, which proposes that the brain acts as a predictor of incoming information, has been influential in this field. Learning is therefore driven by prediction error and encoding is essentially restricted to unpredicted inputs, thus allowing adjustments to predictions. PC has been associated with repetition suppression (RS), whereby the gradual reduction in brain responses associated with the repeated processing of a stimulus is thought to represent prediction error reduction. This thesis proposes that although RS may be attributable to a PC process, it may not represent it fully. To do so would necessitate the use of an additional measure reflecting prediction adjustments carried out as a consequence of prediction error. A critical review of the principal currents in the cerebral mechanisms underlying learning is presented first. This review underlines the fundamental aspects of habituation, RS and the ability to associate elements to one another in memory and the importance of characterizing these phenomena fully using new measures of learning, which motivates the experimental studies presented next. Then, a study aimed at identifying a measure complementary to RS and reflecting a prediction adjustment process is presented. This measure, named multiscale entropy (MSE), offers an estimation of the information content of an electroencephalogram (EEG), and of the underlying neural networks. The first study’s main hypothesis was that RS would be accompanied with an increase in MSE over occipito-temporal areas during learning of faces. As the processes reflected by these measures would rely on distal contributions including the dorsolateral prefrontal cortex (DLPFC), the second hypothesis was that exogenous modulation of this region using transcranial direct current stimulation (tDCS) would alter RS and MSE effects found over occipito-temporal cortex. As predicted by hypotheses, EEG signal showed both RS and MSE increase from the first presentation of a face to the second over occipito-temporal sites. Additionally, prefrontal tDCS modulated brain signal complexity over right occipito-temporal cortex during learning, but did not influence RS over the same region. The first study therefore suggests that RS and MSE reflect mechanisms involved in learning of visual stimuli that appear compatible with the PC account of perception and learning. In the second study the hypothesis of an association between RS and MSE increase was investigated again, this time in the context of a visual relational memory task, given the high potential past associations of items represent for prediction generation. In this context, RS and MSE increase effects were replicated in study trials leading to correct associations of face-landscape pairings. The second study also investigated the presence of similar effects in a sample of young healthy children, given that recent studies have found evidence of both PC mechanisms and relational memory ability emerging in the first year of life. However, given the lack of effects in this sample of participants, we suggest that while PC mechanisms may emerge early, relational memory may contribute later in the course of development. Together, the studies presented in this thesis represent the first demonstration of the potential the combined use of measures of RS and signal complexity represent in further understanding the cerebral underpinnings of visual perception and learning.

No description available.

In the search for green energy to combat climatechange, a shift from conventional energy sources such as coal,oil, and nuclear towards Renewable Energy Sources (RES) isneeded. This shift poses a threat to the stability of the powergrids as RES do not contribute with rotating mass in the system.A lack of rotating mass, or in other words inertia, jeopardizesthe ability of power systems to counteract large disturbances.Frequency Containment Reserves (FCR) units are responsiblefor controlling the frequency in power systems by regulatingthe balance between the generated and consumed power. If thefrequency deviates outside of the defined range from the nominalvalue, it can lead to system separation, blackouts, and systemequipment damage. The frequency deviations are faster in lowinertia systems, making it more difficult for FCR to keep thefrequency within accepted ranges. Hydro turbines are often usedas FCR units, but additional means of support could be neededfor low inertia systems. Viable support could be battery systems.This project investigates the change towards low inertia and thepossible implementation of a battery system as fast step-wisepower support with a frequency trigger. The investigation is donethrough case studies of simulated system models in Matlab andSimulink. / I jakten på grön energi för att bekämpa klimatförändringarna behövs en övergång från konventionella energikällor som kol, olja och kärnkraft mot förnyelsebara energikällor. Denna övergång utgör ett hot mot kraftnätens stabilitet då förnyelsebara energikällor inte bidrar med roterande massa. Brist på roterande massa eller med andra ord tröghet äventyrar kraftsystemens förmåga att motverka stora störningar. Frequency Containment Reserves (FCR) är system som aktivt arbetar med att styra frekvensen i kraftsystemet genom att reglera balansen mellan den producerade och konsumerade effekten. Om detta misslyckas och frekvensen avviker för mycket från den nominella frekvensen kan detta leda till systemseparation, strömavbrott eller skada hos systemkomponenter. I ett system med låg tröghet blir frekvensavvikelserna snabbare. Detta gör det svårare att använda sig av FCR för att hålla frekvensen inom accepterade intervall. Vattenkraftverk används ofta som FCR enheter, men för system med låg tröghet kan ytterliggare stöd behövas. Ett möjligt effektstöd kan vara batterisystem. Detta projekt undersöker förändringen till lägre tröghet i ett kraftsystem och möjlig implementering av ett batterisystem med ett snabbt stegsvar för effektstöd, vilket aktiveras vid en förbestämd frekvens. Undersökningen görs genom studier av specifika fall med en linjäriserad modell av ett kraftsystemet, lerade i Matlab och Simulink. / Kandidatexjobb i elektroteknik 2021, KTH, Stockholm

This is a bachelor's thesis in Mechanical engineering. The main topic of the thesis is the electrical calculation of the tap changer's shield. Although there are many kinds of tap-changers, this study focuses on VUCL models. The theoretical background of the thesis is that the new shield is suitable and useable in all VUCL models. The primary topic of the thesis is to study that the new shield protects the resistance box in the middle of the tap changers. To do this study, Creo Parametric, Comsol, and SpaceClaim are the programs used. / Detta är en kandidatexamen i maskinteknik. Avhandlingens huvudämne är den elektriska beräkningen av kranbytarens sköld. Även om det finns många olika typer av lindnings fokuserar denna studie på VUCL modeller. Den teoretiska bakgrunden för avhandlingen är att den nya skölden är lämplig och användbar i alla VUCL-modeller. Det primära ämnet för avhandlingen är att studera det nya sköld skyddar motståndet rutan i mitten av lindningskopplare. För att göra denna studie är Creo Parametric, Comsol och SpaceClaim de program som används.