The piano action is the mechanism that transforms the finger force applied to a key into the motion of a hammer that strikes a piano string. This thesis focuses on improving the fidelity of the dynamic model of a grand piano action which has been already developed by Hirschkorn et al. at the University of Waterloo. This model is the state-of-the-art dynamic model of the piano in the literature and is based on the real components of the piano action mechanism (key, whippen, jack, repetition lever, and hammer). Two main areas for improving the fidelity of the dynamic model are the hammer shank and the connection point between the key and the ground. The hammer shank is a long narrow wooden rod and, by observation with a high-speed video camera, the flexibility of this part has been confirmed. In previous work, the piano hammer had been modelled as a rigid body. In this work, a Rayleigh beam model is used to model the flexible behaviour of the hammer shank. By comparing the experimental and analytical results, it turns out that the flexibility of the hammer shank does not significantly affect the rotation of the other parts of the piano mechanism, compared with the case that the hammer shank has been modelled as a rigid part. However, the flexibility of the hammer shank changes the impact velocity of the hammer head, and also causes a greater scuffing motion for the hammer head during the contact with the string. The connection of the piano key to the ground had been simply modelled with a revolute joint, but the physical form of the connection at that point suggests that a revoluteprismatic joint with a contact force underneath better represents this connection. By comparing the experimental and analytical results, it is concluded that incorporating this new model significantly increases the fidelity of the model for the blows. In order to test the accuracy of the dynamic model, an experimental setup, including a servo motor, a load cell, a strain gauge, and three optical encoders, is built. The servo motor is used to actuate the piano key. Since the purpose of the motor is to consistently mimic the finger force of the pianist, the output torque of the motor is controlled. To overcome the problem associated with the motor torque control method used in previous work, a new torque control method is implemented on a real-time PC and a better control of the motor torque output is established. Adding a more realistic model of the piano string to the current piano action model and finding a better contact model for the contacts that happen between the surfaces that are made of felt (or leather), are two main areas that can be worked on in the future research. These two areas will help to further increase the fidelity of the present piano action model.

Dynamic simulation programs were created in the Python programming language, to describe a laboratory scale, sub-zero distillation column, that is used to separate mixtures of tetrafluoroethylene (TFE), hexafluoropropylene (HFP) and octafluorocyclobutane (OFCB). Both the equilibrium and rate-based modelling approaches were taken, to generate a comparison between the efficiency and simulation time of both models. A physical properties data bank for the three components had to be created, as the main and many of the sub-models require physical or thermodynamic properties for evaluation. The different physical property models, found in literature, were programmed into functions that could easily return the wanted property, given a set of required inputs. The applicable mixing rules for each property type was also programmed into functions, to allow for easy retrieval. The vapour-liquid equilibrium (VLE) model used, is also one that comes from literature and is based on parameters for the three binary systems. The VLE model consists of the Peng-Robinson equation of state, that utilises the Mathias-Copeman alpha function and the Wong-Sandler mixing rules, to describe the vapour phase. The liquid phase is described by the non-random two liquid (NRTL) activity coefficient model. Furthermore, the γ-Φ VLE formulation was used to put the thermodynamic model together. These models were also written into functions to serve as simulation building blocks. Mass and energy transfer on packed sections in the rate-based model was described by the Maxwell-Stefan diffusion model. The form of this model that was utilised, is the matrix-based, exact solution of the Maxwell-Stefan equations, under the two-film theory. This model was slightly simplified by assuming that the corrective flux matrix reduces to the identity matrix- an assumption that is regularly made in distillation modelling. Emphasis was laid in documenting how the models are put together to build the simulations. Dynamic simulation algorithms rarely accompany distillation models reported in literature, or authors make use of commercial software to order the modelling equations for them. One of the objectives of the research presented here was, therefore, to report on the process developed to solve the problem. Both simulation programs delivered typical responses that can be expected of distillation systems. The actual change in the magnitude of the values, however, proved to be significantly small. The cause of this, being the large liquid molar hold-up values that were produced by the model initialisation. The feed flow rate, in comparison, is too small to bring about a significant effect when suddenly increased. This could mean that the system is not capable of reaching the steady-state produced by the initialisation (as the feed cylinder may be too small to contain the required amount of feed gas) and that the column may have to be run in a continuous dynamic state. To be sure of this, however, the model will first need to be validated against experimental data. Furthermore, the simulation programs proved to progress very slowly, particularly the simulation built around the rate-based model. A time step-size of 0.5 resulted in an integration time around 1 minute and 20 seconds for the equilibrium model, while the rate model ran for over 19 minutes, both for a timespan of 300 s. It is recommended that future research focuses on building start-up simulations for the models, to provide better initial results and to give more insight into the operation of the column. Experimental validation of the models is also important, to establish their accuracies. Finally, work has to be done to improve the simulation speeds, especially if it is required that one of the models are integrated into the column's control system. / Dissertation (MEng)--University of Pretoria, 2019. / Fluorochemical Expansion Initiative / Department of Science and Technology / Department of Trade and Industry / Chemical Engineering / MEng / Unrestricted

No / The increasing complexity in the development and manufacturing process of internal combustion engines leads to a higher demand for more effective testing and monitoring methods. Cold engine testing becomes progressively the main End-of-Line test which is used nowadays from automotive engine manufacturers with the purpose of determining the integrity of engine assembly. The present work is focused on the development of a detailed physics-based, lumped-parameter, dynamic model of a single cylinder internal combustion engine coupled with an alternating current transient dynamometer for cold engine testing applications. The overall transient engine test cell model is described based on a two-inertia system model consisting of the engine, the dynamometer and the coupling shaft. The internal combustion engine is modelled based on First Law of Thermodynamics and Second Newton’s Law for rotational bodies. The transient dynamometer is actually an alternating current three-phase induction motor which is modelled according to direct-quadrature axis approach, and its drive unit which is responsible for controlling the speed of the motor using indirect field orientation scheme. The engine and dynamometer are connected through a coupling shaft which is modelled as a compliant member with damping. The model is validated against experimental measurements such as engine cylinder pressure, engine excitation torque and alternating currents of the induction motor. All of the experimental measurements were recorded from an identical single cylinder transient engine test cell using a highly advanced instrumentation system. The described model serves as an ideal platform for developing innovative model-based fault detection and diagnosis techniques for cold engine testing applications. In conclusion, this is presented successfully for two simulated fault cases, a process fault and a sensor fault, proving the functionality and usefulness of the model.

Este trabalho trata da modelagem e controle do radiotelescópio de Itapetinga (Atibaia, SP). Ele compreende não só síntese dos modelos e sintonia dos controladores, mas também identificação de sistemas, validação experimental de modelo e controle, reespecificação de componentes, sugestão de nova arquitetura de automação e controle e direcionamento do desenvolvimento que deve ser feito em futuros trabalhos. A parte inicial desta dissertação trata dos principais conceitos envolvidos e do levantamento de informações preliminares para a compreensão do sistema a ser modelado. A seguir é feita a modelagem matemática dos diversos componentes que formam os sistemas de posicionamento dos eixos de elevação e azimute. São então identificados experimentalmente os coeficientes matemáticos dos modelos e são feitas suas validações experimentais. Os controladores PID são sintonizados, baseados na simulação das malhas de controle através das ferramentas matemáticas MATLAB e Simulink. A validação experimental dos controladores é feita e comparada ao sistema de controle atual. São feitos os encaminhamentos das definições de novos motores e amplificadores e desenvolvida uma nova proposta de arquitetura para controle e supervisão do radiotelescópio, dando a ele funcionalidades muito além das que existem atualmente. Finalmente é dado o direcionamento dos próximos passos de desenvolvimento dos modelos, controladores e arquitetura de controle. Com este trabalho procura-se aumentar significativamente o entendimento do sistema de posicionamento do radiotelescópio, criando novos horizontes para o controle, operação, supervisão e manutenção do mesmo. / This work covers the modeling and control of the radio telescope of Itapetinga (Atibaia, SP). It tackles not only model synthesis and controllers tuning, but also system identification, experimental validation of model and control, re-specification of components, as well as a suggestion of a new automation and control architecture, and suggestions for future works. The initial part of this dissertation covers the main concepts and preliminary information for the understanding of the system to be modeled. Then a math model of the several components that form the pointing systems of the elevation and azimuth axis is done, followed by the experimental identification and validation of the math coefficients for the model. PID controllers are tuned based on the simulation of control loops using the math tools MATLAB and Simulink. Then the experimental validation of the controllers is done and compared to the current system control. Preliminary definitions of new motors and amplifiers are suggested, and a new proposal of architecture for radio telescope\'s control and supervision is developed, expanding its functionalities far beyond the ones available today. Finally, directions for the next steps to be taken in order to develop models, controllers and control architecture are given. This work aims to greatly increase the understanding of the radio telescope\'s pointing system, creating new horizons for its control, operation, supervision and maintenance.

This thesis concerns the identification of dynamic models in systems biology. and is structured into two parts. Both parts concern building dynamic models from observed data, but are quite different in perspective, rationale and mathematics. The first part considers the development of novel identification techniques that are particularly tailored to (molecular) biology and considers two approaches. The first approach reformulates the parameter estimation problem as a feasibility problem. This reformulation allows the invalidation of models by analysing entire parameter regions. The second approach utilises nonlinear observers and a transformation of the model equations into parameter free coordinates. The parameter free coordinates allow the design of a globally convergent observer, which in turn estimates the parameter values, and further, allows to identify modelling errors or unknown inputs/influences. Both approaches are bottom up approaches that require a mechanistic understanding of the underlying processes (in terms of a biochemical reaction network) leading to complex nonlinear models. The second part is an example of what can be done with classical, well developed tools from systems identification when applied to hitherto unattended problems.In particular, part two of my thesis develops a modelling framework for rat movements in an experimental setup that it widely used to study learning and memory.The approach is a top down approach that is data driven resulting in simple linear models.

Systematic parametric studies were performed to better understand seal-inlet rotordynamics. A CFD-perturbation model was employed to compute the seal-inlet flow disturbance quantities. Seal inlet disturbance boundary condition correlations were proposed from the computed seal-inlet quantities using the important parameters. It was found that the cosine component of the seal-inlet swirl velocity disturbance W1C has a substantial impact on the cross-coupled stiffness, and that the correlations for W1C and W1S should be used to replace the historical guess that seal inlet W1C = 0 and W1S = 0. Also, an extremely precise relationship was found between the swirl disturbance W1C and the seal-inlet swirl velocity (ωRsh − ¯W0). Thus, the number of experiments or computer runs needed to determine the effect of spin speed, shaft radius and/or inlet swirl velocity on the cross-coupled stiffness is greatly reduced by plotting the simplified relationship of the cross-coupled stiffness against the swirl slip velocity. The benefits of using the new seal-inlet boundary condition correlations were assessed by implementing them into a CFD-perturbation model. Consistently improved agreement with measurements was obtained for both liquid annular seals and gas labyrinth seals. Further, the well-established CFD-perturbation model with new boundary condition correlations was employed to investigate the rotordynamics of two off-design situations. The first case considered the influence of labyrinth seal teeth damage on the performance and the rotordynamic characteristics of impeller eye seals in centrifugal compressors. The second case considered the influence of rotor-axial-shifting on rotordynamic forces for high-low labyrinth seals in steam turbines during the start-up and shut-down process. The results should provide useful information for labyrinth seal design and fault diagnosis of stability problems in turbines and compressors.

Greenhouse gas (GHG) emission control has been extensively studied over the past decade. One GHG mitigation alternative is post-combustion carbon dioxide (CO2) capture using chemical absorption, which is a promising alternative due to its proven technology and the relative ease to install on existing coal-fired power plants. Nevertheless, the implementation of commercial-scale CO2 capture plants faces several challenges, such as high energy consumption, commercial availability, and geological CO2 storage. Therefore, there is a great incentive to develop studies that provide insights needed to design and dynamically operate industrial-scale CO2 capture plants for coal-fired power plants. This work presents a mechanistic dynamic model of a pilot plant of a post-combustion CO2 capture plant using the monoethanolamine (MEA) absorption processes. This model was implemented in gPROMS. The process insights gained from the sensitivity analysis, on six manipulated variables and six potential controlled variables, was used to determine promising control schemes for this pilot plant. This study then proposed three decentralized control structures. The first control scheme was designed based on the traditional-RGA (Relative Gain Array) analysis, whereas the other two control schemes were designed using heuristics. The performance evaluation of those control structures were conducted under eight scenarios, e.g. changes in flue gas composition, set point tracking, valve stiction, reboiler heat duty constraint, and flue gas flow rate. Under the condition where the reboiler temperature is to be controlled, a control scheme obtained from the heuristic showed faster response to achieve the process control objectives (90% CO2 capture rate and 95 mol% CO2 purity in the CO2 product stream) than the RGA-based control scheme. Furthermore, this study describes a step-by-step method to scale-up an MEA absorption plant for CO2 capture from a 750 MW supercritical coal-fired power plants. This industrial-scale CO2 capture plant consists of three absorbers (11.8 m diameter, 34 m bed height) and two strippers (10.4 m diameter, 16 m bed height) to achieve 87% CO2 captured rate and 95% CO2 purity in the CO2 product stream. It was calculated that the reboiler heat duty of 4.1GJ is required to remove 1 tonne of CO2 at the base case condition (20 kmol/s of flue gas flow rate with 16.3 mol% of CO2). The mechanistic model of an industrial-scale CO2 capture plant including a proposed control structure was evaluated using different scenarios. The performance evaluation result revealed that this plant can accommodate a maximum flue gas flow rate of +22% from the nominal condition due to absorbers??? flooding constraints. Moreover, it is able to handle different disturbances and offers prompt responses (After a plant is disturbed by an external perturbation, control variables in that plant are able to return to their set points in timely fashion using the adjustment of manipulated variables.) without significant oscillating signal or offset. In addition, this study highlights that the poor wetting in the strippers can be avoided by the implementation of a process scheduling, which has not been presented in any publications. Based on the above, the mechanistic models of CO2 absorption plants and proposed control structures provide insights regarding dynamic behaviour and controllability of these plants. In addition, the industrial-scale CO2 capture plant model can be used for future studies, i.e. integration of power plant and CO2 capture plant, feasibility of plant operation, and controllability improvement.

Este trabalho trata da modelagem e controle do radiotelescópio de Itapetinga (Atibaia, SP). Ele compreende não só síntese dos modelos e sintonia dos controladores, mas também identificação de sistemas, validação experimental de modelo e controle, reespecificação de componentes, sugestão de nova arquitetura de automação e controle e direcionamento do desenvolvimento que deve ser feito em futuros trabalhos. A parte inicial desta dissertação trata dos principais conceitos envolvidos e do levantamento de informações preliminares para a compreensão do sistema a ser modelado. A seguir é feita a modelagem matemática dos diversos componentes que formam os sistemas de posicionamento dos eixos de elevação e azimute. São então identificados experimentalmente os coeficientes matemáticos dos modelos e são feitas suas validações experimentais. Os controladores PID são sintonizados, baseados na simulação das malhas de controle através das ferramentas matemáticas MATLAB e Simulink. A validação experimental dos controladores é feita e comparada ao sistema de controle atual. São feitos os encaminhamentos das definições de novos motores e amplificadores e desenvolvida uma nova proposta de arquitetura para controle e supervisão do radiotelescópio, dando a ele funcionalidades muito além das que existem atualmente. Finalmente é dado o direcionamento dos próximos passos de desenvolvimento dos modelos, controladores e arquitetura de controle. Com este trabalho procura-se aumentar significativamente o entendimento do sistema de posicionamento do radiotelescópio, criando novos horizontes para o controle, operação, supervisão e manutenção do mesmo. / This work covers the modeling and control of the radio telescope of Itapetinga (Atibaia, SP). It tackles not only model synthesis and controllers tuning, but also system identification, experimental validation of model and control, re-specification of components, as well as a suggestion of a new automation and control architecture, and suggestions for future works. The initial part of this dissertation covers the main concepts and preliminary information for the understanding of the system to be modeled. Then a math model of the several components that form the pointing systems of the elevation and azimuth axis is done, followed by the experimental identification and validation of the math coefficients for the model. PID controllers are tuned based on the simulation of control loops using the math tools MATLAB and Simulink. Then the experimental validation of the controllers is done and compared to the current system control. Preliminary definitions of new motors and amplifiers are suggested, and a new proposal of architecture for radio telescope\'s control and supervision is developed, expanding its functionalities far beyond the ones available today. Finally, directions for the next steps to be taken in order to develop models, controllers and control architecture are given. This work aims to greatly increase the understanding of the radio telescope\'s pointing system, creating new horizons for its control, operation, supervision and maintenance.

Yes / Although batch reactive distillation process outperforms traditional reactor-distillation processes due to simultaneous reaction and separation of products for many reaction systems, synthesis of Methyl lactate (ML) through esterification of lactic acid (LA) with methanol in such process is very challenging due to difficulty of keeping the reactants together when one of the reactants (in this case methanol) has the lowest boiling point than the reaction products. To overcome this challenge, two novel reactive distillation column configurations are proposed in this work and are investigated in detail. These are: (1) integrated conventional batch distillation column (i-CBD) with recycled methanol and (2) integrated semi-batch and conventional batch distillation columns (i-SBD) with methanol recovery and recycle. Performances of each of these configurations are evaluated in terms of profitability for a defined separation task. In i-SBD column, an additional constraint is included to avoid overflow of the reboiler due to continuous feeding of methanol into the reboiler as the reboiler is initially charged to its maximum capacity. This study clearly indicates that both integrated column configurations outperform the traditional column configurations (batch or semi-batch) in terms of batch time, energy consumption, conversion of LA to ML, and the achievable profit.

Yes / The production of methyl decanoate (MeDC) through esterification of decanoic acid (DeC) with methanol by reactive distillation is operationally challenging and energy-intensive due to the complicated behaviour of the reaction system and the difficulty of retaining the reactants together in the reaction region. Methanol being the lightest component in the mixture can separate itself from the reactant DeC as the distillation proceeds which will cause a massive reduction in the conversion of DeC utilizing either a batch or continuous distillation process. Aiming to overcome this type of the potential problem, novel integrated divided-wall batch reactive distillation configuration (i-DWBD) with recycling from the distillate tank is established in this study and is examined in detail. This study has clearly demonstrated that the integrated divided-wall batch reactive distillation column (i-DWBD) is superior to the traditional conventional batch distillation (CBD) and both the divided-wall (DWBD), and split reflux divided-wall (sr-DWBD) batch reactive distillation configurations in terms of maximum achievable purity of MeDC and higher conversion of DeC into MeDC. In addition, significant batch time and energy savings are possible when the i-DWBD is operated in multi-reflux mode.