Ce travail s'inscrit dans le cadre Power-to-Gas, dont l'objectif est de stocker les surplus d'énergie électrique issus de sources renouvelables sous forme d'énergie chimique, en l'occurrence le méthane. L'intermittence de la production électrique requiert une certaine flexibilité du système de méthanation par rapport aux variations temporelles de conditions opératoires. Dans ce contexte, les travaux effectués au cours de cette thèse sont dédiés à l'étude du comportement dynamique d'un réacteur-échangeur de méthanation à lit fixe catalytique. Une maquette de réacteur finement instrumentée en thermocouples est conçue et permet l'étude expérimentale des performances du réacteur et de son comportement thermique en régime dynamique. En particulier, des phénomènes de fronts d'onde thermique, de dépassements et de réponses inverses sont retrouvés. Les paramètres hydrodynamiques et thermiques du lit ont été caractérisés expérimentalement. Une modélisation de la maquette de réacteur-échangeur est également établie et permet de simuler son fonctionnement. Les résultats expérimentaux sont comparés aux résultats de simulation, permettant l'analyse précise des comportements observés dans le réacteur / This work is within the Power-to-Gas framework, which aims to store the electrical energy surpluses from renewable energy in chemicals, here the methane. The intermittency of the electrical production requires the methanation system to have a certain level of flexibility with respect to temporal changes of operational conditions. In this context, the work carried out during this thesis is dedicated to the study of the dynamic behavior of a catalytic fixed-bed heat-exchanger methanation reactor. A reactor-exchanger highly equipped with thermocouples is designed and is used for the experimental study of the performances and the dynamics behavior of such a reactor. In particular, phenomena of thermal wave fronts, overshoot and inverse responses are found. The hydrodynamic and thermal parameters of the bed have been experimentally characterized. Modeling of the reactor-exchanger is also established and simulations of the reactor behavior are done. The experimental results are compared with the simulation results, allowing the precise analysis of the behaviors observed in the reactor

L’objet de cette thèse est la modélisation et la commande par approche thermodynamique des réacteurs catalytiques triphasiques en mode continu et en mode discontinu. Ce type de réacteur consiste en un système fortement non linéaire, multivariable et siège de réactions exothermiques. Nous utilisons les concepts de la thermodynamique irréversible pour la synthèse de lois de commande stabilisante pour ces deux types de réacteurs chimiques. En effet, la stricte concavité de la fonction d’entropie nous a permis de définir une fonction de stockage qui sert de fonction de Lyapunov candidate : la disponibilité thermodynamique. Nous utilisons cette fonction de disponibilité thermodynamique pour la synthèse de lois de commande stabilisante d’un mini-réacteur catalytique triphasique intensifié continu. Une stratégie de contrôle à deux couches (optimisation et contrôle) est utilisée pour contrôler la température et la concentration du produit à la sortie du réacteur en présence de perturbations à l’entrée du réacteur. Les performances du contrôleur mis en place sont comparées en simulation à celles d’un régulateur PI. Dans certains cas, l’utilisation de la fonction de disponibilité thermodynamique s’avère problématique. Une autre étude effectuée sur cette fonction nous permet de déterminer une nouvelle fonction de Lyapunov : la disponibilité thermique. Nous utilisons par la suite la fonction de disponibilité thermique pour la synthèse de lois de commande stabilisante d’un réacteur catalytique triphasique semi-fermé. Un observateur grand gain est utilisé pour estimer la vitesse de réaction à partir des mesures de la température du milieu réactionnel. Cette estimation est injectée ensuite dans le calcul de la loi de commande mise en place. La robustesse du schéma de contrôle est testée en simulation face à des incertitudes de modélisation, des perturbations et des bruits de mesure. / The goal of this thesis is the modeling and thermodynamic based control of three-phase catalytic reactor working in continuous or discontinuous modes. These types of reactors are highly nonlinear, multivariable and exothermal processes. We use the concepts of irreversible thermodynamics for the synthesis of stabilizing control laws for these two types of chemical reactors. Indeed, the strict concavity of the entropy function has allowed us to define a storage function used as a candidate Lyapunov function: the availability function. We use this availability function for the synthesis of control laws for stabilizing a three-phase catalytic continuous intensified mini-reactor. A control strategy with two layers (optimization and control) is used to control the temperature and concentration of the product at the outlet of the reactor in the presence of disturbances. The performances of the controller are compared by simulation to those of a PI controller. In some cases, the use of the availability function may cause some problems. A new Lyapunov candidate function is then derived from the original availability function: the thermal availability. We use this thermal availability for the synthesis of stabilizing control laws for a three-phase catalytic fed-batch reactor. A high gain observer is used to estimate the chemical reaction rate from the measurements of the temperature. This estimate is then used for the control law implementation. The robustness of the control scheme is tested in simulation against modelling uncertainties, disturbances and noise measurements.

In the process industries, cooling capacity is an important enabler for the facility to manufacture on specification product. The cooling water network is an important part of the over-all cooling system of the facility. In this research a cooling water circuit consisting of 3 cooling towers in parallel, 2 cooling water pumps in parallel, and 11 heat exchangers in parallel, is modelled. The model developed is based on first principles and captures the dynamic, non-linear, interactive nature of the plant. The modelled plant is further complicated by continuous, as well as discrete process variables, giving the model a hybrid nature. Energy consumption is included in the model as it is a very important parameter for plant operation. The model is fitted to real industry data by using a particle swarm optimisation approach. The model is suitable to be used for optimisation and control purposes. Cooling water networks are often not instrumented and actuated, nor controlled or optimised. Significant process benefits can be achieved by better process end-user temperature control, and direct monetary benefits can be obtained from electric power minimisation. A Hybrid Non-Linear Model Predictive Control strategy is developed for these control objectives, and simulated on the developed first principles dynamic model. Continuous and hybrid control cases are developed, and tested on process scenarios that reflect conditions seen in a real plant. Various alternative techniques are evaluated in order to solve the Hybrid Non-Linear Control problem. Gradient descent with momentum is chosen and configured to be used to solve the continuous control problem. For the discrete control problem a graph traversal algorithm is developed and joined to the continuous control algorithm to form a Hybrid Non-Linear Model Predictive controller. The potential monetary benefits that can be obtained by the plant owner through implementing the designed control strategy, are estimated. A powerful computation platform is designed for the plant model and controller simulations. / Thesis (PhD)--University of Pretoria, 2019. / Electrical, Electronic and Computer Engineering / PhD / Unrestricted

[ES] La energía geotérmica de baja entalpía es una alternativa eficiente y renovable a los sistemas convencionales para proporcionar calefacción, refrigeración y producir agua caliente sanitaria (ACS) de forma sostenible. El proyecto GEOTeCH plantea el desarrollo de sistemas con bomba de calor geotérmica más eficientes y con un coste menor en comparación con el mercado. Para ello, se ha desarrollado un nuevo tipo de intercambiador enterrado coaxial con flujo helicoidal en el tubo externo que presenta una mayor eficiencia y permite reducir la longitud de intercambiador a instalar, así como una bomba de calor dual con compresor de velocidad variable, capaz de trabajar con el terreno o el aire como fuente/sumidero, seleccionando la que proporcione un mejor rendimiento del sistema. El principal objetivo es desarrollar un sistema eficiente y replicable para proporcionar calefacción, refrigeración y producir ACS en el sector de mercado de pequeños edificios con un tamaño menor en el campo de intercambiadores enterrados y un aumento de la eficiencia. Para demostrar la aplicabilidad de estos sistemas, se han construido tres instalaciones demostración en tres países europeos. En esta tesis doctoral se ha desarrollado un modelo dinámico completo del sistema en el software TRNSYS, capaz de reproducir el comportamiento de los diferentes componentes y del sistema en general. Este modelo constituye una herramienta útil para el desarrollo y análisis de diferentes estrategias de control sin la necesidad de implementarlas en instalaciones reales, así como analizar el comportamiento del sistema funcionando bajo condiciones diferentes. Para este propósito, es necesario desarrollar modelos detallados de los nuevos componentes desarrollados en el proyecto: el intercambiador enterrado coaxial helicoidal y la bomba de calor dual; para poder acoplarlos al resto de componentes en el modelo completo del sistema. Por ello, se ha desarrollado un modelo dinámico del nuevo intercambiador, capaz de reproducir con precisión el comportamiento a corto plazo del intercambiador, enfocado a la evolución de la temperatura del fluido, y se ha validado con datos experimentales en diferentes condiciones de operación. Para poder reproducir no solo el comportamiento dinámico del intercambiador enterrado, sino también la respuesta a largo plazo del terreno y la interacción entre intercambiadores en un campo, se ha desarrollado otro modelo en TRNSYS que realiza esta función. De esta manera, al acoplar ambos modelos es posible reproducir el comportamiento a corto plazo del intercambiador enterrado a la vez que la respuesta a largo plazo del terreno. Por otro lado, se ha implementado en TRNSYS un modelo de la bomba de calor dual desarrollado. Con este modelo es posible calcular la capacidad de la bomba de calor dependiendo del modo de operación en que esté funcionando, de la frecuencia del compresor y otras variables y condiciones de operación. El modelo del sistema dual en TRNSYS se ha utilizado para hacer un análisis de su comportamiento funcionando en diferentes climas, para ello se han seleccionado tres ciudades en España y en Europa con diferentes climas y se han realizado simulaciones del sistema funcionando en cada ciudad. Por otro lado, también se ha modelado en TRNSYS una de las instalaciones demostración del proyecto GEOTeCH, incluyendo el edificio climatizado y el acoplamiento con los fan coils. Con este modelo se estudia una nueva estrategia para controlar la frecuencia del compresor en base a la temperatura de las habitaciones, en lugar de controlarla en base a la temperatura de suministro, con el objetivo de reducir el consumo del compresor cuando ya se haya conseguido el confort. Además, otras estrategias de optimización se han analizado con el modelo.Por tanto, los modelos desarrollados constituyen herramientas útiles para ayudar en el diseño del sistema y los diferentes componentes, el análisis de su comportamiento y el d / [CA] L'energia geotèrmica de baixa entalpia es planteja com una alternativa eficient i renovable als sistemes convencionals per proporcionar calefacció, refrigeració i produir aigua calenta sanitària (ACS) de forma sostenible. El projecte GEOTeCH planteja el desenvolupament de sistemes amb bomba de calor geotèrmica més eficients i amb un cost menor en comparació amb el mercat. Per a això, s'ha desenvolupat un nou tipus d'intercanviador enterrat coaxial amb flux helicoïdal en el tub extern que presenta una major eficiència i permet reduir la longitud a instal·lar, així com una bomba de calor dual amb compressor de velocitat variable, capaç de treballar amb el terreny o l'aire com a font, seleccionant la que proporcione un millor rendiment. Aquests components s'utilitzen en el nou sistema amb bomba de calor dual. El principal objectiu és desenvolupar un sistema eficient i replicable per proporcionar calefacció, refrigeració i produir ACS en edificis xicotets amb una grandària menor d'intercanviadors soterrats i un augment de l'eficiència. Per demostrar l'aplicabilitat d'aquests sistemes, s'han construït tres instal·lacions demostració en Itàlia, Països Baixos i Regne Unit. En aquesta tesi s'ha desenvolupat un model dinàmic complet del sistema en TRNSYS, capaç de reproduir el comportament dels components i del sistema en general. Aquest model constitueix una eina útil per al desenvolupament i anàlisi de diferents estratègies de control sense la necessitat d'implementar-les en instal·lacions reals, així com analitzar el comportament del sistema funcionant en condicions diferents. Per a això, cal desenvolupar models detallats dels nous components desenvolupats en el projecte: l'intercanviador enterrat i la bomba de calor dual; per poder acoblar-los a la resta de components. Per això, s'ha desenvolupat un model dinàmic del nou intercanviador enterrat, capaç de reproduir amb precisió el comportament a curt termini de l'intercanviador, enfocat a l'evolució de la temperatura del fluid, i s'ha validat amb dades experimentals en diferents condicions d'operació. Per a poder reproduir no només el comportament dinàmic de l'intercanviador soterrat, sinó també la resposta a llarg termini del terreny i la interacció entre intercanviadors en un camp, s'ha desenvolupat un altre model en TRNSYS que realitza aquesta funció. D'aquesta manera, en acoblar els dos models és possible reproduir el comportament a curt termini de l'intercanviador enterrat, al mateix temps que la resposta a llarg termini del terreny. D'altra banda, s'ha implementat en TRNSYS un model de la bomba de calor. Amb aquest model és possible calcular la capacitat de la bomba de calor depenent del mode d'operació en què estiga funcionant, de la freqüència del compressor i altres variables i condicions d'operació. El model del sistema dual en TRNSYS s'ha utilitzat per a fer una anàlisi del seu comportament funcionant en diferents climes, per a això s'han seleccionat tres ciutats a Espanya i tres a Europa amb diferents climes i s'han realitzat simulacions del sistema funcionant en cada ciutat durant un any. S'ha analitzat l'eficiència del sistema en cada ciutat, així com l'ús de cadascuna de les fonts (aire / terreny). D'altra banda, també s'ha modelat en TRNSYS una de les instal·lacions demostració del projecte GEOTeCH, incloent l'edifici d'oficines climatitzat i l'acoblament amb els fan coils. Amb aquest model es pretén estudiar una nova estratègia per a controlar la freqüència del compressor d'acord amb la temperatura de les habitacions, en lloc de controlar-la en base a la temperatura de subministrament, amb l'objectiu de reduir el consum del compressor quan les habitacions ja es troben en condicions de confort. A més, altres estratègies d'optimització s'han analitzat amb el model. Per tant, els models desenvolupats constitueixen eines útils per ajudar en el disseny del sistema i els diferents components, l'anàlisi del / [EN] Low enthalpy geothermal energy is considered as an efficient and renewable alternative to conventional systems to provide heating, cooling and Domestic Hot Water (DHW) production in a sustainable way. In this context, the GEOTeCH project proposes the development of more efficient geothermal heat pump systems with a lower cost compared to the market. To this end, a new type of coaxial Borehole Heat Exchanger (BHE) with helical flow through the outer tube has been developed, which presents a higher efficiency and allows to reduce the length of the heat exchanger to be installed, as well as a Dual Source Heat Pump (DSHP) with variable speed compressor, capable of working with the ground or air as a source / sink, selecting the one that provides the best performance of the system. These components are used in the new DSHP system developed. The main objective is to develop efficient and replicable systems to provide heating, cooling and DHW in the market sector of small buildings with a smaller size of the BHE field and an increase in the efficiency. To demonstrate the applicability of these systems, three demonstration facilities have been installed in Italy, the Netherlands and the UK. In this thesis, a complete dynamic model of the system has been developed in the TRNSYS software, capable of reproducing the behavior of the different components and the system in general. This model is a useful tool for the development and analysis of different control strategies without the need to implement them in real installations, as well as analyses the behavior of the system operating under different conditions. For this purpose, it is necessary to develop detailed models of the new components developed in the project: the BHE and the DSHP; to couple them to the rest of the components of the system. For this reason, a dynamic model of the new BHE was developed, able to accurately reproduce its short-term behavior, focused on the evolution of the fluid temperature, and validated with experimental data in different operating conditions. In order to reproduce not only the dynamic behavior of the BHE, but also the long-term response of the ground and the interaction between BHEs in a field, another model was developed in TRNSYS. In this way, by coupling both models, it is possible to reproduce the short-term behavior of the BHE as well as the long-term response of the ground. On the other hand, a model of the DSHP was implemented in TRNSYS. With this model, it is possible to calculate the capacity of the heat pump depending on the operating mode in which it is operating, the frequency of the compressor and other variables and operating conditions. The model of the hybrid system in TRNSYS has been used to make an analysis of its behavior working in different climatic conditions, for which three cities have been selected in Spain and three in Europe, with different climates. So, different simulations of the system have been carried out in each city for one year. The efficiency of the system in each city has been analyzed, as well as the use of each of the sources (air / ground). On the other hand, one of the demo-sites of the GEOTeCH project, including the conditioned office building and the coupling with the fan coils, has also been modelled in TRNSYS. With this model, it is studied a new strategy to control the frequency of the compressor based on the temperature of the rooms, instead of controlling it based on the supply temperature, with the aim of reducing the consumption of the compressor when the rooms are already in comfort conditions. In addition, other optimization strategies have been analyzed with the model. Therefore, the models developed, both for the BHE and the system, are able to reproduce their operation and can be used as virtual installations, constituting useful tools to help in the design of the system and the different components, the analysis of their behavior and the development of optimization strategies. / I would like to acknowledge the financial support that has made this PhD thesis possible. The present work has been supported by the European Community Horizon 2020 Program for European Research and Technological Development (2014-2020) inside the framework of the project 656889 – GEOTeCH (Geothermal Technology for Economic Cooling and Heating), also by the Generalitat Valenciana inside the program “Ayudas para la contratación de personal investigador en formación de carácter predoctoral (ACIF/2016/131)” and by the Institute for Energy Engineering of the Universitat Politècnica de València. / Cazorla Marín, A. (2019). MODELLING AND EXPERIMENTAL VALIDATION OF AN INNOVATIVE COAXIAL HELICAL BOREHOLE HEAT EXCHANGER FOR A DUAL SOURCE HEAT PUMP SYSTEM [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/125696 / TESIS

Batch distillation with chemical reaction when takes place in the same unit is referred to as batch reactive distillation process. The combination reduces the capital and operating costs considerably. Among many different types of batch reactive distillation column configurations, (a) conventional (b) inverted (c) semi-batch columns are considered here. Three reaction schemes such as (a) esterification of methanol (b) esterification of ethanol (c) hydrolysis of methyl lactate are studied here. Four different types of dynamic optimisation problems such as (a) maximum conversion (b) maximum productivity (c) maximum profit and (d) minimum time are formulated in this work. Optimal design and or operation policies are obtained for all the reaction schemes. A detailed rigorous dynamic model consisting of mass, energy balances, chemical reaction and thermodynamic properties is considered for the process. The model was incorporated within the dynamic optimisation problems. Control Vector Parameterisation (CVP) technique was used to convert the dynamic optimisation problem into a nonlinear programming problem which was solved using efficient SQP (Successive Quadratic Programming) method available within the gPROMS (general PROcess Modelling System) software. It is observed that multi-reflux ratio or linear reflux operation always led to better performance in terms of conversion, productivity for all reaction schemes compared to that obtained using single reflux operation. Feed dilution (in the case of ethanol esterification) led to more profit even though productivity was found to be lower. This was due to reduction in feed price because of feed dilution. Semi-batch reactive distillation opertation (for ethanol esterification) led to better conversion compared to conventional batch distillation, however, the total amount of acetic acid (reactant) was greater in semi-batch operation. Optimisation of design and operation (for ethanol esterification) clearly showed that a single cloumn will not lead to profitable operation for all possible product demand profile. Also change in feed and /or product price may lead to adjust the production target to maximise the profitability. In batch distillation, total reflux operation is recommended or observed at the begining of the operation (as is the case for methnaol or ethanol esterification). However, in the case of hydrolysis, total reflux operation was obseved at the end of the operation. This was due to lactic acid (being the heaviest) was withrawn as the final bottom product. / Libyan Petroleum Institute

<p>Owing to the rise in fossil fuel prices, overall energy security concerns, and the current push towards green engineering; renewable and green fuels have seen an increase in interest in recent years. Two notable technologies in this green movement are the production of biodiesel from microalgae and the production of biogas from anaerobic digestion of waste biomass. Production of biodiesel from microalgae was studied extensively in the 80s through the early 90s and found to be economically infeasible given the technology of the time. However, recent literature has suggested that one possible method to improve the feasability of the process would be to combine it with an anaerobic digestor to provide nutrient and biomass recycling. For such a system, having accurate models of each process would be highly advantageous for optimal design and control. To this end this thesis moves towards this overall goal by examining and modelling the anaerobic digestion of the microalgae <em>Chlorella vulgaris</em>.</p> <p>Starting with a set of experimental data (anaerobic digestion of <em>Chlorella vulgaris</em>) provided by LBE-INRA, the minimum number of kinetic equations needed to predict the data are found using principal component style analysis. This number is found to be two to three reactions. Using this as a basis for model development, a mass balance model is developed around both two and three reaction cases. To date there is very little literature on the modelling of anaerobic digestion of microalgae and so kinetic laws are selected from the general anaerobic digestion models ``Anaerobic Digestor Model 1'' (ADM1) and ``Acidogenesis/Methanogenisis Model'' (AM2). Given that the kinetic laws were derived from general literature, model fitting is a must. To faciliate this process a novel systematic parameter identification procedure to locate identifiable parameter subsets within each model is presented. Applying this novel procedure to the provided data is seen to lead to promising identification results. Through these identification trials it is shown that the three reaction model best captures the dynamics of the system. This three reaction model serves as the basis for subsequent steady state optimality and sensitivity analysis. From these efforts it is shown that the predicted optimal curves match literature data very well but uncertainty in certain key parameter estimates lead to highly sensitive model predictions (and therefore low confidence). This leads to the conclusion that the developed model is capable of predicting the kinetics of <em>Chlorella</em> digestion but additional trials are needed to further refine the model fitting results.</p> <p>Coupling an anaerobic digester to a microalgal culture is currently considered one of the most promising avenues towards the production of renewable bioenergy, either in the form of biodiesel or biogas. Accurate mathematical models are crucial tools to assess the potential of such coupled biotechnological processes and help optimize their design, operation and control. This paper focuses on the compartment of anaerobic digestion of microalgae. Using experimental data for the anaerobic digestion of <em>Chlorella vulgaris</em>, a grey-box model is developed that allows good prediction capabilities and retains low complexity. The proposed methodology proceeds in two steps, namely a structural and a parametric identification steps. The fitted model is then used to conduct preliminary optimization for the production of biogas from <em>Chlorella vulgaris</em>. The results provide some insight into the potential for bioenergy production from the digestion of microalgae and, more generally, the coupled process.</p> / Master of Applied Science (MASc)

Two and three-wheeled vehicles are being used in increasing numbers in many emerging countries. The dynamics of such vehicles are very different from those of cars and other means of transportation. This thesis deals with a study of the dynamics of a motorcycle and an extensively used three-wheeled vehicle, called an “auto-rickshaw” in India. The commercially available multi-body dynamics (MBD) software, ADAMS, is used to model both the vehicles and simulations are performed to obtain insight into their dynamics. In the first part of the thesis, a study of the two wheeler dynamics is presented. A fairly detailed model of a light motorcycle with all the main sub-systems, such as the frame, front fork, shock absorbers , power train, brakes, front and rear wheel including tire slips and the rider is created in ADAMS-Motorcycle. The simulation results dealing with steering torques and angles for steady turns on a circular path are presented. From the simulation results and analytical models, it is shown that for path radius much greater than motorcycle wheel base, the steering torque and angle can be described by only two functions for each of the two variables. The first function is related to the lateral acceleration and can be determined numerically and the second function, in terms of the inverse of the path radius, is derived as an analytical approximation. Various tire and geometric parameters are varied in the ADAMS simulations and it is clearly shown that steady circular motion of a motorcycle can be reasonably approximated by only two curves–one for steering torque and one for steering angle. In the second part of the thesis, a stability analysis of the three-wheeled “autorickshaw” is presented. The steering instability is one of the major problems of the “auto-rickshaw” and this is studied using a MBD model created in ADAMS-CAR .In an Initial model the frame ,steering column and rear-forks (trailing arms) are assumed to be rigid. A linear eigenvalue analysis, at different speeds, reveals a predominantly steering oscillation, called a “wobble” mode, with a frequency in the range of 5 to 6Hz. The analysis results show that the damping of this mode is small but positive up to the maximum speed(14m/s) of the three-wheeled vehicle. Experiments performed on the three-wheeled vehicle show that the mode is unstable at speeds below 8.33m/s and thus the experimental results do not agree with the model. Next, this wobble instability is studied with an analytical model, similar to the model proposed for wheel shimmy problem in aircrafts. The results of this model show that the wobble is stable at low speeds regardless of the magnitude of torsional stiffness of steering column. This is also not matching with the experimental result. A more refined MBD model with flexibility incorporated in the frame, steering column and the trailing arm is constructed. Simulation results with the refined model show three modes of steering oscillations. Two of these are found to be well damped and the third is found to be lightly damped with negative damping at low speeds, and the results of the model with the flexibility is shown to be matching reasonably well with the experimental results. Detailed simulations with flexibility of each body incorporated, one at a time, show that the flexibility in the steering column is the main contributor of the steering instability and the instability is similar to the wheel shimmy problem in aircrafts. Finally, studies of modal interaction on steering instabilities and parametric studies with payload and trail are presented.

Quad-rotor helicopters are agile aircraft which are lifted and propelled by four rotors. Unlike traditional helicopters, they do not require a tail-rotor to control yaw, but can use four smaller fixed-pitch rotors. However, without an intelligent control system it is very difficult for a human to successfully fly and manoeuvre such a vehicle. Thus, most of recent research has focused on small unmanned aerial vehicles, such that advanced embedded control systems could be developed to control these aircrafts. Vehicles of this nature are very useful when it comes to situations that require unmanned operations, for instance performing tasks in dangerous and/or inaccessible environments that could put human lives at risk. This research demonstrates a consistent way of developing a robust adaptive controller for quad-rotor helicopters, using fuzzy-neural networks; creating an intelligent system that is able to monitor and control the non-linear multi-variable flying states of the quad-rotor, enabling it to adapt to the changing environmental situations and learn from past missions. Firstly, an analytical dynamic model of the quad-rotor helicopter was developed and simulated using Matlab/Simulink software, where the behaviour of the quad-rotor helicopter was assessed due to voltage excitation. Secondly, a 3-D model with the same parameter values as that of the analytical dynamic model was developed using Solidworks software. Computational Fluid Dynamics (CFD) was then used to simulate and analyse the effects of the external disturbance on the control and performance of the quad-rotor helicopter. Verification and validation of the two models were carried out by comparing the simulation results with real flight experiment results. The need for more reliable and accurate simulation data led to the development of a neural network error compensation system, which was embedded in the simulation system to correct the minor discrepancies found between the simulation and experiment results. Data obtained from the simulations were then used to train a fuzzy-neural system, made up of a hierarchy of controllers to control the attitude and position of the quad-rotor helicopter. The success of the project was measured against the quad-rotor’s ability to adapt to wind speeds of different magnitudes and directions by re-arranging the speeds of the rotors to compensate for any disturbance. From the simulation results, the fuzzy-neural controller is sufficient to achieve attitude and position control of the quad-rotor helicopter in different weather conditions, paving way for future real time applications.

The automation of the tramming or load, haul and dump (LHD) procedure, performed by a LHD vehicle, holds the potential to improve productivity, efficiency and safety in the mining environment. Productivity is mainly increased by longer working hours; efficiency is improved by repetitive, faultless and predictable work; and safety is improved by removing the human operator from the harsh environment. However, before the automation of the process can be addressed, a thorough understanding of the process and its duty in the overall mining method is required. Therefore, the current applicable mining methods and their areas of potential automation are given. Since the automation of the LHD vehicle is at the core of this project, its implementation in the tramming process is also justified. Also, the current underground navigation methods are given and their shortcomings are named. It is concluded that infrastructure-free navigation is the only viable solution in the ever-changing mining environment. With that in mind, the feasibility of various navigation sensors is discussed and conclusions are drawn. Both kinematic and dynamic modelling of LHD vehicles are introduced. Various forms of kinematic models are given and their underlying modelling assumptions are named. The most prominent assumptions concern the vehicle’s half-length and the inclusion of a wheel-slip factor. Dynamic modelling techniques, with a strong emphasis on tyre modelling, are also stated. In order to evaluate the modelling techniques, field tests are performed on the articulated vehicles, namely the Wright 365 LHD and the Bell 1706C loader. The test on the Wright 365 LHD gives a good impression of the harsh ergonomics under which the operator has to work. A more thorough test is performed on the Bell 1706C articulated loader. The test results are then compared to simulation results obtained from the kinematic models. Also, the above-named assumptions are tested, evaluated and discussed. A dynamic model is also simulated and discussed. Lastly, two localization and control methods are given and evaluated. The first method is an open-loop nonlinear optimal control strategy with periodic position resetting and the second method is a pathtracking controller. AFRIKAANS : Automatisering van die laai-, vervoer- en dompel- (LVD) prosedure het die potensiaal om die produktiwiteit, effektiwiteit en veiligheid van die mynbedryf te verbeter. Produktiwiteit word hoofsaaklik deur langer werksure verhoog, effektiwiteit word deur herhalende, foutlose en voorspelbare werk verbeter en veiligheid word verbeter omdat menslike operateurs uit die gevaarlike ondergrondse omgewing verwyder word. Voordat aandag aan die automatisering van die prosedure geskenk kan word, moet die prosedure en die algemene mynbedrywighede rakende die prosedure deeglik bestudeer en verstaan word. As gevolg hiervan word die huidige, toepaslike mynboumetodes hier gedokumenteer. Die implementering van ʼn gekoppelde LVD-voertuig in die LVD-prosesword ook geregverdig. Verder word die huidige metodes van ondergrondse navigasie genoem en hulle tekortkominge aangedui. Die gevolgtrekking dat infrastruktuur-vrye navigasie die enigste lewensvatbare navigasiemetode in die immer veranderende ondergrondsemynbouomgewing is, word ook gemaak. In die lig daarvan word ʼn verskeidenheid sensors genoem en bespreek. Kinematiese en dinamiese modellering van ʼn LVD-voertuig word bekendgestel. Verskeie kinematiese modelle en hulle onderliggende aannames word genoem. Die mees prominente aannames is die lengte van die gekoppelde voertuig se hoofdele en die insluiting van ʼn wielglipfaktor. Die tegnieke van dinamiese modellering, met die klem op bandmodellering, word ook gegee. Praktyktoetse op gekoppelde voertuie is ook gedoen om die verskillende modelle te evalueer. Die toets op die Wright 365-LVD bied goeie insig in die strawwe ergonomiese toestande waaronder die operateurs moet werk. ʼn Deeglike toets is op ʼn BELL 1706C- gekoppelde laaier, wat kinematies identies aan ʼn LVD-voertuig is, uitgevoer. Die bevindinge van die toets word met bogenoemde modelsimulasies vergelyk en gevolgtrekkings word gemaak. Laastens word lokalisiering en beheer van ʼn LVDvoertuig behandel. Twee beheermetodes, opelus- nie-lineêre optimale beheer met periodieke herstel en padvolgingbeheer word geëvalueer en bespreek. Copyright / Dissertation (MEng)--University of Pretoria, 2012. / Electrical, Electronic and Computer Engineering / unrestricted

The industrial robot is a flexible and cheap standard component that can becombined with a milling head to complete low accuracy milling tasks. Thefuture goal for researchers and industry is to increase the milling accuracy, suchthat it can be introduced to more high value added operations.The serial build up of an industrial robot bring non-linear compliance andchallenges in vibration mitigation due to the member and reducer design. WithAdditive Manufacturing (AM), the traditional cast aluminum structure couldbe revised and, therefore, milling accuracy gain could be made possible due tostructural changes.This thesis proposes the structural changes that would improve the millingaccuracy for a specific trajectory. To quantify the improvement, first the robothad to be reverse engineered and a kinematic simulation model be built. Nextthe kinematic simulation process was automated such that multiple input parameterscould be varied and a screening conducted that proposed the mostprofitable change.It was found that a mass decrease in any member did not affect the millingaccuracy and a stiffness increase in the member of the second axis would increasethe milling accuracy the most, without changing the design concept. To changethe reducer in axis 1 would reduce the mean position error by 7.5 % and themean rotation error by 4.5 % approximately, but also reduces the maximumspeed of the robot. The best structural change would be to introduce twosupport bearings for axis two and three, which decreased the mean positioningerror and rotation error by approximately 8 % and 13 % respectively. / En industrirobot är en anpassningsbar och relativt billig standardkomponent.Den kan utrustas med ett fräshuvud för att genomföra fräsoperationer med låg noggrannhet. Det framtida målet för forskare och industri är att öka noggrannheten vid fräsning så att dess användningsområde kan utökas till ändamål som kräver högre precision.Den seriella uppbyggnaden av en industrirobot medför icke-linjär styvhet och därmed utmaningar vid vibrationsdämpning. Detta på grund av den strukturella uppbyggnaden då en industrirobot kan förenklat sägas vara uppbyggd av balkelement som i ledpunkterna kopplas samman av växellådor. Med friformsframställning kan en mer komplex struktur erhållas jämfört med traditionellt gjuten aluminiumkonstruktion därmed skulle en ökad noggrannhet vid fräsning kunna uppnås.Det här examensarbetet föreslår strukturella ändringar som skulle kunna öka noggrannheten vid fräsning för en specifik fräsbana. För att kvantifiera förbättringen, var det först nödvändigt att utgående från tillgänglig data konstruktion en specific robot samt att bygga en kinematisk modell. Därefter automatiserades beräkningsflödet så att ett flertal indata kunde varieras. Detta resulterande i en kombinationsstudie som visade den mest gynsamma strukturella förändringen.Det visade sig att en minskning av balkelementens massa inte påverkade nogrannheten. Att öka styvheten i balkelementet från den andra axeln skulle d¨aremot öka nogrannheten mest utan att behöva ändra robotens uppbyggnad.Att byta växellåda i första axeln kan öka positionsnogrannheten med nära 7.5 % och rotationsnoggrannheten med cirka 4.5 % men ändringen sänker samtidigt den maximala hastigheten. Den bästa strukturella förändringen vore att introducera ett stödlager vid axel två respektive tre, vilket skulle förbättra positionsnogrannheten med cirka 8 % och rotationsnogrannheten med nära 13 %.