Submitted by Rodrigo Nunes de Oliveira null (nunes@dee.feis.unesp.br) on 2017-11-07T02:42:04Z No. of bitstreams: 1 Tese_Final.pdf: 3257259 bytes, checksum: f7d500d399ebd96ac7ee61eb843aa8dd (MD5) / Approved for entry into archive by LUIZA DE MENEZES ROMANETTO (luizamenezes@reitoria.unesp.br) on 2017-11-13T19:49:42Z (GMT) No. of bitstreams: 1 nunesoliveira_ra_dr_ilha.pdf: 3257259 bytes, checksum: f7d500d399ebd96ac7ee61eb843aa8dd (MD5) / Made available in DSpace on 2017-11-13T19:49:42Z (GMT). No. of bitstreams: 1 nunesoliveira_ra_dr_ilha.pdf: 3257259 bytes, checksum: f7d500d399ebd96ac7ee61eb843aa8dd (MD5) Previous issue date: 2017-09-08 / Em sistemas trifásicos de potência as tensões entregues pela fonte são senoidais, iguais em magnitude e com defasamento angular de 120° entre fases. Contudo, as tensões resultantes nos pontos de utilização podem ser desbalanceadas por diversas razões. A natureza do desbalanceamento inclui magnitudes, e/ou diferentes defasagens angulares, entre fases das tensões. Nos sistemas de distribuição de energia elétrica são encontradas as maiores causas para geração de desequilíbrios de tensão, devido à distribuição irregular de cargas por fase, as quais variam constantemente devido à inserção e/ou retirada das mesmas. Visando a implantação de dispositivos de compensação de desequilíbrios que utilizem o menor número de componentes eletrônicos, apresentem mecanismos de controle simplificados e que sejam menos sensíveis a distúrbios na rede elétrica, apresenta-se um arranjo topológico como contribuição original deste trabalho. Destaca-se que o arranjo proposto atende às prerrogativas preconizadas e nestas condições, vislumbra-se um desempenho operacional robusto e a custo reduzido quando comparado às demais estruturas de compensação em utilização. / In three-phase power systems, the voltages delivered by the source are sinusoidal, has equal magnitudes and 120° angular phase difference between phases. However, the resulting voltages at the consumer points may be unbalanced for several reasons. The nature of the imbalance includes different magnitudes, and/or angular phase shift, between the phases of the voltages. In electrical power distribution systems, the greatest cause for voltage unbalances are due to the irregular distribution of loads per phase, which vary constantly due to the load insertion and/or removal. With the aim of implementing a unbalance compensation device that use the least number of electronic components, has a simplified control technique and are less sensitive to electrical network disturbances, a topological arrangement is presented as the original contribution of this work. It should be noted that the proposed arrangement meets the intended prerogatives and, under these conditions, it is possible to foresee a robust and low operational-cost performance, when compared to the other compensation structures already in use.

Orientador: Luís Carlos Origa de Oliveira / Resumo: Com o aumento das cargas elétricas não lineares nas redes de distribuição, intensifica-se o nível de correntes harmônicas responsáveis por distorções nos sinais elétricos, o que compromete a qualidade da energia elétrica. O emprego de dispositivos eletromagnéticos constitui atualmente uma alternativa promissora para mitigação de correntes harmônicas de sequência zero. São dispositivos robustos que, quando utilizados isoladamente ou em conjunto com outros arranjos, podem ser técnica e economicamente atraentes. O filtro eletromagnético é um dispositivo inserido paralelamente ao sistema com baixa impedância de sequência zero e elevada impedância de sequência positiva e negativa. Logo, para um filtro ideal, tem-se o confinamento das correntes harmônicas “triplens” sem que o fluxo de potência do sistema seja comprometido. Buscando-se aperfeiçoar o divisor de corrente de sequência zero entre o sistema e o filtro, o bloqueador eletromagnético é inserido em série ao sistema, devido a sua elevada impedância de sequência zero e baixa impedância para as sequências positiva e negativa. Este trabalho, por meio da teoria das transmitâncias, desenvolve uma metodologia de auxílio no dimensionamento e projeto do filtro e bloqueador eletromagnéticos, em função do percentual de filtragem desejado para a corrente de sequência zero. Para isto, são apresentados os equacionamentos das resistências e reatâncias sequenciais do filtro e bloqueador. Inicialmente, o dimensionamento e projeto do filtro s... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: With the increase of non-linear electrical loads in the distribution networks, intensifies the level of harmonic currents responsible for the distortions in electrical signals, compromising the quality of electricity. The use of electromagnetic devices is currently a promising alternative to mitigation of harmonic currents of zero sequence. They are robust devices that when used alone or in conjunction with other arrangements can be technically and economically attractive. The electromagnetic filter is a device inserted in parallel to the system with low zero sequence impedance and high positive and negative sequence impedance. Thus, for an ideal filter, there is the confinement of “Triplens” harmonic currents without the power flow is compromised. Seeking to improve the zero sequence current divider between the system and the filter, the electromagnetic blocker is inserted in series to the system because of their high zero sequence impedance and low impedance for the positive sequence and negative sequence. This work, using the method of transmittances, develops an aid methodology to measure and design the electromagnetics filter and blocker, depending on the percentage of desired filtering for zero sequence current. For this, the sequential resistance equation and sequential reactance equation are presented to the filter and blocker. Initially, the measure and design filter are made without the presence of the blocker, inserted only when the results achieved are not satisfa... (Complete abstract click electronic access below) / Mestre

Growing needs for precise manipulation in medical surgery, manufacturing automation and structural health monitoring have motivated development of high accuracy, bandwidth and cost-effective sensing systems. Among these is a class of multi-axis electromagnetic devices where embedded magnetic fields can be capitalized for compact position estimation eliminating unwanted friction, stiction and inertia arising from dedicated and separate sensing mechanisms. Using fields for position measurements, however, is a challenging 'inverse problem' since they are often modeled in the 'forward' sense and their inverse solutions are often highly non-linear and non-unique. A general method to design a multisensor system that capitalizes on the existing magnetic field in permanent magnet (PM) actuators is presented. This method takes advantage of the structural field symmetry and meticulous placement of sensors to discretize the motion range of a PM-based device into smaller magnetic field segments, thereby reducing the required characterization domain. Within these localized segments, unique field-position correspondence is induced using field measurements from a network of multiple-axis sensors. A direct mapping approach utilizing trained artificial neural networks to attain multi-DOF positional information from distributed field measurements is employed as an alternative to existing computationally intensive model based methods which are unsuitable for real-time control implementation. Validation and evaluation of this technique are performed through field simulations and experimental investigation on an electromagnetic spherical actuator. An inclinometer was used as a performance comparison and experimental results have corroborated the superior tracking ability of the field-based sensing system. While the immediate application is field-based orientation determination of an electromagnetic actuator, it is expected that the design method can be extended to develop other sensing systems that harnesses other scalar, vector and tensor fields.

This thesis investigates particular topics in advanced motion control of two distinct mechanical systems: human-like motion control of redundant robot manipulators and advanced sensing and control for energy-efficient operation of electromagnetic devices. Control of robot manipulators for human-like motions has been one of challenging topics in robot control for over half a century. The first part of this thesis considers methods that exploits robot manipulators??? degrees of freedom for such purposes. Jacobian transpose control law is investigated as one of the well-known controllers and sufficient conditions for its universal convergence are derived by using concepts of ???stability on a manifold??? and ???transferability to a sub-manifold???. Firstly, a modification on this method is proposed to enhance the rectilinear trajectory of the robot end-effector. Secondly, an abridged Jacobian controller is proposed that exploits passive control of joints to reduce the attended degrees of freedom of the system. Finally, the application of minimally-attended controller for human-like motion is introduced. Electromagnetic (EM) access control systems are one of growing electronic systems which are used in applications where conventional mechanical locks may not guarantee the expected safety of the peripheral doors of buildings. In the second part of this thesis, an intelligent EM unit is introduced which recruits the selfsensing capability of the original EM block for detection purposes. The proposed EM device optimizes its energy consumption through a control strategy which regulates the supply to the system upon detection of any eminent disturbance. Therefore, it draws a very small current when the full power is not needed. The performance of the proposed control strategy was evaluated based on a standard safety requirement for EM locking mechanisms. For a particular EM model, the proposed method is verified to realize a 75% reduction in the power consumption.

Cette thèse s'inscrit dans le cadre d'un projet R&T CNES. Elle concerne l'étude d'un actionneur appelé roue d'inertie, qui fait partie intégrante de l'ensemble SCAO (Système de Contrôle d'Attitude et d'Orbite). Les nouvelles roues proposées, dites Magnétohydrodynamique (MHD) à Conduction, présentent un volant d'inertie fluidique sous forme d'un canal torique, dans lequel un métal liquide conducteur à fort potentiel inertiel est mis en mouvement sous l'effet d'un champ électromagnétique. Contrairement aux roues actuelles, elles n'ont pas de roulements ni d'arbre mécanique ce qui permet un gain en espace, un éloignement idéal de la masse inertielle, et une durée de vie théoriquement illimitée. Aussi, de par la viscosité naturelle du fluide, elles ne présentent pas de non-linéarité autour de la vitesse nulle ce qui évite une perte de précision sur le contrôle du couple de réaction, et donc du pointage du satellite. Le travail réalisé pendant la thèse porte sur l'appréhension des phénomènes MHD consistant en un couplage entre les lois de la Mécanique des Fluides et celles de l’Electromagnétisme, au travers de la loi d’Ohm généralisée. A partir d'hypothèses axisymétriques, et dans le cadre des milieux incompressibles et d’un écoulement laminaire, un modèle générale 3D a pu être établie. Puis une formulation 1D cylindrique a permis une résolution analytique, et une autre en 2D axisymétrique, par résolution numérique en différences fines, a permis l'amélioration de la précision des résultats. Ce modèle a permis de comprendre que deux approches étaient possibles pour la conception et plus particulièrement la commande de l'actionneur. Cette résolution, faisant l'objet du développement d'un code numérique, a d'abord porté sur les équations en régime permanent, puis en temporel, afin de caractériser l'actionneur du point de vue de ses deux modes de fonctionnement. La réalisation d’un prototype a permis de quantifier la validité de la modélisation d’un point de vue dynamique. / This thesis is part of a CNES R&T project. It's related to the study of an actuator called flywheel, which is part of AOCS (Attitude an Orbit Control System). The proposed new wheels, said Magnetohydrodynamic (MHD), are constituted by a fluid flywheel in the form of a ring channel, in which a conductive and high inertial potential liquid metal is driven through an electromagnetic field (Lorentz's force). Unlike current wheels, among others types DC brushless motor, MHD wheels, whose rotor is the fluid, have neither bearings nor mechanical shaft. This allows space saving, an ideal distance of the inertial mass, and a theoretically unlimited lifespan. Moreover, thanks to the natural viscosity of the fluid, they do not present a non-linearity around the zero speed which avoids a loss of precision in the reaction torque's control, and therefore the satellite pointing. The work for the thesis focuses on the apprehension of MHD phenomena. Indeed, MHD is a coupling between fluid mechanics' laws (Navier-Stokes, etc.) and Maxwell's equations, through the Lorentz force. From a number of assumptions, and as part of incompressible environment, a genral 3D model has been established. Then a 1D cylindrical formulation allowed an analytical resolution and another 2D axisymmetric one, by finite differences resolution, helped to improve results. This model allow us to understand that both approaches were possible for the design and especially the actuator control. The resolution, which is subjected to the development of a numerical code, first focused on the equations in steady state, then in dynamic, to characterize the actuator in terms of its two operating modes. The realization of a prototype has quantified the validity of the model from a dynamic point of view.

Submitted by RICARDO FONSECA BUZO null (ricardo.buzo@yahoo.com.br) on 2016-06-23T18:54:42Z No. of bitstreams: 1 Dissertação_final_100%pronta.pdf: 4244820 bytes, checksum: 83a976e2284de9c0a3bcbcd8556da567 (MD5) / Approved for entry into archive by Juliano Benedito Ferreira (julianoferreira@reitoria.unesp.br) on 2016-06-27T18:32:12Z (GMT) No. of bitstreams: 1 buzo_rf_me_ilha.pdf: 4244820 bytes, checksum: 83a976e2284de9c0a3bcbcd8556da567 (MD5) / Made available in DSpace on 2016-06-27T18:32:12Z (GMT). No. of bitstreams: 1 buzo_rf_me_ilha.pdf: 4244820 bytes, checksum: 83a976e2284de9c0a3bcbcd8556da567 (MD5) Previous issue date: 2016-05-10 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / Com o aumento das cargas elétricas não lineares nas redes de distribuição, intensifica-se o nível de correntes harmônicas responsáveis por distorções nos sinais elétricos, o que compromete a qualidade da energia elétrica. O emprego de dispositivos eletromagnéticos constitui atualmente uma alternativa promissora para mitigação de correntes harmônicas de sequência zero. São dispositivos robustos que, quando utilizados isoladamente ou em conjunto com outros arranjos, podem ser técnica e economicamente atraentes. O filtro eletromagnético é um dispositivo inserido paralelamente ao sistema com baixa impedância de sequência zero e elevada impedância de sequência positiva e negativa. Logo, para um filtro ideal, tem-se o confinamento das correntes harmônicas “triplens” sem que o fluxo de potência do sistema seja comprometido. Buscando-se aperfeiçoar o divisor de corrente de sequência zero entre o sistema e o filtro, o bloqueador eletromagnético é inserido em série ao sistema, devido a sua elevada impedância de sequência zero e baixa impedância para as sequências positiva e negativa. Este trabalho, por meio da teoria das transmitâncias, desenvolve uma metodologia de auxílio no dimensionamento e projeto do filtro e bloqueador eletromagnéticos, em função do percentual de filtragem desejado para a corrente de sequência zero. Para isto, são apresentados os equacionamentos das resistências e reatâncias sequenciais do filtro e bloqueador. Inicialmente, o dimensionamento e projeto do filtro são elaborados sem a presença do bloqueador, inserido apenas quando os resultados alcançados não forem satisfatórios. Em síntese, o desempenho do sistema de filtragem dimensionado e projetado é analisado através do próprio método proposto e do PSIM® , programa bastante difundido e consagrado para o desenvolvimento de simulações que envolvem sistemas de potência. Deste modo, é apresentado, consequentemente, um diagnóstico de aderência para o modelo proposto. / With the increase of non-linear electrical loads in the distribution networks, intensifies the level of harmonic currents responsible for the distortions in electrical signals, compromising the quality of electricity. The use of electromagnetic devices is currently a promising alternative to mitigation of harmonic currents of zero sequence. They are robust devices that when used alone or in conjunction with other arrangements can be technically and economically attractive. The electromagnetic filter is a device inserted in parallel to the system with low zero sequence impedance and high positive and negative sequence impedance. Thus, for an ideal filter, there is the confinement of “Triplens” harmonic currents without the power flow is compromised. Seeking to improve the zero sequence current divider between the system and the filter, the electromagnetic blocker is inserted in series to the system because of their high zero sequence impedance and low impedance for the positive sequence and negative sequence. This work, using the method of transmittances, develops an aid methodology to measure and design the electromagnetics filter and blocker, depending on the percentage of desired filtering for zero sequence current. For this, the sequential resistance equation and sequential reactance equation are presented to the filter and blocker. Initially, the measure and design filter are made without the presence of the blocker, inserted only when the results achieved are not satisfactory. In short, the filtering system performance measured and designed is analyzed using the proposed method and the PSIM®, widespread and dedicated program for the development of simulations involving electrical circuits. Thus, it is shown, therefore, a diagnosis of tack for the proposed model.

In recent years, due to growing environmental awareness regarding global warming, green cars, such as hybrid electric vehicles, have gained a lot of importance. With the decreasing cost of rare earth magnets, brushless permanent magnet motors, such as the Interior Permanent Magnet Motor, have found usage as part of the traction drive system in these types of vehicles. As a design issue, building a motor with a performance curve that suits both city and highway driving has been treated in this thesis as a multi-objective problem; matching specific points of the torque-speed curve to the desired performance output. Conventionally, this has been treated as separate problems or as a combination of several individual problems, but doing so gives little information about the trade-offs involved. As a means of identifying the compromising solutions, we have developed a stochastic optimizer for tackling electromagnetic device optimization and have also demonstrated a new innovative way of studying how different design parameters affect performance.

We present a system architecture and a set of control techniques that allow heterogeneous software design tools to collaborate intelligently and automatically. One of their distinguishing features is the ability to perform concurrent processing. Systems based on this architecture are able to effectively solve large electromagnetic analysis problems, particularly those that involve loose coupling between several areas of physics. The architecture can accept any existing software analysis tool, without requiring any modification or customization of the tool. This characteristic is produced in part by our use of a neutral virtual representation for storing problem data, including geometry and material definitions. We construct a system based on this architecture, using several circuit and finite-element analysis tools, and use it to perform electromagnetic analyses of several different devices. Our results show that our architecture and techniques do allow practical problems to be solved effectively by heterogeneous tools. / On présente une architecture de système et un ensemble de techniquesde contrôle qui permettent aux logiciels d'analyse hétérogènes de collaborerde façon intelligente et automatique. Un de ses traits caractéristiques est sacapacité d'effectuer simultanément plusieurs traitements. Les systèmes baséssur cette architecture sont capables de résoudre de manière efficace des grandsproblèmes dans le domaine de l'analyse électromagnétique, particulièrementceux où existe un accouplement dégagé entre plusieurs domaines de physique.L'architecture peut accepter n'importe quel logiciel d'analyse existant; ellen'exige pas que les logiciels soyent modifiés ou fabriqués sur mesure. Cettecaractéristique est produite en partie par notre utilisation d'une représentationneutre virtuelle pour représenter les données du problème, y inclus sa géométrieet les proprietés de ses matériels. On construit un système basé sur cettearchitecture, comprenant plusieurs logiciels de simulation, et on l'emploie pourexécuter des analyses électromagnétiques de plusieurs appareils différents. Nosrésultats montrent que notre architecture et nos techniques permettent desproblèmes pratiques d'être résolus efficacement par les outils hétérogènes.

Orientador: Maria Cristina Dias Tavares / Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Elétrica e de Computação / Made available in DSpace on 2018-08-16T03:57:35Z (GMT). No. of bitstreams: 1 Gertrudes_JoaoBosco_D.pdf: 5500576 bytes, checksum: ef85206048f845d1bff89f7c8948d288 (MD5) Previous issue date: 2010 / Resumo: Esta tese tem como objetivo o desenvolvimento de modelos mais precisos para o cálculo de parâmetros elétricos de linhas aéreas de transmissão para estudos de transitórios na faixa de frequência 0 a 2 MHz. Esta faixa de frequência cobre a maioria das perturbações eletromagnéticas nos sistemas elétricos: energização, faltas simétricas e assimétricas, rejeições de carga, descargas atmosféricas, perturbações harmônicas, etc. Na faixa de frequência citada, em consequência da dependência dos parâmetros do solo com a frequência, a condutividade elétrica do solo (sg) tem a mesma ordem de grandeza que o produto entre a frequência angular do sinal incidente no solo (w) e a permissividade elétrica do solo (eg). Portanto, as suposições de baixa frequência tradicionalmente adotadas - sg constante e weg desprezível (sg >> weg) - podem levar a modelos que não representam de forma adequada a resposta da linha no caso de transitórios rápidos (com espectro de frequência acima de 1 kHz). O objetivo central desta tese é verificar a influência da dependência dos parâmetros do solo no cálculo da impedância longitudinal e admitância transversal por unidade de comprimento em comparação com os modelos tradicionais de cálculo. As análises são feitas inicialmente para o caso de um único condutor acima do solo e posteriormente através de um estudo para uma linha de transmissão trifásica, 440 kV, em operação no sistema elétrico brasileiro. As impedâncias longitudinais e as admitâncias transversais de retorno pelo solo são avaliadas através de métodos tradicionais de cálculo e através de integração numérica das formulações de Carson modificadas para inclusão do modelo de solo que considera a depêndencia de sg e weg em função da frequência / Abstract: This thesis aims to propose more accurate models for calculating the electrical parameters of overhead power transmission lines. The influence of earth's conductivity and permittivity frequency dependence is evaluated when calculating transversal and longitudinal transmission lines' parameters in the frequency range 0 to 2 MHz. This frequency range covers the majority of the electromagnetic transients in electrical systems (switching transients, faults' transients, load rejections, harmonic disturbances, etc). Between 1 kHz to 2 MHz, the product of the signal angular frequency (w) by the dielectric constant (eg) of the soil may have the same order of magnitude as the conductivity (sg), due to the variation of these parameters with frequency. Therefore, the assumptions of low frequency traditionally used - the soil conductivity (sg) considered as constant and weg that can be negligible (sg >> weg) - can lead to incorrect models that do not adequately represent the transmission line's response, in cases of fast transients phenomena (with frequency spectrum above 1 kHz). The importance of properly considering the frequency dependent soil model is presented for the one-conductor case and for a single three-phase transmission line (440 kV, considered ideally transposed). The aim is to compare the transmission line parameters calculated considering the conductivity and weg frequency dependence ground model in relation to the common ground representation, with constant conductivity and weg that may be neglected. It is also compared the results obtained from the complex plane method with those obtained from the Carson's modified expressions for longitudinal parameters and between Carson's modified potential-coefficient correction factors and from the most common approximated methods for transversal admittance parameters / Doutorado / Energia Eletrica / Doutor em Engenharia Elétrica

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