In this work, wear and scratch behavior of four different bulk metallic glasses (BMGs) namely Zr41.2Cu12.5Ni10Ti13.8Be22.5 (LM 1), Zr57Cu15.4Ni12.6Al10Nb5 (LM 106), Ni60Pd20P17B3 (Ni-BMG), and Pt57.5Cu14.7Ni5.3P22.5 (Pt-BMG) were compared. Shear band formation on the edges of the scratch groove with spallation was found to be the primary failure mechanism in progressive scratch tests. The wear behavior and the scratch response of model binary Ni-P metallic glasses was systematically studied as a function of composition, with amorphous alloy formation over the narrow range of 10 at% to 20 at% phosphorus. Pulsed current electrodeposition was used to obtain these binary amorphous alloys, which offers a facile and versatile alternative to conventional melt quenching route. The electrodeposited metallic glasses (EMGs) showed hardness values in the range of 6.6-7.4 GPa, modulus in the range of 155-163 GPa, and friction coefficient around 0.50. Among the studied alloys, electrodeposited Ni80P20 showed the lowest wear rate. The wear mechanism was determined to be extensive plastic deformation along with mild ploughing, micro tears, and formation of discontinuous lubricious oxide patches. The effect of phosphorus content on the structure, mechanical properties, and the tribological response was systematically investigated for biocompatible Co-P metallic glasses. With increase in phosphorus content, there was an increase in hardness, hardness/modulus, wear resistance, and scratch resistance following the trend: Co80P20 > Co90P10 > Pure Co. The Co-P electrodeposited amorphous alloys showed enhanced wear resistance that was two orders of magnitude better than SS 316 and Ti-based alloys in simulated physiological environment. The wear mechanisms were determined to be a combination of abrasive and surface fatigue wear in both dry and physiological environments. Decreased platelet adhesion and more extracellular matrix deposition indicated that Co80P20 electrodeposited alloy had excellent blood compatibility and pre-osteoblast adhesion response. These results suggest the potential use of Co-P metallic glasses as superior bio implant materials with better durability compared to the state-of-the-art.

In this thesis, I present my experimental work on the collective properties of frictionless, cohesive particles. Our main question is how lack of friction as well as a well-distributed, well-controlled cohesive interaction among the particles give rise to collective properties that might or might not differ from conventional granular materials with interparticle friction, and cohesion due to capillary bridges. This is a “sandwich” thesis, in which each project is presented as a standalone manuscript in a separate chapter. In Project 1, inspired by the pendant drop experiment, we extrude dense particle aggregates from an orifice. The aggregate breaks into clusters due to interparticle cohesion, much like a dripping faucet. We analyze the cluster volume while varying the cohesion, orifice size and particle size. Our results show that the volume is proportional to the orifice area multiplied by a characteristic length that balances cohesion and gravity, known as the granular capillary length. This finding indicates that the aggregate behaves more like a soft solid than a liquid, as the volume of a classic pendant drop is proportional to the orifice perimeter rather than the orifice area. In Project 2, we investigate how geometrical constraints influence the spreading of frictionless, cohesive particles. Conducting the spreading experiment in a cylinder, we unexpectedly observe the formation of a conical pile, as the angle of repose in conventional granular materials is attributed to interparticle friction. We vary the cohesive force, particle size, and cylinder size to examine how these factors affect the angle of repose. Our findings indicate that the angle of repose is proportional to the granular capillary length divided by the particle size, and remains independent of the cylinder size within the experimental range. These results underscore the significant role of cohesion and geometrical constraints in aggregate stability. / Dissertation / Doctor of Philosophy (PhD)

This dissertation presents an assortment of research aimed at understanding the composition-dependence of deformation behavior and the response to thermomechanical processing, to enable efficient design and processing of low stacking fault energy (SFE) high entropy alloy (HEAs). The deformation behavior and SFE of four low SFE HEAs were predicted and experimentally verified using electron microscopy and in-situ neutron diffraction. A new approach of employing a minimization function to refine and improve the accuracy of a semi-empirically derived expression relating composition with SFE is demonstrated. Ultimately, by employing the minimization function, the average difference between experimental and predicted SFE was found to be 2.64 mJ m-2. Benchmarking with currently available approaches suggests that integrating minimization functions can substantially improve prediction accuracy and promote efficient HEA design with expansion of databases. Additionally, in-situ neutron diffraction was used to present the first in-situ measurement of the interspacing between stacking faults (SFs) which were correlated with work hardening behavior. Electron transparent specimens (< ~100 nm thick) were used in order to resolve nanoscale planar faults instead of the thicker sub-sized specimens (on the order of millimeters in thickness) which exhibit the classical stages III work hardening behavior characteristic of low SFE metals and alloys. The present study demonstrates these characteristic dimensions of SFs can be tracked in real-time using neutrons or high-energy x-rays. SFs have also been shown to act as barriers to dislocation motion and thus contribute to strengthening and sustained work hardening during deformation.

The advancement of additive manufacturing (AM) has transformed manufacturing into a single-step process. Solid-state AM processes offer significant advantages over fusion-based techniques, including porosity-free deposits, lower residual stresses, wrought-like microstructure, better mechanical properties, improved process control, and higher build rates. This study explores the development of SolidStir® technology, an extrusion-enabled AM process that employs friction stir (FS) technology to enhance structural performance. A conceptual model explaining the process dynamics of SolidStir™ extrusion is developed using a precipitation-strengthened aluminum alloy. Development of SolidStir® extrusion into SolidStir® AM is demonstrated using a thermally stable, precipitation-strengthened alloy. Microstructural and mechanical characterizations highlight the challenges in performance of precipitation-strengthened material resulting from repeated thermal cycles. This challenge is mitigated through the design of thermally stable alloy, exhibiting that process attribute-based material design can achieve exceptional structural performance. A comparison of the performance of thermally stable alloys using SolidStir® AM and additive friction stir deposition further highlights the efficacy of process specific alloy design. Implementation of FS-based AM process could be useful to numerous industries, such as aerospace, automotive, and shipbuilding, due to its capacity to produce high-strength, defect-free products while minimizing environmental impact.

Magnesium is the lightest metal with a very high specific strength. However, its practical applicability is limited by its toughness and reliability. Mg, being HCP has low ductility. This makes the improvement of toughness a grand challenge in Mg alloys. Friction stir processing (FSP) is a thermomechanical technique used to effect microstructural modification. Here, FSP was utilized to affect the toughness of WE43 sheets through microstructural modification. Room temperature Kahn-type tests were conducted to measure the toughness of WE43 sheets. Microscopic techniques (SEM, TEM) was utilized to study the effect of various microstructural factors like grain size, texture, constituent particles, precipitates on crack initiation and propagation. Tensile properties were evaluated by mini-tensile tests. Crack growth in WE43 sheets was also affected by mechanics and digital image correlation (DIC) was utilized to study the plastic zone size. The underlying mechanisms affecting toughness of these sheets were understood which will help in formulating ways in improving it. WE43 nanocomposites were fabricated via FSP. Uniform distribution of reinforcements was obtained in the composites. Improved mechanical properties like that of enhanced strength, increased hardness and stiffness were obtained. But contrary to other metal matrix composites which show reduction in ductility with incorporation of ceramic reinforcements, the nanocomposites showed good strength-ductility combination. The composites were precisely characterized and mechanisms governing this property were studied. The nano-length of the reinforcements was observed to be the main criteria and the dislocation-particle interaction, the main reason behind the strength-ductility property.

Le soudage par friction et malaxage (SFM) est un procédé d'assemblage innovant à l'état solide qui a été inventé en 1993 et qui présente des avantages significatifs par rapport aux techniques de soudage par fusion. En raison des grandes forces appliquées sur l'outil et la nécessité de maintenir un angle constant sur tout le chemin de soudage (angle d'inclinaison), ce processus est normalement effectué sur des machines coûteuses conçues spécifiquement à cette fin. La présente thèse est une tentative de faciliter l'application de soudage par friction malaxage sur les centres d'usinage CNC très communément rencontré en industrie. Une variante peu connue et peu développée de ce processus, à savoir le soudage par friction et malaxage à angle droit dans lequel l'axe d'outil est toujours perpendiculaire à la surface de la pièce a été étudié de près dans cette thèse. Des outils spéciaux pour le soudage par friction et malaxage qui sont appropriées pour cette nouvelle orientation ont été développés et les paramètres de fonctionnement de ces outils ont été mis en place. En outre, des techniques ont été investiguées pour réduire la force axiale par optimisation de la conception de l'outil et des paramètres de soudage. De plus, l'une des principales difficultés qui pourraient survenir durant les applications industrielles du soudage par friction et malaxage est l’alignement horizontal et vertical des pièces pour le soudage de joints aboutés. Une méthodologie est aussi proposée pour effectuer le soudage par friction et malaxage sur des contours 3D. La Méthode Taguchi a été utilisée pour la conception d'expériences et des modèles de réseaux neuronaux artificiels ont été formés pour l'analyse des résultats des expériences et pour l’optimisation. Il a été démontré que le soudage par friction et malaxage à angle droit a la capacité de faire des soudures saines avec limites ultimes acceptables en utilisant des valeurs plus basses de force axiale d’environ 50% par rapport au soudage par friction et malaxage typique. En outre, les plages utilisables des paramètres de conception de l'outil et des paramètres de fonctionnement ont été trouvées. Elles conduisent à la réduction de la force axiale du soudage par friction et malaxage à angle droit. Les erreurs de placement de pièces dans des joints aboutés ont aussi été investiguées conduisant à une définition des plages acceptables d’erreur avec la méthode de soudage à angle droit. Les techniques développées ont aussi été validées dans la mise en œuvre du soudage par friction et malaxage pour les joints 2D et 3D. De plus, la méthodologie proposée pour le soudage sur contours 3D a été validée avec succès en soudage sur une pièce particulière en utilisant une machine CNC à 5 axes dans les deux configurations de joints aboutés et superposés. / Friction stir welding (FSW) is an innovative solid state joining method invented at the end of twentieth century and having significant advantages over fusion welding techniques. Due to the high amount of forces applied on the FSW tool and the need to keep a constant angle all over the welding path (tilt angle), this process in normally performed on costly machines designed specifically for it. The present thesis is an attempt to facilitate the implementation of friction stir welding on common CNC machining centers. A less considered variant of this process, namely right angle FSW in which the tool axis is always perpendicular to the surface of workpiece has been closely studied and investigated. Special FSW tools which are appropriate for this new orientation have been developed and operating parameters for these tools have been established. In addition, techniques were developed to reduce the axial force through optimization of tool design and welding parameters. Moreover, one of the major difficulties which could be encountered during industrial applications of FSW, joint fit-up issues have been explored and attempts were made to manage these issues. A methodology has been proposed for FSW over 3D contours. Taguchi method has been used for design of experiments and artificial neural network models have been trained for analysis of results of experiments and optimization. It has been shown that the right angle FSW have the capacity of making sound welds with acceptable UTS employing lower values of axial force in comparison to typical FSW. Furthermore, workable ranges of tool design and welding parameters were found that leads to reduction of axial force within right angle FSW. To tolerate for joint fit-up issues, regions of operating parameters were established that could manage typical values of gap and mismatch. The developed techniques have also been validated and implemented for joining on 2D and 3D paths. In addition, the 3D methodology has been successfully validated in welding a complex part using a 5 axis CNC machine in both butt and lap configurations.

Titre de l'écran-titre (visionné le 28 novembre 2023) / Les ponts en aluminium modernes sont composés de plusieurs longues extrusions multi-vide soudées. Ces joints soudés sont particulièrement vulnérables à la rupture en fatigue car ils sont susceptibles de se présenter comme des zones d'initiation de fissures en fatigue sous l'effet du chargement cyclique du trafic. La fatigue est un état limite critique dans la conception de nombreux ponts de courte à moyenne portée. Traditionnellement, les techniques de soudage conventionnelles par fusion ont été utilisées pour fabriquer les tabliers de ponts en aluminium. Ces techniques ont été connues par produire certains défauts métallurgiques et une variété de défauts volumiques lorsqu'ils sont utilisés pour des structures en aluminium. Ces défauts ont un effet significatif sur la résistance en fatigue des joints soudés. Cependant, une technologie de soudage « relativement » nouvelle connue comme soudage par friction-malaxage (FSW) a émergé et a été suggérée pour être utilisée dans des projets d'infrastructure impliquant de l'aluminium. Cette approche innovante de soudage a montré qu'elle produisait une qualité de soudure améliorée et offrait un meilleur contrôle des défauts de soudure par rapport aux méthodes de soudage traditionnelles. Pourtant, son utilisation est encore limitée en raison de l'insuffisance de directives dans les codes et normes actuels. Des facteurs clés tels que la résistance en fatigue des joints FSW et les critères complets de contrôle de la qualité, y compris les niveaux de tolérance pour les défauts couramment rencontrés, restent non standardisés. De plus, les modèles numériques utilisés pour la conception en fatigue des ponts en aluminium sont rares. Comme les alliages d'aluminium extrudés sont de plus en plus utilisés pour la construction de ponts, il existe un besoin croissant de modèles numériques robustes capables de prédire avec précision le comportement en fatigue des tabliers de pont en aluminium extrudé soudés sous diverses conditions de chargement. Cette thèse doctorale vise à caractériser le comportement en fatigue des configurations FSW les plus récentes dans l'industrie des tabliers de pont, en particulier les joints FSW en bout à bout à recouvrement. Le projet cherche également à établir des niveaux de tolérance pour les défauts d'ajustement associés aux tabliers de ponts et à étudier leurs effets sur les performances métallurgiques et en fatigue des joints FSW en bout à bout à recouvrement. Enfin, la thèse vise à développer des modèles numériques capables de prédire la durée de vie à en fatigue d'échantillons FSW en bout à bout à recouvrement à grande échelle extraits de vrais tabliers de ponts en aluminium sous diverses configurations de chargement. Des essais expérimentaux et une analyse numérique ont été menés pour étudier le comportement en fatigue des joints FSW en bout à bout à recouvrement utilisés dans les tabliers de ponts en aluminium. Des essais de fatigue à grande échelle ont été conçues pour provoquer la rupture en fatigue dans le joint FSW des échantilons constitués d'une paire d'extrusions utilisées dans les tabliers de ponts. Les résultats expérimentaux ont indiqué que la rupture s'est initiée à partir du défaut de la remontée de surface à la pointe de l'interface dans la racine de la soudure et s'est propagée jusqu'au point d'application de la charge. Les simulations numériques ont évalué les données expérimentales de fatigue avec l'approche de la contrainte effective de concentration (ENS) recommandée par l'Institut International International de Soudage (IIW). Les résultats ont montré que la courbe de conception en fatigue IIW FAT-71 a évalué de manière conservatrice les données de fatigue. Les défauts d'ajustement, y compris les écarts et les décalages d'outil, ont été simulés et fabriqués expérimentalement, et leurs niveaux de tolérance ont été déterminés en fonction d'un processus de préqualification par étapes en utilisant les critères d'acceptation du code de contrôle de la qualité du FSW. De plus, une condition de soudage où la direction de rotation de l'outil FSW a été inversée, a été simulée expérimentalement pour déterminer quelle direction de rotation fournit une meilleure résistance en fatigue pour les joints FSW en bout à bout à recouvrement. Des échantillons de fatigue FSW en bout à bout à recouvrement à grande échelle présentant ces conditions de soudage ont été fabriqués et testés en fatigue. Les données de fatigue de ces essais ont été analysées statistiquement et comparées, ainsi qu'une analyse numérique pour enquêter sur les différences de résistance en fatigue entre les conditions de soudage. Les résultats ont révélé que le défaut de la remontée de surface a joué un rôle critique dans les mécanismes de rupture en fatigue et la résistance en fatigue des joints FSW en bout à bout à recouvrement, l'absence de défaut de remontée de surface conduisant à des améliorations significatives de la résistance en fatigue. Un cadre numérique pour prédire la durée de vie en fatigue des échantillons FSW en bout à bout à recouvrement a été développé, basé sur un modèle d'éléments finis. Ce cadre a d'abord prédit avec précision la localisation et la direction de l'initiation de l'amorçage de fatigue en utilisant la théorie des distances critiques (TCD) avec à la fois la méthode de point (PM) et la méthode de ligne (LM). Ensuite, en fonction de la localisation estimée de l'initiation de l'amorçage de fatigue, la durée de vie en fatigue est prédite en utilisant la TCD et les modèles simplistes de mécanique de la rupture élastique linéaire (LEFM). L'efficacité du cadre numérique a été vérifiée en comparant ses prédictions avec des données expérimentales de fatigue provenant de essais de fatigue réalisés sur des échantillons sous différentes configurations de chargement, démontrant un accord raisonnable entre les prédictions et les résultats expérimentaux. / Modern aluminium bridge decks are made from welding several long multi-void extrusions. These welded joints are particularly vulnerable to fatigue failure as they are likely to serve as fatigue crack initiation zones under the effect of cyclic traffic loading. Fatigue is a critical limit state in the design of many short to medium bridges. Traditionally, conventional fusion welding techniques have been used to fabricate aluminium bridge decks. These techniques have been known to produce metallurgical defects and a variety of volumetric defects when used for aluminium structures. These defects have significant effect on the fatigue resistance of welded joints. However, a relatively new welding technology known as friction stir welding (FSW) has emerged and has been suggested for use in infrastructure projects involving aluminium. This innovative welding approach was shown to produce an enhanced weld quality and provide superior control over weld defects to the traditional welding methods. Yet, its use is still limited due to insufficient guidelines in current codes and standards. Key factors such as the fatigue strength of FSW joints and comprehensive quality control criteria, including tolerance levels for commonly occurring defects, remain unstandardized. Furthermore, the numerical models used for fatigue design in aluminium bridges are scarce. As extruded aluminium alloys are increasingly used for bridge construction, there is a growing need for robust numerical models capable of accurately predicting the fatigue behaviour of welded extruded aluminium bridge decks under various load conditions. This doctoral thesis aims to characterize the fatigue behaviour of the most recent FSW configurations in the bridge deck industry, specifically butt-lap FSW joints. The project also seeks to establish tolerance levels for fit-up defects associated with bridge decks and investigate their effects on the metallurgical and fatigue performance of butt-lap FSW joints. Lastly, the thesis aims to develop numerical models capable of predicting the fatigue life of FSW aluminium bridge decks under various loading configurations. Experimental tests and numerical analysis were conducted to study the fatigue behaviour of butt-lap FSW joints used in aluminium bridge decks. Large-scale fatigue experiments were designed to provoke fatigue failure in the FSW joint of specimens consisting of a pair of extrusions used in bridge decks. Experimental results indicated that failure initiated from the hooking defect at the tip of the interface in the weld root and propagated to the load application point. Numerical simulations assessed the experimental fatigue data with the effective notch stress (ENS) approach as recommended by the International Institute of Welding (IIW). The results showed that the IIW FAT-71 fatigue design curve conservatively assessed the fatigue data. Fit-up defects, including gaps and tool offsets, were simulated and fabricated experimentally, and their tolerance levels were determined based on a stage prequalification process using FSW quality control code acceptance criteria. Additionally, a welding condition where the FSW tool rotational direction was reversed, was experimentally simulated to investigate which rotational direction provides better fatigue strength for butt-lap FSW joints. Large-scale butt-lap FSW fatigue specimens featuring these welding conditions were fabricated and fatigue-tested. The fatigue data from these tests were statistically analyzed and compared, along with numerical analysis to investigate differences in fatigue strength between welding conditions. Results revealed that the hooking defect played a critical role in fatigue failure mechanisms and fatigue strength of butt-lap FSW joints, with the absence of the hooking defect leading to significant improvements in fatigue strength. A numerical framework for predicting the fatigue life of butt-lap FSW specimens was developed, based on finite element analysis. This framework first accurately predicted the fatigue initiation location and direction using the theory of critical distances (TCD) with both the point method (PM) and line method (LM). Depending on the estimated fatigue initiation location, the fatigue life is then predicted using TCD and linear elastic fracture mechanics (LEFM) models. The numerical framework's efficiency was verified by comparing its predictions with experimental fatigue data from fatigue tests conducted on specimens under different loading configurations, demonstrating reasonable agreement between the predictions and experimental results.

Cette thèse concerne l'étude de la dynamique d'impacts de gouttes, dans des situations de friction réduite entre le substrat solide et la goutte liquide. Cette diminution de friction s'est faite au moyen d'un film d'air inséré entre le liquide et le solide. Il existe plusieurs stratégies permettant l'existence de ce film d'air : la première est d'utiliser le phénomène de caléfaction, ou effet Leidenfrost : un liquide approché d'une surface chauffée au delà d'une température critique s'évapore suffisamment rapidement pour pouvoir léviter sur sa propre vapeur, et ainsi être isolé de la surface solide. Dans certaines conditions, les surfaces super-hydrophobes micro-texturées permettent au liquide de rester dans un état "fakir", c'est à dire de n'être en contact qu'avec le sommet de micro-piliers, le reste du liquide demeurant au dessus d'un coussin d'air. Enfin, il a également été constaté que l'écoulement d'air engendré par le mouvement d'une surface solide peut induire une force de portance sur une goutte, et ainsi lui permettre de léviter au dessus de cette surface / In this thesis we study the dynamic of drop impacts, in situations of low friction between the liquid and the solid surface. This low friction can be obtained thanks to an air cushion trapped between the liquid and the solid, which can be achieved by several ways. The first one is the Leidenfrost effect : when a liquid is moved close to a hot surface, the evaparation rate can be sufficient make liquid levitate on its own vapour. In certain conditions, onto micro-patterned super-hydrophobic surfaces, a drop can be in a "fakir" state, which means that the contact is limited to the top of micro-pillars, the rest of the liquid is at the top of an air cushion. Finally, we also observed that the air flow due to a moving surface can generate a lift force which can permit the levitation of the drop

A caracterização da macrotextura e microtextura da superfície de pavimentos asfálticos pode ser obtida por meio de diversos tipos de equipamentos que possuem características distintas. Os resultados dos ensaios obtidos por esses diferentes equipamentos foram comparados e harmonizados por uma grande pesquisa desenvolvida pela PIARC (Permanent International Association of Road Congress, atualmente denominada de World Road Association) que converteu estes diferentes valores em um índice internacional combinado denominado de IFI - International Friction Index. Posteriormente, a ASTM especificou o emprego deste índice por meio da publicação da norma E 1960-98 Standard Practice for Calculating International Friction Index of a Pavement Surface. Nesta tese foram avaliados a textura e o atrito em doze tipos de revestimentos asfálticos com características distintas: usinados a quente de diversas graduações, tratamentos superficiais, microrrevestimentos a frio e lamas asfálticas, por meio de aparelhagem portátil: ensaios de mancha de areia e Pêndulo Britânico, respectivamente. Estes diferentes revestimentos apresentam uma gama de textura variando de aberta e rugosa a fechada e polida. Os resultados geraram um banco de dados com 417 valores de campo, sendo 178 referentes à macrotextura, 166 à microtextura e 73 à drenabilidade. Com estes dados, foram calculados valores de IFI, compostos pelos parâmetros Sp e F60, resultando em 165 pares de valores. Com base na experiência prática e análises estatísticas, demonstrou-se a validade de uso de equipamentos portáveis para a determinação dos valores de IFI e estabeleceram-se critérios e faixas de classificação para a aderência em função do par de valores de IFI (Sp; F60). Esta classificação possibilita os órgãos viários a usarem o IFI (Sp; F60) como uma ferramenta de gerência de pavimentos para avaliarem as condições de aderência em pista molhada de suas vias ou de locais específicos, objetivando, quando necessária, a realização de intervenções. / The characterization of the macrotexture and microtexture of asphalt pavements surfaces can be obtained by means of different types of equipment presenting different characteristics. The results of the essays obtained by these different equipment were compared and harmonized by an ample research developed by PIARC (Permanent International Association of Road Congress, now denominated World Road Association) which converts these different values into an international combined index denominated IFI - International Friction Index. Later, the ASTM specified the employment of this index by publishing norm E 1960-98 Standard Practice for Calculating International Friction Index of a Pavement Surface. In this thesis, texture and friction were evaluated on twelve types of asphalt pavings with different characteristics: hot asphalt mixes of different gradations, asphalt surface treatments, cold-mixed micro-surfacing and slurry seals, by means of portable equipment, sand patch and British pendulum essays, respectively. These different pavings present a range of texture varying from open and rough to closed and polished. The results generated a database with 417 field values, being 178 related to macrotexture, 166 to microtexture and 73 to drainability. With these data, IFI values were calculated, composed by parameters Sp and F60, resulting in 165 pairs of values. Based on practical experience and on statistical analyses, the validity of using portable equipment for determining the IFI values was demonstrated and classification criteria and bands for adherence were established in function of the pair of IFI values (Sp; F60). This classification allows road organisms to use IFI (Sp; F60) as a pavement management tool to assess the adherence conditions on the wet lanes of their roads or on specific sites, aiming to conduct interventions, whenever necessary.

O objetivo deste trabalho é reduzir o efeito do atrito estático em malhas de controle. A não-linearidade inserida por esse fenômeno pode diminuir a eficiência de um controlador PID e até tornar o sistema em malha fechada oscilatório. Para minimizar esse problema, são testados compensadores presentes na literatura e que não necessitam de modelos internos, os quais, em princípio, podem ser implementados em CLPs e SDCDs com facilidade. Apesar dos compensadores não utilizarem um modelo da válvula em seu algoritmo, é necessário conhecer a magnitude do atrito para parametrizá-los. Por este motivo, os primeiros tópicos desta dissertação são sobre modelos de atrito e técnicas para estimar seus parâmetros. Após estes tópicos, são introduzidos os compensadores de atrito. Alguns dos métodos avaliados foram modificados para tentar aprimorar os resultados. Apesar da teoria poder ser aplicada para uma grande diversidade de processos, os algoritmos foram aplicados a uma malha de controle de vazão de água utilizando válvulas de controle. O objetivo assumido é minimizar o ITAE (Integral Time Absolute Error) e o desgaste gerado nos equipamentos, devido à movimentação excessiva da haste da válvula. Também se verifica o tempo de subida do sistema em malha fechada. Além de testar os compensadores em uma malha de controle de vazão, também foram realizados testes com os compensadores em uma malha de controle de posição, que por sua vez recebe o set-point de uma malha de controle de vazão (controle em cascata). Os resultados mostram que, utilizando os compensadores, é possível que uma válvula com alto índice de atrito apresente um desempenho próximo ao de uma válvula com baixo índice de atrito sem compensação, ou seja, foi possível compensar o atrito na haste. / The aim of this work is to reduce the effect of the static friction in control loops. The non-linearity inserted by this phenomenon may decrease the efficiency of a PID controller and even make the closed loop system oscillatory. To minimize this problem some compensation methods present in the literature that do not require internal models were tested, which, theoretically, can be easily implemented in a PLC or DCS. Even thought the compensation methods do not require internal models, it is necessary to know the friction magnitude in order to set their parameters. With that in mind, the first topics of this dissertation friction models and how to identify their parameters. After these topics the friction compensation methods are introduced. Some of these methods where modified, with the purpose of improving the results. Although the theory may be applied to a great variety of process, these algorithms were applied to a water flow control loop using control valves. The assumed objective is to minimize the ITAE (Integral Time Absolut Error) and the wearing of the equipments due to excessive movement of the valve stem. The rising time of the closed loop system is also verified. Besides testing these compensation methods in a flow control loop, they were also tested in a position control loop, that receives its set-point from a flow control loop (cascade control).