CoordenaÃÃo de AperfeiÃoamento de Pessoal de NÃvel Superior / O presente trabalho apresenta o estudo de um conversor CC/CC com dois estÃgios para aplicaÃÃo no desenvolvimento de sistemas autÃnomos de energia elÃtrica. O conversor sob estudo consiste basicamente da associaÃÃo de dois conversores CC/CC, em que entre eles à inserido um banco de baterias para dar continuidade ao fornecimento de energia em perÃodos em que nÃo hà radiaÃÃo solar. Todos os conversores utilizados para a composiÃÃo do sistema sÃo do tipo boost utilizando a cÃlula de comutaÃÃo de trÃs estados (CCTE). O primeiro conversor tem a funÃÃo enviar energia desde os painÃis fotovoltaicos a um banco de baterias de 48 V e permitir a operaÃÃo dos painÃis fotovoltaicos no ponto de mÃxima potÃncia (MPP- Maximum Power Point). O segundo estÃgio à constituÃdo por um conversor de alto ganho de tensÃo, cujo papel à elevar a tensÃo do banco de baterias de 48 V para uma tensÃo de 400 Vcc, formando assim o barramento de saÃda do sistema em tensÃo contÃnua. Para garantir a regulaÃÃo da tensÃo em 400 Vcc, foi implementada a tÃcnica de controle LQR (Linear Quadratic Regulator). Para o projeto do controle LQR à utilizado uma metodologia simplificada para a obtenÃÃo de um modelo reduzido do conversor de alto ganho de tensÃo. Para cada estÃgio à apresentado seu estudo teÃrico, anÃlise de perdas e dimensionamento dos componentes para o atendimento das especificaÃÃes de projeto. Para verificar a anÃlise teÃrica foi montado um protÃtipo para cada estÃgio e os resultados experimentais sÃo apresentados neste trabalho. / This work presents a study of a DC/DC converter with two stages for implementation of a stand-alone photovoltaic power system. The converter under study consists of two DC/DC converters, in which between them is inserted a battery bank to give continuity to the energy supply in periods when there isnât solar radiation. All converters used for the composition of the system are of type boost based on the three-state switching cell (TSSC). The first converter has function of to send energy from photovoltaic panels to a battery bank of 48 V formed by four batteries of 12V connected in series, and its function is to allow the photovoltaic panels operation at the maximum power point (MPP). The second stage consists of a converter of high voltage gain, whose role is to raise the 48 V battery bank voltage to 400V DC output bus voltage. To ensure the regulation of voltage at 400 V DC, was implemented the control LQR (Linear Quadratic Regulator). To design the controller LQR, a simplified methodology to obtain a model of the high-gain voltage converter is used. For each stage is presented its theoretical study, analysis and the components were designed and specified. To verify the theoretical analysis, was developed a prototype for each stage and the experimental results are presented in this work.

The master thesis deals with the issue of a single-wheeled robot, especially its construction and movement in more difficult terrain with the possibility of collecting samples. A variant of the robot balanced by a pair of gyroscopes was chosen as the most suitable construction. The robot is able to move in a space with an inclination of up to 24° and is equipped with its own manipulator design.

L’objectif de cette thèse est de fournir une approche générale permettant d’aborder les problèmes de contrôle aéroélastique.Tout d’abord, un modèle d’aile oscillante est développé afin de rendre compte des phénomènes d’hystérésis des charges aérodynamiques et de décrochage dynamique qui peut être observé, particulièrement à fort angles d’attaque ou à faible nombre de Reynolds. Le modèle est alors entraîné et comparé avec succès aux résultats expérimentaux obtenus pour une aile NACA 0018. Ce modèle, comme de nombreux modèles aérodynamiques, souffre d’une complexité inhérente et de non-linéarités qui rendent son analyse et son contrôle complexes. Par conséquent, le modèle a été modifié afin d’inclure les non-linéarités dans une formulation polytopique aux paramètres incertains. S’appuyant sur la théorie de la commande linéaire quadratique et utilisant les inégalités des matrices linéaires, plusieurs théorèmes sont développés, considérant les saturations qui sont un problème majeur et récurent de la dynamique du vol. Les théorèmes sont alors appliqués avec succès au cas du stall flutter en présence de saturations en position et en vitesse. / This thesis aims at providing a general approach for aeroelastic control. First, an aeroelastic model of an oscillating wing is developed to capture the phenomena of hysteresis of aerodynamic load and dynamic stall which can be observed at low Reynolds number or large angles of attack. The model is then trained and successfully compared to experimental data for a NACA 0018 wing. This model, like many aeroelastic models, suffers from its inherent complexity and nonlinearities which make its analysis and control challenging. Consequently, the set of equations is conveniently manipulated to encapsulate the nonlinearities in a polytopic formulation with unknown parameters. Then, based on linear quadratic regulation theory and using framework of linear matrix inequalities, several theorems are developed considering saturations which are a major and recurrent issue in flight control. The theorems are then successfully applied to solve the problem of stall flutter in presence of rate and magnitude saturations.

One of the key responsibilities of Getinge's ventilators is to deliver accurate gas volumes to patients. To ensure this precision, specially designed rigid steel tanks are utilized to evaluate the performance and precision of the ventilators in providing exact air volume. The intention of this study is to design and implement a suitable controller for actuating a servo piston pump in order to be used for the tank volume measuring and calibration process. Two controlling strategies were chosen for this purpose: Linear Quadratic Regulator (LQR) and Fractional Order Proportional Integral Derivative (FOPID). This work also aimed to establish a narrative of the two controlling strategies after optimizing them using genetic algorithm optimization (GA) and evaluating their effectiveness in controlling a brushless DC motor (BLDC) actuating a servo piston pump. This involved modeling the system in Matlab and Simulink based on the mathematical representations of the system's dynamics, specifically focusing on its pneumatic behavior. The nonlinear model was linearized and served as a basis for the controllers' optimization through the genetic algorithm. Both controller designs were then compared in both the Simulink environment and the actual physical system. The results show that the FOPID exhibits superior performance in the Simulink environment. Contrariwise, the LQR displays a far greater level of superiority in the physical system, whereas the FOPID performance significantly deteriorated upon implementation in the physical system. Furthermore, the study suggests implementing anti-windup techniques and ensuring the accurate digitization of fractional calculus for further research to enhance the performance of the FOPID controller on the physical system. / En av de centrala uppgifterna för Getinges ventilatorer är att leverera exakta gasvolymer till patienter. För att säkerställa denna precision används speciellt designade ståltankar för att bedöma ventilatorernas funktion och precision att leverera exakt luftvolym. Syftet med denna studie är att utforma och implementera en lämplig Styrenhet för att aktivera en servokolvspump som ska användas för tankvolymens mätning och kalibreringsprocess. Två styrstrategier valdes för detta ändamål: Linear Quadratic Regulator (LQR) och Fractional Order Proportional Integral Derivative (FOPID). Arbetet kommer också att syfta till att etablera ett narrativ för de två styrstrategierna efter att ha optimerat dem med genetisk algoritmoptimering (GA) och utvärderat deras effektivitet vid styrning av en borstlös DC-motor som aktiverar en servokolvspump. Detta innefattade modellering av systemet i Matlab och Simulink baserat på de matematiska representationerna av systemdynamiken, med speciellt fokus på dess pneumatiska beteende. Den icke-linjära modellen linjäriserades och fungerade som grund för regulatorernas optimering genom den genetiska algoritmen (GA). Båda regulatorernas utformningar jämfördes sedan både i Simulink-miljön och det fysiska systemet. Resultaten visar att FOPID uppvisar överlägsen prestanda i Simulink-miljön. Å andra sidan visar sig LQR vara överlägsen i det fysiska systemet, medan FOPID-prestandan försämras avsevärt vid implementering i det fysiska systemet. Dessutom föreslår studien att implementera anti-windup-tekniker och säkerställa korrekt digitalisering av fraktionell kalkyl för vidare forskning för att förbättra prestanda för FOPID-regulatorn på det fysiska systemet.

Quadruped robots can traverse a multitude of terrains with greater ease when compared to wheeled robots. Traditional rigid quadruped robots possess severe limitations as they lack structural compliance. Most of the existing soft quadruped robots are tethered and are actuated using pneumatics, which is a low grade energy source and lacks viability for long endurance robots. The work in this thesis proposes the development of a continuum actuator driven quadruped robot which can provide compliance while being un-tethered and electro-mechanically driven. In this work, continuum actuators are developed using mostly 3D printed parts. Additionally, the closed loop control of continuum actuators for walking is developed. Linear Quadratic Regulator (LQR) and pole placement based methods for controller synthesis were evaluated and LQR was determined to be better when minimizing the actuator effort and deviation from set-point. These continuum actuators are composed together to form a quadruped. Gait analyses on the quadruped were conducted and legs of the quadruped were able to trace the gaits for walking and galloping. / Fyrfotarobotar kan lättare korsa en mängd olika terränger jämfört med hjulrobotar. Traditionella styva fyrfotarobotar har kraftiga begränsningar då de saknar strukturell följsamhet. De flesta befintliga mjuka fyrbenta robotar är kopplade till en eller flera kablar och drivs av pneumatik, vilket är en lågkvalitativ energikälla och lämpar sig inte för robotar med lång uthållighet. Arbetet i denna avhandling föreslår utvecklingen av en continuum ställdonsdriven fyrfotarobot, som ger följsamhet samtidigt som den ¨ar frånkopplad och elektromekaniskt driven. I detta arbete framställs continuum ställdon med mestadels 3D-printade delar. Dessutom utvecklas dessa ställdons slutna kontrolloop för gång. Linjärkvadratisk regulator (LQR) och metoder baserade på polplacering utvärderades för styrsyntes, och det fastställdes att LQR presterade bättre när man minimerar ställdonets ansträngning samt avvikelse från referensvärde. Continuum ställdon sammansattes för att bilda en fyrbent robot. Gånganalyser utfördes på roboten och dess ben kunde följa gång- och galopprörelser.

This master thesis report has studied several methods to improve the energy consumption of an electric vehicle equipped with two permanent magnet synchronous motors. Two driving torque distribution maps are developed based on efficiency map and load transfer, respectively. The drive torque distribution map based on the efficiency map shows up to 8.94% energy saving. Two regenerative braking strategies are designed and compared. Both strategies have pure regenerative brake at low decelerations and it is controlled by a modified acceleration pedal map. Strategy 1 does not add more regenerative braking when the brake pedal is pressed thus it is simpler while strategy 2 can blend in more motor torque. Rear axle steering is also studied in terms of contribution to energy consumption and an LQR controller is developed to control the vehicle with rear axle steering. / Denna rapport avhandlar ett examensarbete där flera metoder har studerats för att förbättra energikonsumptionen för ett elektriskt fordon med två permanentmagnetsynkrona motorer. Två fördelningskartor för drivande moment är framtagna baserat på effektivitetskartor och lastöverföring. Fördelningskartorna för drivande moment som är baserat på effektivitet visar upp till 8,94% energiminskning. Två olika regenerativa bromsstrategier är framtagna och jämförda. Båda strategierna har ren regeneration vid låga decelerationer och är reglerat genom modifierat gaspedalsmappning. Strategi 1 ger inte mer regeneration när bromspedalen trycks ned och är då enklare medans strategi 2 kan blanda in mer vridmoment från elmotorn. Bakaxelstyrning är också studerat i termer av dess bidrag till energikonsumption samt en LQR regulator är utvecklad för reglering av fordonets bakaxelstyrning.

In this work, a unicycle system with reaction wheel is presented, considering the construction, the modeling, the design and test of the controllers. Firstly, a mechanical model considering a tridimensional computer aided design (3D CAD) is built in order to assist the construction and, after that, the modeling using the Lagrange method. In this work, linear controllers are designed and, therefore, the linearization of the system is done by the Jacobian, that is, assuming small variations around the equilibrium point. In this situation, there is no coupling between the pitch and the roll angles, thus resembling two inverted pendulums. The prototype is constructed by attaching the electronic components, the battery, the wheels and the motors to a body, to make it fully autonomous. The positioning of the parts has to balanced in order to maintain the position of the center of mass along the vertical and horizontal axis of symmetry. Then, a linear control project is done to stabilize the plant using two techniques that are validated considering simulations of the nonlinear coupled system. Then, the techniques were tested in the built prototype. The first one consists of the optimal LQR control that, although it worked, presented some problems due to parametric uncertainties. Therefore, the H2 control is used via LMI in such a way that the project becomes similar to the LQR, but in this way it is possible to insert parametric uncertainties and find a controller with some degree of robustness to them. / Neste trabalho, é apresentado um sistema de um monociclo com roda de reação, mostrando desde a construção, passando pela modelagem até o projeto e teste dos controladores. Primeiramente, é feito o projeto mecânico por meio de um desenho assistido por computador tridimensional (3D CAD), para auxiliar a construção e, em seguida, a modelagem por meio do método de Lagrange. Naturalmente, o sistema é não linear e os ângulos de arfagem e rolamento são acoplados. Neste trabalho, controladores lineares são projetados e, portanto, a linearização do sistema é feita pelo Jacobiano, ou seja, assumindo pequenas variações em torno do ponto de equilíbrio. Nesta situação, o modelo desacopla os ângulos de arfagem e rolamento. O protótipo é construído fixando os componentes eletrônicos, a bateria, as rodas e os motores a um corpo, de forma a ser totalmente autônomo. O posicionamento das peças precisa ser equilibrado, de forma a manter a posição do centro de massa ao longo dos eixos de simetria vertical e horizontal. Em seguida, é feito um projeto de controle linear para estabilização da planta usando duas técnicas que são validadas via simulações do sistema não linear acoplado. Depois, as técnicas são testadas no protótipo construído. A primeira consiste do controle ótimo LQR que, apesar de ter funcionado, apresentou alguns problemas devidos a incertezas paramétricas. Logo, é usado o controle H2 via LMI, de tal forma que o projeto equivalha ao LQR, mas desta forma é possível inserir incertezas paramétricas e achar um controlador com algum grau de robustez a elas.

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Due to the conditions peculiar to underwater, distinctive approaches are required to solve the navigation and path planning problem of an unmanned underwater vehicle (UUV). In this study, first of all, a detailed 6 degrees-of-freedom (DOF) mathematical model is formed, including the coupled non-linear forces and moments acting on an underwater vehicle. The hydrodynamic coefficients which correspond to the geometry of the vehicle which the model is based on are calculated using the strip theory. After the mathematical model is obtained, by applying appropriate linearization on the model, &ldquo / Linear Quadratic Regulator (LQR)&rdquo / control method is implemented to govern the surge, heave, pitch and yaw motions of the underwater vehicle. Path planning algorithm of the vehicle is based on tracking the waypoints. Permutation of the waypoints is obtained by solving the &ldquo / Travelling Salesman Problem (TSP)&rdquo / via genetic algorithm. Linked with that, &ldquo / Rapidly-Exploring Random Trees (RRT)&rdquo / algorithm is introduced into the path planning algorithm to avoid collisions in environments with obstacles. Underwater navigation solution is based on the &ldquo / Inertial Navigation System (INS)&rdquo / outputs, located on the vehicle. To correct the long-term drift of the inertial solution, &ldquo / Kalman Filter&rdquo / based integration algorithm is used and external aids such as &ldquo / Global Navigation Satellite System (GNSS)&rdquo / , &ldquo / Ultra-Short Baseline (USBL)&rdquo / acoustic navigation system and attitude sensors have been utilized. The control method, path planning and navigation algorithms used in this study are verified by simulation results.

This research presents an investigation to actively improve the rollover stability of articulated heavy vehicles (AHVs) during high speed manoeuvres using anti-roll control systems. A 3-dimensional (3-D) linear yaw/roll model with 5 degrees of freedom is developed. Based on this model a linear quadratic regulator (LQR) controller is designed to improve the rollover stability of a tractor/semi-trailer combination. A design optimization method for AHVs using genetic algorithms (GAs) and multibody vehicle system models is also presented. AHVs have poor manoeuvrability when travelling at low speeds on local roads and city streets. On the other hand, these vehicles exhibit unstable motion modes at high speeds, including jack-knifing, trailer sway and rollover. From the design point of view, the low-speed manoeuvrability and high-speed stability have conflicting requirements on some design variables. The design method based on a GA and a multibody vehicle dynamic package, TruckSim, is proposed to coordinate this trade-off relationship. To test the effectiveness of the design method, a tractor/semi-trailer combination is optimized using the proposed method. It is demonstrated that the proposed design method can be used for identifying desired design variables and predict performance envelopes in the early design stages of AHVs. / UOIT