<p>Real-time hybrid simulation (RTHS) has demonstrated certain advantages over conventional large-scale testing. In an RTHS, the system that is under study is partitioned into a numerical and a physical substructure, where the numerical part is comprised of those elements that are easier to model mathematically, while the physical part consists of those that present a complex behavior difficult to capture in a numerical model. The most complex part of this study is the isolation system, a technology used to protect structures against earthquakes by modifying how they respond to ground motions. Unbonded Fiber Reinforced Elastomeric Isolators (UFREIs) are devices that can accomplish this task and have gained attention in recent years because of their modest but valuable features that make them suitable for implementation in low-rise buildings and in developing countries because of their low cost. Our end goal for this work is to enable the testing of scaled versions of these elastomeric isolators to understand their behavior under shear tests and realistic loading. </p> <p>A testing instrument was designed and constructed to apply a uniaxial compressive force up to 22kN and a shear force of 8kN simultaneously to the specimens. A testing program was conducted where four primary sources of signal distortion were identified as caused by the servo-hydraulic system. From these results, a mechanics-based model was developed to understand better the dynamics that the sliding table can introduce to the measured signals accounting for inertial and dissipative forces. Two Bouc-Wen models were implemented to simulate the behavior of the UFREIs. The first only accounts for the hysteretic behavior of the isolator, and the second accounts for the additional nonlinearities found in the isolator’s behavior. These models were assembled in a virtual RTHS which is available to users interested in learning the applications of RTHS of a base-isolated structure with a nonlinear component.</p> <p>An RTHS experiment was conducted in the IISL where the control system comprised a delay compensator and a proportional-integral controller, which exhibited a good tracking performance with minimal delay and low RMSE. However, it can increase the distortion of the oil-column resonance in the measured signals. The simulation captures the behavior of the isolated structure for small displacements. However, it underestimates the displacement of the full-scale specimen for large displacements. The RTHS showed a better approximation of the displacement of the full-scale structure than the theoretical behavior approximated by the Bouc-Wen models.</p>

Most companies that have any type of combustion or other pollution process via emission to air needs to measure their emissions to ensure they are within legal boundaries. Among the different types of pollution measurements, one of the most common is dust concentration, also known as particle concentration. An important factor in dust concentration measurements is to ensure that the concentration of the measured dust is representative to the dust concentration in the emissions. This is measured in isokinetic deviation, defined as (vn 􀀀 vd)=vd, where vn is the velocity in the entry nozzle and vd the velocity in the duct. Methods of dust concentration measurements used today are dependent on manual tuning and sensor readings, and the isokinetic deviation is calculated after a test. The focus of this project was therefore to investigate how the process of dust concentration measurements using standard reference methods could be automated in the way that isokinetic sampling is controlled and regulated by an automated control system in real time. Pressures, temperatures and sampled gas volume were quantized. A PIDcontroller was designed, implemented and tested. The PID-controller took the differential pressure between the inside of the entry nozzle and the duct, called zero pressure, as input. The system was tested in a laboratory environment by letting a radial fan create a flow, and thus create a zero pressure of -60 Pa, meaning that the pressure in the duct was 60 Pa greater than the pressure inside the entry nozzle. The PID-controller was then enabled and ran for five minutes. The result showed that the PID-controller managed to control the system to the reference point in less than 50 seconds for entry nozzles of diameters 6 mm, 8 mm, 10 mm and 12 mm. The results of the isokinetic deviations were -12 %, -5 %, -6 % and -4 % for entry nozzles with diameters 6 mm, 8 mm, 10 mm and 12 mm respectively. This is higher than the accepted values according to the European standard, which allows deviations in the interval -5%to 15%. However, these tests ran for relatively short time periods and started with large deviations which made it difficult to reach an isokinetic deviaiton in the accepted interval. Possible improvements could be to include the real time isokinetic deviation in the PID-controller, this would make it possible to change the reference value of the zero pressure in real time and guarantee isokinetic deviations in the accepted interval, even in extraordinary situations. / EU-regler ställer krav på anläggningar att kontrollera och begränsa sina utsläpp av stoft enligt EU standard 13284-1:2017. Vid en stoftmätning måste det tas hänsyn till många parametrar, där en av de viktigaste parametrarna är att provtagningen ska utföras isokinetiskt. Isokinetisk provtagning innebär att hastigheten i kanalen (skorstenen) är samma som i sonden där provgasen sugs ut. Dagens metoder för stoftmätning förlitar sig på manuella inställningar och den isokinetiska avvikelsen beräknas efter ett test. Det resulterade i frågeställnigen hur en automatiserad metod för bestämning av masskoncentration av stoft kan utformas så att den isokinetiska avvikelsen beräknas i realtid. Tryck, temperatur och gasvolym kvantiserades från analoga sensorer och kommunicerades till en mikrokontroller med det seriella protokollet I2C. En PID-reglator designades, implementerades och testades. PID-regulatorn tog tryckskillnaden mellan kanal och sond som insignal. Utsignalen från PID-regulatorn var en spänning som via en motordriven ventil kontrollerade inflödet i munstycket. Systemet testades i laborativ miljö genom att låta en fläkt skapa ett flöde tills den uppmätta tryckskillnaden mellan sond och kanal var -60 Pa. Därefter aktiverades PID-regulatorn och testet pågick sedan i fem minuter. Testet utfördes för munstycken med diameterna 6 mm, 8 mm, 10 mm och 12 mm. Resultatet visade att PID-regulatorn styrde systemet till referenspunkten på mindre än 50 sekunder för samtliga diametrar på munstyckena. De isokinetiska avvikelserna (skillnaden i hastighet mellan munstycke och kanal) beräknades till -12 %, -5 %, -6 % och -4 % för munstyckena 6 mm, 8 mm, 10 mm och 12 mm. I två av fallen var det högre än det accepterade värdet enligt EU standarden som tillåter avvikelser inom intervallet -5 % till 15 %. Det kan förklaras av att testen utfördes under en relativ kort tidsperiod och startades med stora avvikelser. Regulatorn skulle dock kunna förbättras genom att använda testets aktuella isokinetiska avvikelse och med den informationen bestämma systemets referenspunkt. Det skulle göra det möjligt att kompensera för tidigare avvikelser och på det sättet uppnå isokinetiska avvikelser inom tillåtet intervall även för extremfall.

The development of a numeric simulation for predicting the performance of an Ocean Current Energy Conversion System is presented in this thesis along with a control system development using a PID controller for the achievement of specified rotational velocity set-points. In the beginning, this numeric model is implemented in MATLAB/Simulink® and it is used to predict the performance of a three phase squirrel single-cage type induction motor/generator in two different cases. The first case is a small 3 meter rotor diameter, 20 kW ocean current turbine with fixed pitch blades, and the second case a 20 meter, 720 kW ocean current turbine with variable pitch blades. Furthermore, the second case is also used for the development of a Voltage Source Variable Frequency Drive for the induction motor/generator. Comparison among the Variable Frequency Drive and a simplified model is applied. Finally, the simulation is also used to estimate the average electric power generation from the 720 kW Ocean Current Energy Conversion System which consists of an induction generator and an ocean current turbine connected with a shaft which modeled as a mechanical vibration system.

Orientador: Carlos Roberto Minussi / Resumo: Nesta pesquisa apresentam-se os principais conceitos gerais de estabilidade elétrica, assim como suas divisões e classificações, onde são desenvolvidas as condições de operação de um sistema elétrico de potência, que são relevantes nos estudos de estabilidade angular do rotor, tensão e frequência. Para os estudos de estabilidade da frequência e de tensão é preciso conhecer os equipamentos como os reguladores de tensão e frequência, em consequência é apresentada a modelagem matemática de vários componentes dinâmicos como o sistema de excitação, estabilizador do sistema de potência (PSS), sistema de regulação de velocidade, sistema de regulação de tensão (AVR), máquina síncrona, turbina a vapor e turbina hidráulica. É necessário a modelagem de eles para projetar seus respectivos controladores. Nesta pesquisa também se faz a introdução ao controlador Fuzzy e controlador PID convencional assim como os métodos de sintonia, depois projetamos um controlador que combine os dois controladores e tenha mais vantagens como o controlador híbrido PID-Fuzzy. Depois de desenvolver a modelagem do regulador de tensão e frequência, fazemos o projeto do controlador PID-Fuzzy, previamente projetado o controle PID. As simulações dos sistemas de regulação de tensão e frequência sem controlador, com controlador PID e com controlador PID-Fuzzy foram realizadas aplicando a ferramenta computacional de Matlab-Simulink no domínio do tempo contínuo e as respostas foram investigadas e discutidas. / Abstract: This research presents the main general concepts of electrical stability, as well as their divisions and classifications, where the operating conditions of an electrical power system are developed, which are relevant in the studies of angular stability of the rotor, voltage and frequency. For frequency and voltage stability studies it is necessary to know equipment such as voltage and frequency regulators, consequently the mathematical modeling of several components is presented as dynamic as the excitation system, power system stabilizer (PSS) , speed regulation system, voltage regulation system (AVR), synchronous machine, steam turbine and hydraulic turbine. We need the modeling of them to design their respective controllers. In this investigation we also do the introduction to the Fuzzy controller and conventional PID controller as well as the tuning methods then we designed a controller that combines the two controllers and has more advantages as the hybrid PID-Fuzzy controller. After developing the modeling of the voltage and frequency regulator, we design the PID-Fuzzy controller, previously designed the PID control. The simulations of the voltage and frequency regulation systems without controller, with PID controller and with PID-Fuzzy controller were performed applying the Matlab-Simulink computational tool in the continuous time domain and the answers were investigated and discussed. / Mestre

Proportional, integral and derivative (PID) controller tuning guidelines in process industry have been in place for over six decades. Nevertheless despite their long design history PID tuning has remained an ‘art’ and no single comprehensive solution yet exists. In this study various considerations, with new and different perspectives, have been taken into account in PID tuning design. This study explores the issue of PID tuning from a practical point of view with particular focus on robust design in the presence of typical problems in process industry: process changes, valve stiction effects and unmeasured disturbances. The IMC tuning rule is recommended for setpoint tracking, while in the case of regulation, a newly proposed tuning rule, based on a combination of IMC and Ziegler-Nichols method, is demonstrated to give satisfactory results. The results were evaluated by simulation and were also validated on a computer-interfaced pilot scale continuous stirred tank heater (CSTH) process. / Chemical Engineering

No description available.

High-quality simulation of hydraulic mechanism saves the time and other costs associated with the changes of inappropriately designed circuit. The aim of this thesis is to revitalize the test rig intended for simulating hydraulic circuits in order to verify the results of the simulation program Hyvos used internally by Bosch Rexroth Company. It is expected that the simulation of the hydraulic machinery cycles under the influence of disturbances will be carry out on the test rig and measured data are compared with results of the virtual models which are designed using the mentioned software Hyvos. The work deals with the so called position and pressure control which represent the classical modes of pressing machines or hydraulic press brakes operation cycles. The parameters of the hydraulic closed-loop axis controller for electrohydraulic drives (HACD) are set using the software Bodac.

This thesis describes design of a cheap robot. It includes implementation of firmware of low level control unit based on microcontroller PIC. The firmware drives motors, gains sensors data and communicates with the high level control unit. Furthermore the thesis presents realisation of connection to the robotic operation system ROS and its standard structures allowing usage of existing packages for the robot teleoperation and displaying sensor data on the remote computer. The thesis finally reports experiments with the robot. The constructed prototype is the model of the robotic lawn mower, however the whole solution has universal usage.

Nowadays, one of the solutions considered in order to face the issue of global warming and to move towards a carbon neutral society relies on the use of solar energy as a renewable and bountiful primary source. And, if photovoltaic technologies account for a large part in the solar energy market, recent years have witnessed the growth of non-concentrated and concentrated solar thermal technologies. Among them, concentrated solar power technology (CSP) which uses the optical concentration of direct solar irradiation to generate high pressure and high temperature steam in the absorber tubes of the plant, has become a promising approach reaching 4.9 GWe of installed capacity by the end of 2015 [1]. However, one of the main challenges faced by CSP technology concerns the variability of solar energy related for example to sunrise, sunset, passing clouds… In addition to that, when it comes to direct steam generation, the presence of a two-phase flow regime inside the absorber tubes leads to a strong dynamic behavior of the steam generation. It is consequently necessary to be able to simulate this dynamic behavior in order to better handle the design and operation of CSP plants. Such simulation tools can then be used for the implementation and the test of reliable control systems aimed at maintaining desired operating conditions in spite of changes in solar irradiation. In this context, the National Institute for Solar Energy (INES), part of the French Alternative Energies and Atomic Energy Commission (CEA) wishes to upgrade their dynamic simulation tool that would enable its teams to reproduce the behavior of a prototype based on the Fresnel solar field technology including direct steam generation which was built and commissioned at Cadarache, Aix-en-Provence. This Master thesis work takes place within this framework and aims at developing a multi-domain dynamic model of the aforementioned prototype. To do so, three models respectively in the thermalhydraulic, the optical and the control-command domains are built and combined using a co-simulation approach relying on an in-house simulation platform called PEGASE. More specifically the development of the following models has been addressed:  a thermal-hydraulic model of the two-phase flow circulating inside the vaporizer field of the prototype and realized with the thermal-hydraulic code CATHARE [2] (Advanced ThermalHydraulic Code for Water Reactor Accidents) applied to solar thermal biphasic issues,  an optical model of the receiver programmed using the Modelica language and the Dymola (Dynamic Modelling Laboratory) simulation software,  control-command models (PID controller, control architecture…) adapted and built upon blocks taken from a modelling library included in the PEGASE platform. Each model was first developed and tested on a standalone basis. These models were then coupled using the PEGASE co-simulation platform. A sunny day was simulated using the multi-domain model and the controllability of the plant was analyzed. At this stage, the study focused on the steam separator level regulation. A thermal-hydraulic study also focused on potential instabilities in the vaporizer that can occur under certain circumstances of water temperature at vaporizer inlet and solar heat flux. This analysis was carried out with a CATHARE standalone model. Perspectives of the present work include a complete validation of the developed models from future experimental data and further developments should aim to extend the modelling scope of the numerical simulator towards a representation of all the hydraulic parts of the CSP prototype. Control schemes and regulation tools would have to be extended as well in order to move towards a more representative control architecture of the prototype. Particularly, the steam quality at vaporizer outlet is an important variable to regulate. Indeed, this parameter is usually kept between 60% and 80% [3]. It must be high enough to limit the power consumption of the recirculation pump but not too high in order to prevent absorber dry-out. / Solenergi, som är en förnybar och riklig primärkälla, är en av de lösningarna som anses kunna lösa problemet med global uppvärmning och bidrar i omvandlingen till ett kolneutralt samhälle. Andelen fotovoltaiska teknologier på energimarknaden är övervägande, men andelen koncentrerad och ickekoncentrerad solterminsteknik har ökat under de senaste åren. Bland solterminsteknikerna är koncentrerad solenergiteknik (CSP), som använder den optiska koncentrationen av direkt strålning för att generera högtrycks- och högtemperaturånga i anläggningens absorberarrör, ett lovande tillvägagångssätt som har nått 4.9 GWe installerad kapacitet i slutet av 2015 [1]. En av de största utmaningarna med CSP-tekniken är solenergins variation vid till exempel soluppgång, solnedgång och passerande moln, vilket beror på varierad tillgång av solljus. Det finns också utmaningar med direkt ånggenerering via tvåfasflödes regimer inuti absorberarrören eftersom det leder till ett starkt dynamiskt beteende vid ånggenereringen. Det är följaktligen nödvändigt att kunna simulera detta dynamiska beteende för att bättre hantera design och drift av CSP-anläggningar. Sådana simuleringsverktyg kan sedan användas för att genomföra tester för att erhålla tillförlitliga styrsystem som upprätthåller önskade driftsförhållanden trots förändringar i solstrålningen I detta sammanhang vill National Institute for Solar Energy (INES), som är en del av den franska alternativa energikommissionen och atomenergi kommissionen (CEA), förbättra dess dynamiskt simuleringsverktyg som skulle möjliggöra för sina team att reproducera beteendet hos en prototyp baserad på Fresnel solfältsteknik inklusive direkt ånggenerering som byggts och beställts vid Cadarache, Aix-enProvence. Denna masteruppsats sker inom ramen för detta och syftar till att utveckla en dynamisk modell med flera domäner av den ovan nämnda prototypen. Tre modeller i termisk-hydraulisk, optisk och kontrollkommando domäner har byggts och kombinerats med hjälp av en co-simuleringsmetod som bygger på en intern simuleringsplattform som heter PEGASE. Mer specifikt om utvecklingen av modellerna enligt nedan:  En termisk-hydraulisk modell av tvåfasflöde som cirkulerar inuti förångarens fält på prototypen har realiserats med termisk-hydraulisk kod CATHARE [2] (Advanced Thermal-Hydraulic Code for Water Reactor Accidents) som appliceras på soltermisk bifasiska frågeställningar.  En optisk modell av mottagaren har programmerats med hjälp av Modelica-språket och simuleringsprogrammet Dymola (Dynamic Modeling Laboratory).  Modeller av kontrollkommandon (PID-kontroller, kontrollarkitektur ...) har byggts och anpassats i moduler som hämtats från modelleringsbibliotek som ingår i PEGASE-plattformen. Varje modell utvecklades och testades på fristående basis. Modellerna kopplades sedan samman i PEGASE-co-simuleringsplattformen. En solig dag simulerades därefter med en flerdomänmodell och styrningsförmågan av anläggningen analyserades. Vid detta stadium fokuserade studien på att reglera nivån av ångseparerande. En termisk-hydraulisk studie fokuserade sedan på potentiella instabiliteter i förångaren som kan uppstå under vissa omständigheter av vatteninloppstemperatur och solvärmeflöde. Denna analys genomfördes med en CATHARE fristående modell. Perspektiven för det aktuella arbetet omfattar en fullständig validering av de utvecklade modellerna med hjälp av framtida experimentella data. Vid en vidareutveckling bör inriktningen vara att utvidga modellernas omfattning av den numeriska simulatorn till att representera alla hydrauliska delar av CSP prototypen. Styrsystem och regleringsverktyg skulle också behöva förbättras för att få en mer representativ kontroll arkitektur av prototypen. I synnerhet är ångkvaliteten vid förångarens utlopp en viktig variabel att reglera. Faktum är att den här parametern vanligtvis hålls mellan 60% och 80% [3]. Det måste vara tillräckligt högt för att begränsa recirkulationspumpens elförbrukning men inte för hög för att förhindra att absorberen torkar ut.

<p>Examensarbetet syftar till att jämföra nya alternativ till olika system för användning i laborationer i reglerteknikkurser för olika studentkategorier. Det skall utredas vilket av ett antal alternativ till mjukvaruplattformar som är bäst lämpat att användas vid reglerteknikundervisningen i ITN:s reglerlaboratorium vid Linköpings universitet. Tidigare laborationer i berörda kurser skall även modifieras så att dessa kan genomföras i de nya systemen.</p><p>Examensarbetet resulterade i en rad modifierade laborationer och system att tillämpa i dessa. De nya systemen medför att all reglering sköts direkt från en dator istället för tidigare variant med externa apparater som programmeras. På så sätt kan större fokus läggas på regleringen i sig och inte de system som tillämpas för att utföra den.</p> / <p>The purpose of this thesis work is to compare new alternatives for different systems to use in laborations, in courses offered in control system design, for different types of students. The intention is to investigate which of a number of software platform alternatives are best suited for these purposes. Current laborations are to be modified to be viable in the new systems.</p><p>The project resulted in a number of modified laborations and control systems to use in these. The new solutions are made so that all of the control is done by one computer, as opposed to the previous solution where external units had to be programmed and controlled. This way, the laborations can focus more on the control theory and less on the systems used to realize it.</p>