Šiame baigiamajame darbe apžvelgtos dulkių sprogimų atsiradimo priežastys bei sprogimų plitimų mechanizmas. Aprašyti sprogimų žemės ūkio įmonėse padariniai. Aptartos techninės priemonės, įgalinančias lokalizuoti pirminius silpnus dulkių sprogimus ir taip išvengiant stiprių, griaunamosios jėgos sprogimų. Išanalizuotos ugnį užtveriančių ir technologinių universaliųjų sklendžių tiesiaeiges elektros pavaros. Naudojant programinį modeliavimo paketą Matlab Simulink sudarytas universaliosios sklendės tiesiaeigės pavaros modelis ir gautos dinaminių charakteristikų imitacijos kreives. Naudojant programinį paketą SolidWorks sumodeliuota universalioji sklendė ir gauta smūginės bangos slėgio veikiamo sklendės judamojo elemento deformacija ir judamojo elemento deformacija, kai induktoriaus aktyviojoje zonoje įtaisyti papildomi atraminiai guoliai. Baigiamojo darbo pabaigoje pateiktos išvados ir pasiūlymai. / The final work of master analyses the causes of dust explosions and explosions spread mechanism. A short overview of the explosions effects in the agro - industry is presented. Technical devices enabling the localization of primary weak dust explosions and so avoiding the strong, destructive force explosions are discussed. Fire blocking and universal linear electric drives are analyzed. Using software package Matlab Simulink model of universal linear electric drive is created and dynamic characteristics are gained. Using software package SolidWorks model of universal linear electric drive is created and valves mobile element deformation and deformation of the mobile element, when there are installed additional supporting bearings in the inductor active zone are obtained when mobile element is affected by the pressure of the explosion wave. Concluding part presents inferences and suggestions.

Para aplicações de extração de petróleo de poços em terra foi desenvolvido pelo Laboratório de Eletromagnetismo Aplicado (LMAG) da Escola Politécnica da Universidade de São Paulo um protótipo de motor de indução linear tubular (MILT), onde o movimento axial do secundário do motor aciona diretamente a bomba de extração situada no fundo do poço. Numa segunda etapa, foi prevista a substituição dos mancais mecânicos por dois mancais magnéticos ativos (AMBs), que permitem melhor movimentação e praticamente nenhum atrito, reduzindo o desgaste causado por impurezas contidas no petróleo extraído, e consequentemente os esforços de manutenção. Todavia, o protótipo atual possui apenas um mancal magnético, e o outro é mecânico. O presente trabalho apresenta a instalação do segundo mancal magnético ao protótipo do MILT, e propõe realizar o controle do sistema de mancais magnéticos para o MILT, tendo em vista um problema multivariável, onde as posições do secundário do motor em relação aos dois mancais são correlacionadas, bem como as ações de controle sobre os mesmos. O trabalho faz uma revisão do sistema atual com um AMB, abordando sua concepção física, modelagem e o controlador, e tal controlador é replicado para o segundo AMB. Um novo modelo é apresentado, considerando o comportamento multivariável dos dois AMBs, e um sistema de controle robusto multivariável é projetado, através da técnica LQG/LTR. Resultados de simulação do novo controlador são analisados e comparados com os resultados experimentais do controlador atual aplicado aos dois AMBs, e apresentam-se as conclusões. / For onshore oil extraction applications, a tubular linear induction motor (TLIM) prototype was developed by Applied Electromagnetism Laboratory (LMAG) of Escola Politécnica da Universidade de São Paulo, on which the axial movement of the motor secondary drives the suction pump, placed in the down hole of the oil well. In a second step, it was planned to replace the mechanical bearings by two Active Magnetic Bearings (AMB), in order to have better movement and practically no friction, reducing damages caused by impurities in the oil, thus reducing maintenance effort. Nevertheless, the actual prototype has only one AMB, being the other one a mechanical bearing. This paper presents the installation of the second AMB onto TLIM prototype, and a proposal to implement the control algorithm for the TLIM magnetic bearing system, considering now a multivariable problem, where the position of the motor secondary for both AMB are related, as well as control efforts. The present work review the actual system with only one AMB, approaching its physical construction, mathematical model and applied control system; and this control system is applied to the second AMB. A new model is presented, considering the AMB system multivariable behavior, and a multivariable robust control system is then designed, using LQG/LTR approach. Simulation results for the new controller are analyzed and compared to experimental results from the actual controller applied to both AMB, and some conclusions are presented.

Les effets d’extrémité jouent un rôle important dans la modélisation et la commande de la Machine Linéaire à Induction (MLI). Ces phénomènes augmentent significativement la non-linéarité du modèle de la machine et génèrent plusieurs difficultés pour contrôler et observer ses états avec de bonnes performances. Cette thèse aborde trois problématiques distinctes : la commande robuste de la MLI, l’estimation de la vitesse et du flux de la MLI et le contrôle robuste à base d’observateur en utilisant la théorie du mode glissant d’ordre supérieur.Dans la première partie de la thèse, trois contrôleurs robustes assurant la poursuite de trajectoire de la vitesse et du flux pour la MIL ont été développés : le Super Twisting (ST), le Super Twisting Adaptatif (STA) et le Twisting Adaptatif (TA). Ces commandes ont été testées en simulations et leurs performances ont été démontrées. Ainsi, le ST assure un contrôle continu avec convergence à temps fini de l’erreur à zéro malgré les perturbations, sous l’hypothèse que les bornes des incertitudes sont connues. Cette hypothèse est relaxée dans le cas du TA et du STA grâce à leurs propriétés adaptatives.Dans la deuxième partie de la thèse, un nouveau modèle du MLI a été proposé et son observabilité a été démontrée. Ensuite un Observateur par Mode Glissant d’Ordre Deux (MGOD) et un Observateur par Mode Glissant d’Ordre Supérieur (MGOS) ont été synthétisé afin d’estimer la vitesse et le flux du MLI, uniquement en utilisant la mesure des tensions et des courants statorique. La stabilité des deux observateurs a été prouvée par une approche de Lyapunov et leurs performances ont été démontrées à travers des simulations.Dans la dernière partie de la thèse, deux commandes par rejet actif des perturbations sont synthétisées. Ainsi et dans un premier temps, le modèle de la MLI est décomposé en deux sous-systèmes du second ordre. Ensuite, deux contrôleurs (le twisting et le super-twsiting) ont été synthétisés afin d’assurer la poursuite du flux et de la vitesse. Le MGOS est utilisé pour estimer les dérivées du flux et de la vitesse, ainsi que pour l’estimation en temps réel de la perturbation. Les contrôleurs quant à eux assurent la compensation des perturbations et la poursuite des trajectoires du flux et de la vitesse. La stabilité et la convergence des deux commandes proposées ont été prouvées et leurs performances démontrées par simulation. / Dynamic end effects play an important role in the Linear Induction Machine (LIM) control. They increase significantly the nonlinearity of the machine model and generate several difficulties to control and observe states with good performances. This thesis addresses three distinctissues: LIM robust control, LIM speed and flux estimation and observer-based robust control using higher order sliding mode theory.In the first part, to achieve speed and flux tracking,Super Twisting Controller (STC), Adaptive Super Twisting Controller (ASTC), and Adaptive Twisting Controller (ATC) were proposed and implemented into LIM system with great performance, i.e. finite time convergence and robustness properties. Among them, STC ensures continuous control with finite time convergence of the error to zero despite disturbances, under the assumption that their bounds are known. ATC and ASTC can deal with unknown bounded disturbance thanks to their adaptive properties.In the second part, a novel simplified LIM model was proposed and its observability has been proved. Then, Second Order Sliding Mode Observer (SOSMO) and Adaptive High Order Sliding Mode Observer (HOSMO) were proposed to estimate LIM speed, only by using the measured stator voltages and stator currents. SOSMO observer is based on the super twisting algorithm and its stability has been proved with Lyapunov’s theory, which can guarantee finite time convergence with less chattering. Adaptive HOSMO strategy combines speed adaptive algorithm and HOSMO method together to estimate rotor fluxes and speed simultaneously.In the third part, the LIM is viewed as two second order subsystems. Moreover, only the speed and the flux are supposed to be measured. Based on that two differentcontrollers based on HOSMO were presented in order to achieve flux and speed tracking. In both controllers, the idea of active disturbance rejection control is applied. Hence, the HOSMO is used to estimate the derivatives of the flux and the speed, as well as the disturbance. Then, in order to deal with the uncertainty in the measured variables, two different SM controllers are proposed. Firstly, the TC is applied in the LIM. However, the control signal in this case is discontinuous. Then, in order to provide a continuous control signal, the TC is replaced with STC. The stability and convergence of proposed TC-HOSMO and STC-HOSMO approaches were given and simulation validated their performances.

The properties of linear induction motor and areas of its application are analyzed; frequency converters and their control methods are discussed in this final work. Methods to realize a pulse width modulation are analyzed, scalar and vector control principles as well as perspectives of perfection of semiconductor commutating elements and control systems are discussed. The principle of operation of control systems applied in frequency converters is analyzed On the base of analysis mathematical and Simulink model of linear induction motor in α-β reference frame is developed, mathematical and Simulink models of frequency controlled linear induction drives are carried out. Two models of linear frequency controlled induction drive: scalar and vector control are investigated, transient characteristics of inverter output voltage, currents of linear motor, developed force and linear speed are analyzed and results of different control principles are compared.

Para aplicações de extração de petróleo de poços em terra foi desenvolvido pelo Laboratório de Eletromagnetismo Aplicado (LMAG) da Escola Politécnica da Universidade de São Paulo um protótipo de motor de indução linear tubular (MILT), onde o movimento axial do secundário do motor aciona diretamente a bomba de extração situada no fundo do poço. Numa segunda etapa, foi prevista a substituição dos mancais mecânicos por dois mancais magnéticos ativos (AMBs), que permitem melhor movimentação e praticamente nenhum atrito, reduzindo o desgaste causado por impurezas contidas no petróleo extraído, e consequentemente os esforços de manutenção. Todavia, o protótipo atual possui apenas um mancal magnético, e o outro é mecânico. O presente trabalho apresenta a instalação do segundo mancal magnético ao protótipo do MILT, e propõe realizar o controle do sistema de mancais magnéticos para o MILT, tendo em vista um problema multivariável, onde as posições do secundário do motor em relação aos dois mancais são correlacionadas, bem como as ações de controle sobre os mesmos. O trabalho faz uma revisão do sistema atual com um AMB, abordando sua concepção física, modelagem e o controlador, e tal controlador é replicado para o segundo AMB. Um novo modelo é apresentado, considerando o comportamento multivariável dos dois AMBs, e um sistema de controle robusto multivariável é projetado, através da técnica LQG/LTR. Resultados de simulação do novo controlador são analisados e comparados com os resultados experimentais do controlador atual aplicado aos dois AMBs, e apresentam-se as conclusões. / For onshore oil extraction applications, a tubular linear induction motor (TLIM) prototype was developed by Applied Electromagnetism Laboratory (LMAG) of Escola Politécnica da Universidade de São Paulo, on which the axial movement of the motor secondary drives the suction pump, placed in the down hole of the oil well. In a second step, it was planned to replace the mechanical bearings by two Active Magnetic Bearings (AMB), in order to have better movement and practically no friction, reducing damages caused by impurities in the oil, thus reducing maintenance effort. Nevertheless, the actual prototype has only one AMB, being the other one a mechanical bearing. This paper presents the installation of the second AMB onto TLIM prototype, and a proposal to implement the control algorithm for the TLIM magnetic bearing system, considering now a multivariable problem, where the position of the motor secondary for both AMB are related, as well as control efforts. The present work review the actual system with only one AMB, approaching its physical construction, mathematical model and applied control system; and this control system is applied to the second AMB. A new model is presented, considering the AMB system multivariable behavior, and a multivariable robust control system is then designed, using LQG/LTR approach. Simulation results for the new controller are analyzed and compared to experimental results from the actual controller applied to both AMB, and some conclusions are presented.

Articulated Funiculator is a new and innovative concept developed by Tyréns forachieving a more efficient vertical transportation with a higher space utilization.Having a variety of merits, i.e.: simple construction, direct electromagneticthrust propulsion, and high safety and reliability in contrast to rotary inductionmotor, linear induction motor (LIM) is considered to be one of the cases as thepropulsion system for Articulated Funiculator. The thesis is then carried outwith the purpose of determining the feasibility of this study case by designing theLIMs meeting some specific requirements. The detailed requirements include: aset of identical LIMs are required to jointly produce the thrust that is sufficientto vertically raise the moving system up to 2 m/s2; the size of the LIMs cannotexceed the specification of the funiculator; the maximum flux density in the airgap for each LIM is kept slightly below 0.6 T; no iron saturation of any part ofthe LIMs is allowed.In this thesis report, an introduction of LIM is firstly presented. Followingthe introduction, relevant literature has been reviewed for a strengthenedtheoretical fundamentals and a better understanding of LIM’s history and applications. A general classification of LIMs is subsequently introduced. In addtion,an analytical model of the single-sided linear induction motor (SLIM) has beenbuilt based on an approximate equivalent circuit, and the preliminary geometryof the SLIM is thereby obtained. In order to acquire a more comprehensiveunderstanding of the machine characteristics and a more precise SLIM design, atwo-dimensional finite element method (2D-FEM) analysis is performed initiallyaccording to the preliminary geometry. The results, unfortunately, turn out tobe iron severely saturated in the teeth and yoke, and a excessive maximumvalue of air-gap flux density. Specific to the problems, different parameters ofthe SLIM are marginally adjusted and a series of design scenarios are run inFlux2D for 8-pole and 6-pole SLIM. The comparisons between the results areconducted and the final solution is lastly chosen among them. / Articulated Funiculator är ett nytt och innovativt koncept som utvecklats av Tyréns för att möjilggöra en mer effektiv vertikal transport och bättre utnyttjautrymme. Tack vare fördelar såsom en enkel konstruktion, direkt elektromagnetiskdragkraftsframdrivning, samt hög säkerhet och tillförlitlighet i motsatstill roterande induktionsmotor, är en linjär induktionsmotor (LIM) aktuell somframdrivningssystem. Detta examensarbete är utfört med syfte att utforma enLIM för att uppfylla vissa specifika krav. De detaljerade kraven inkluderar: enuppsättning identiska LIM krävs för att gemensamt producera tillräcklig dragkraftför att vertikalt höja det rörliga systemet upp till 2 m/s2; storleken påLIM får inte överstiga specifikation; den maximala flödestätheten i luftgapet förvarje LIM hålls är begränsad till knappt 0.6 T; ingen järnmättnad av någon delav LIM är tillåtet. I denna rapport ges först en introduktion av LIM-konceptet. Efter introduktionenhar relevant litteratur granskats för att stärka teoretiska grundkunskapersamt ge en bättre belysning av historiken kring LIMs samt dess applikationer. Utöver detta har en analytisk modell av den ensidiga linjära induktionsmotorn(SLIM) byggts, baserat på en ungefärlig ekvivalent krets med vilket den preliminärageometrin för SLIM. För att erhålla en mer grundläggande förståelse avmaskinens egenskaper är en tvådimensionell analys med finita elementmetoden(2D-FEM) utförd, initialt med användande av en preliminär geometri erhållenmed hjälp av analytisk dimensionering. Resultaten från dessa simuleringar visadedock att järnet mättats kraftigt i både tänderna och oket och ett överdrivetstort maximivärde av luftgapets flödestäthet erhålls. Specifikt för applikationenjusteras olika parametrar och en rad driftscenarier körs i Flux2D för en 8-poligoch en 6-polig SLIM. En slutgiltig jämförelse mellan de olika maskindesignernapresenteras och den rekommenderade lösningen väljs slutligen.

La radiographie éclair par faisceau X intense est spécifique en ce sens qu'elle doit permettre de photographier la matière soumise à des conditions extrêmes de densification, de température et de vitesse de déplacement. Le succès de ce type de radiographie repose sur la qualité de la source X qui doit nécessairement être pénétrante (quelques MeV), intense (plusieurs rads), brève (quelques dizaines de ns) et de petite dimension (quelques mm). L'impulsion X est ainsi générée à partir du rayonnement de freinage émis lors de l'interaction avec une cible en métal d'un faisceau focalisé d'électrons de haute énergie (MeV) et de haute intensité (kA). Ce procédé lie très fortement les propriétés du faisceau d'électrons à ceux du faisceau X et donc à la qualité de la radiographie. Dans ce contexte, la thèse porte sur la compréhension de la dynamique du faisceau dans la diode à l'électron (c'est-à-dire juste avant son entrée dans la ligne accélératrice) ainsi que sur la caractérisation du plasma de velours dont sont issus les électrons qui composent le faisceau. Dans un premier temps, la dynamique du faisceau intense d'électrons a été étudiée à l'aide du code LSP reposant sur la méthode " Particle-In-Cell ". Les simulations réalisées ont été comparées avec des mesures effectuées sur l'injecteur d'un accélérateur linéaire à induction, implanté au CEA Valduc sur l'installation Epure. Grâce au modèle de simulation développé, une nouvelle diode à électrons mono-impulsion a été conçue, dimensionnée et réalisée pendant ce travail de thèse afin d'augmenter l'intensité du faisceau d'électrons de 2,0 kA à 2,6 kA permettant ainsi d'améliorer les performances radiographiques de l'installation. Dans un second temps, un modèle permettant d'étudier les mécanismes mis en jeu dans la production du faisceau d'électrons au niveau de plasma de cathode a été développé. Ce dernier est un modèle collisionnel-radiatif (MCR) 0D qui permet de décrire l'évolution de la densité des espèces d'un plasma dont la composition est directement liée aux molécules et atomes désorbés par la cathode de velours. Trois différents mélanges ont été étudiés impliquant de l'hydrogène, de l'oxygène et du carbone dont les proportions ont été estimées par des mesures LIBS (spectroscopie de plasma induit par laser).[...] / Intense X-ray flash radiography is used to take a stop-action picture of a material under extreme conditions like high densification, high temperature and high movement speed. The success of this kind of radiography is based on the quality of the X-ray source which must necessarily be penetrating (some MeV), intense (several rads), short (a few tens of ns) and small (a few mm). The X-ray pulse is generated from the bremsstrahlung radiation emitted during the interaction with a metal target of a focused electron beam of high energy (MeV) and high intensity (kA). This process strongly links the properties of the electron beam to those of the X-ray beam and thus to the quality of the radiography picture. In this context, the thesis is about the electron beam dynamics in the electron diode (i.e. just before electrons move towards the accelerator) as well as about the characterization of the velvet plasma from which electrons are extracted to form the beam. Firstly, the dynamics of the intense electron beam was studied using the LSP code based on the "Particle-In-Cell" method. The simulations were compared to measurements made on the injector of a linear induction accelerator, at the CEA Valduc center on the Epure facility. Based on the developed simulation model, a new single-pulse electron diode was designed, sized and realized during this thesis to increase the intensity of the electron beam from 2.0 kA to 2.6 kA, thus improving the radiographic performances of the facility. In a second step, a model allowing to study the mechanisms involved in the production of the electron beam from the cathode plasma was developed. This latter is a collisional-radiative model (CRM) 0D describing the evolution of the plasma species density of a plasma whose composition is directly related to the molecules and atoms desorbed by the velvet cathode. [...]

The electrification era has been marked up by an increase in volume of electric vehicles which are directly or indirectly powered by electricity. Railways, roadways and airways are being electrified as we speak at their own respective rate. In addition to that upcoming concepts for transport solution such as hyperloop also described as the fifth mode of transportation will be electrified. The current thesis work is based on developing the model and control of the propulsion system of a scaled Hyperloop pod designed by student team KTH Hyperloop representing KTH. The team competes in Hyperloop competition organized by Spacex and the goal is to achieve the highest possible speed in a given distance and track designed by SpaceX. In order to achieve the goal of being the fastest, the scaled pod uses a Double Sided Linear Induction Motor (DSLIM) as mentioned in the subsequent chapter. The motor modelling is done on Simulink and is similar to a rotary induction motor (RIM). However the presence of end effect in DSLIM makes it different from RIM and has been discussed subsequently. The control strategy uses a synchronous frame PI control for the current control and sensor based speed control for controlling the speed of the pod.The speed control output is a reference current which is used as an input to the current controller which finally gives voltage as the control output. The corresponding bandwidth for the various loops have been calculated based on motor parameters as discussed in the method section. The validation of the motor model and the corresponding controller has been discussed in the result section, where the accuracy of the controller for the designed modelled is discussed. / Elektrifieringstiden har präglats av en ökning i volym av elfordon som direkt eller indirekt drivs med el. Järnvägar, vägar och luftvägar elektrifieras just nu med deras respektive takt. Utöver det kommer kommande koncept för transportlösning som hyperloop som också beskrivs som det femte transportsättet att elektrifieras. Detta examensarbete bygger på att utveckla modellen och regleringen av framdrivningssystemet för en nedskalad Hyperloop-pod utvecklad av studentteamet KTH Hyperloop som representerar KTH. Teamet tävlar i Hyperloop-tävlingen organiserad av SpaceX och målet är att uppnå högsta möjliga hastighet på ett visst avstånd och spår framtaget av SpaceX. För att uppnå målet om att vara snabbast använder den nedskalade podden en dubbelsidig elektrisk linjär induktionsmotor (DSLIM) som nämns i det följande kapitlet. Den elektriska motormodelleringen görs i Simulink och liknar en roterande induktionsmotor(RIM). Men närvaron av ’end effect’ i DSLIM gör den annorlunda än RIM och har diskuterats därefter. Styrstrategin använder en synkron ram-PI-styrning för strömstyrning och sensorbaserad hastighetsreglering för att styra hastigheten på podden. Varvtalsstyrningsutgången är en referensström som används som en ingång till den nuvarande styrenheten som slutligen ger spänning som slutling styrning. Motsvarande bandbredd för de olika slingorna har beräknats baserat på elektriska motorparametrar som diskuterats i metodavsnittet.Valideringen av elmotormodellen och motsvarande styrenhet har diskuterats i resultatsektionen, där noggrannheten hos styrenheten för den konstruerade modellerna diskuteras.