Quad-rotor helicopters are agile aircraft which are lifted and propelled by four rotors. Unlike traditional helicopters, they do not require a tail-rotor to control yaw, but can use four smaller fixed-pitch rotors. However, without an intelligent control system it is very difficult for a human to successfully fly and manoeuvre such a vehicle. Thus, most of recent research has focused on small unmanned aerial vehicles, such that advanced embedded control systems could be developed to control these aircrafts. Vehicles of this nature are very useful when it comes to situations that require unmanned operations, for instance performing tasks in dangerous and/or inaccessible environments that could put human lives at risk. This research demonstrates a consistent way of developing a robust adaptive controller for quad-rotor helicopters, using fuzzy-neural networks; creating an intelligent system that is able to monitor and control the non-linear multi-variable flying states of the quad-rotor, enabling it to adapt to the changing environmental situations and learn from past missions. Firstly, an analytical dynamic model of the quad-rotor helicopter was developed and simulated using Matlab/Simulink software, where the behaviour of the quad-rotor helicopter was assessed due to voltage excitation. Secondly, a 3-D model with the same parameter values as that of the analytical dynamic model was developed using Solidworks software. Computational Fluid Dynamics (CFD) was then used to simulate and analyse the effects of the external disturbance on the control and performance of the quad-rotor helicopter. Verification and validation of the two models were carried out by comparing the simulation results with real flight experiment results. The need for more reliable and accurate simulation data led to the development of a neural network error compensation system, which was embedded in the simulation system to correct the minor discrepancies found between the simulation and experiment results. Data obtained from the simulations were then used to train a fuzzy-neural system, made up of a hierarchy of controllers to control the attitude and position of the quad-rotor helicopter. The success of the project was measured against the quad-rotor’s ability to adapt to wind speeds of different magnitudes and directions by re-arranging the speeds of the rotors to compensate for any disturbance. From the simulation results, the fuzzy-neural controller is sufficient to achieve attitude and position control of the quad-rotor helicopter in different weather conditions, paving way for future real time applications.

Model-Driven Development is a development approach which is being used frequently in the automotive context in order to design models. EAST-ADL is an architectural language which models systems according to their architectural features, whereas Simulink is a tool environment which models systems according to their behavior. In this thesis work, we propose a set of transformation rules that take into consideration the EAST-ADL architectural model details and the behavioral specifications in Simulink, and generate a formal model, which can be verified UPPAAL model checker. Moreover, we implement these proposed transformation rules in a tool that automates them. The transformation rules proposed in this thesis work would be implemented for every EAST-ADL file with Simulink behavior specifications, generated by the MetaEdit+ tool. Properties like timing constraints, triggering and hierarchy in both EAST-ADL and Simulink have been considered by the transformation rules. Finally, the Brake-by-Wire case study is used to validate the tool and assess the mapping of the elements.

The nonlinear simulation model of an unmanned aerial vehicle (UAV) in MATLAB&reg / /Simulink&reg / environment is developed by taking into consideration all the possible major system components such as actuators, gravity, engine, atmosphere, wind-turbulence models, as well as the aerodynamics components in the 6 DOF equations of motion. Trim and linearization of the developed nonlinear model are accomplished and various related analyses are carried out. The model is validated by comparing with a similar UAV data in terms of open loop dynamic stability characteristics. Using two main approaches / namely, classical and optimal, linear controllers are designed. For the classical approach, Simulink Response Optimization (SRO) tool of MATLAB&reg / /Simulink&reg / is utilized, whereas for the optimal controller approach, linear quadratic (LQ) controller design method is implemented, again by the help of the tools put forth by MATLAB&reg / . The controllers are designed for control of roll, heading, coordinated turn, flight path, pitch, altitude, and airspeed, i.e., for the achievement of all low-level control functions. These linear controllers are integrated into the nonlinear model, by carrying out gain scheduling with respect to airspeed and altitude, controller input linearization regarding the perturbed states and control inputs, and anti integral wind-up scheme regarding the possible wind-up of the integrators in the controller structures. The responses of the nonlinear model controlled with the two controllers are compared based on the military flight control requirements. The advantages and disadvantages of these two frequently used controllers in industry are investigated and discussed. These results are to be evaluated by the designers themselves based on the design criteria of a project that is worked on.

Στο πρώτο κεφάλαιο, γίνεται μία αναφορά στις ανανεώσιμες πηγές ενέργειας και αναλύεται περισσότερο η αιολική. Αναφέρεται η πορεία αξιοποίησής της, και παραθέτονται πληροφορίες για την τωρινή χρήση της στην παραγωγή ηλεκτρικής ενέργειας αλλά και μελλοντικές βλέψεις. Στο δεύτερο κεφάλαιο παρουσιάζονται τα χαρακτηριστικά του ανέμου και οι εξισώσεις της ανεμογεννήτριας που μας επιτρέπουν να απομαστεύουμε ενέργεια από τον άνεμο μέσω των ανεμογεννητριών. Στο τρίτο κεφάλαιο παρουσιάζονται τα δομικά στοιχεία και ο τρόπος με τον οποίο γίνεται η κατηγοριοποίηση των ανεμογεννητριών, οι έλεγχοι που χρησιμοποιούνται και τα είδη των ανεμογεννητριών που χρησιμοποιούνται σήμερα στη βιομηχανία. Στο τέταρτο κεφάλαιο παρουσιάζονται οι τεχνικές απαιτήσεις για τους αιολικούς σταθμούς στο ελληνικό Σ.Η.Ε. Στο πέμπτο κεφάλαιο, γίνεται η προσομοίωση μέσω του προγράμματος Matlab - Simulink ενός μη γραμμικού ελέγχου ισχύος ανεμογεννητριών DFIG για ενσωμάτωση σε εικονικούς σταθμού ισχύος (V.P.P). / In the first chapter, there is a general description about renewable energy resources and more specific, about the wind energy. We present the current worldwide electrical power production and the future requirements for electrical power production in Europe and Greece. In the second chapter, we study the features of the wind performance and the equations that allows us to drain energy from the wind ,using a wind turbine. The third chapter presents the components, the kinds of control and the categories of wind turbines that are in use in industry nowadays. The fourth chapter presents the technical requirements for the wind farms in the Greek System of Electrical Energy. In the fifth chapter we use the program Matlab - Simulink in order to simulate a non-linear direct power control of DFIG wind turbines for Virtual Power Plant (V.P.P.) integration.

Το θέμα της παρούσας διπλωματικής εργασίας είναι η μελέτη της συμπεριφοράς απαγωγέων υπερτάσεων (SPD), όταν αυτοί αποτελούν μέρος του εσωτερικού συστήματος αντικεραυνικής προστασίας για μια οικιακή εγκατάσταση. Αρχικά γίνεται μια αναφορά στα αίτια δημιουργίας κρουστικών υπερτάσεων στο δίκτυο διανομής, ενώ στη συνέχεια δίνεται έμφαση στις υπερτάσεις που προκαλούνται από άμεσα ή έμμεσα κεραυνικά πλήγματα στο σύστημα. Στα πλαίσια της μελέτης δημιουργήθηκε ένα μοντέλο προσομοίωσης που αναπαριστά ένα δίκτυο χαμηλής τάσης TN-C-S με δύο πανομοιότυπους οικιακούς καταναλωτές, όσον αφορά τη δομή της εσωτερικής ηλεκτρικής εγκατάστασής τους παρουσία ή μη διατάξεων αντικεραυνικής προστασίας. Σκοπός της προκειμένης μελέτης είναι να δειχθεί η βέλτιστη συνδεσμολογία των διατάξεων προστασίας μέσα σε εσωτερικές ηλεκτρικές εγκαταστάσεις έτσι ώστε να αποτρέπεται η ανάπτυξη επικίνδυνων τάσεων και ρευμάτων για τον άνθρωπο και τον εξοπλισμό της οικιακής εγκατάστασης. / The subject of this project is a study upon the dynamic performance of surge arresters as a part of the internal lightning protection system for a residential electrical installation. At first, a reference about the actions or the natural phenomena that cause surge overvoltages in low voltage systems is given in detail and is followed by an essential theoretical approach on the lighning phenomenon. Both the causes, the consequences and the conditions in which a lightning occurs are being analysed. Furthermore, the characteristics and the qualifications a Lightning Protection System needs to comply with, are given, according to the Greek Standard ΕΛΟΤ-1197 and the European Standards IEC 62305-2, IEC 61643-12. Along with writing this essay, a simulation model using Simulink-Matlab was produced. The model represents a LV TN-C-S system that distributes power to two households with identical internal electrical installation. The aim of the present study is to indicate the optimal connection of the surge protective devices (SPDs) in the domestic electrical installation in order to prevent the appearance of potentially dangerous overvoltages to the humans or to the household equipment.

Στόχος της παρούσας διπλωματικής εργασίας είναι η εργαστηριακή εξομοίωση της μηχανικής ροπής που εμφανίζεται στο δρομέα μιας πραγματικής ανεμογεννήτριας με τη μέθοδο της ταχείας προτυποποίησης. Η μέθοδος αυτή παρέχει τη δυνατότητα εξομοίωσης του προς μελέτη αντικειμένου, στην προκειμένη περίπτωση της ανεμογεννήτριας, χωρίς να είναι απαραίτητες οι δοκιμές σε πραγματικό εξοπλισμό, διευκολύνει τη μελέτη της ανεμογεννήτριας σε διάφορες συνθήκες και με διαφορετικές κάθε φορά παραμέτρους, χωρίς να είναι απαραίτητη η αναμονή προκειμένου ο άνεμος να είναι κατάλληλος ώστε να κάνουμε δοκιμές στο πραγματικό σύστημα και τέλος δίνει το πλεονέκτημα της αποφυγής βλαβών του πραγματικού εξοπλισμού. Απαραίτητα στοιχεία για να επιτευχθεί ο στόχος της εργασίας είναι μια πειραματική διάταξη, στην οποία θα πραγματοποιηθούν οι δοκιμές και οι μετρήσεις, καθώς επίσης κάποια ανεμολογικά δεδομένα σε συνδυασμό με τα χαρακτηριστικά της πραγματικής ανεμογεννήτριας της οποίας τη ροπή θα εξομοιώσουμε υπό κλίμακα. Η πειραματική διάταξη μπορεί να περιγραφεί συνοπτικά από το σχήμα της Εικ.1. Χρησιμοποιώντας τα ανεμολογικά δεδομένα υπολογίστηκε η ροπή στον δρομέα της πραγματικής ανεμογεννήτριας συναρτήσει της ταχύτητας του ανέμου. Αυτή την ροπή την παρήγαμε υπό κλίμακα στο εργαστήριο, στον άξονα ενός ασύγχρονου τριφασικού κινητήρα, εφαρμόζοντας έλεγχο ροπής. Η πειραματική διάταξη που χρησιμοποιήθηκε περιλαμβάνει μια ασύγχρονη μηχανή, μια μηχανή συνεχούς ρεύματος, ένα μονοφασικό ωμικό φορτίο, έναν τριφασικό αντιστροφέα πηγής τάσης και έναν μικροεπεξεργαστή με τον οποίο υλοποιείται η διαδικασία του ελέγχου. Ο έλεγχος της ασύγχρονης μηχανής γίνεται ρυθμίζοντας την τάση εξόδου του αντιστροφέα κατά πλάτος και συχνότητα, παλμοδοτώντας κατάλληλα τα διακοπτικά στοιχεία του. Το κύκλωμα παλμοδότησης υλοποιείται μέσω του μικροεπεξεργαστή, χρησιμοποιώντας τη μέθοδο ημιτονοειδούς διαμόρφωσης εύρους παλμών (Sinusoidal Pulse Width Modulation, SPWM). Ανάλογα με την τιμή του σφάλματος της ροπής ρυθμίζονται κατάλληλα οι παράμετροι της παλμοδότησης χρησιμοποιώντας τη μέθοδο του ασαφούς ελέγχου (Fuzzy Control). Για τη μέτρηση της ροπής στον άξονα του ασύγχρονου κινητήρα, που αποτελεί το σήμα ανάδρασης του ελέγχου, χρησιμοποιήθηκε ένα ροπόμετρο. Ιδιαίτερα ενδιαφέρουσα είναι η παραγωγή του κώδικα με τον οποίο γίνεται η εξομοίωση και ο έλεγχος. Αρχικά γίνεται μοντελοποίηση του κυκλώματος στο περιβάλλον Simulink και στη συνέχεια, χρησιμοποιώντας τα κατάλληλα εργαλεία, ακολουθείται μια αυτόματη διαδικασία παραγωγής του κώδικα και εκτέλεσή του από τον μικροεπεξεργαστή (DSP). Η χρήση του μικροεπεξεργαστή προσέφερε επίσης αρκετά πλεονεκτήματα και διευκόλυνε την πειραματική διαδικασία. Χρησιμοποιώντας τον μικροεπεξεργαστή για τη διεξαγωγή του ελέγχου, αποφεύχθηκε η χρήση επιπλέον διατάξεων ελέγχου. Επίσης, οι περιφερειακές μονάδες του ήταν ιδιαίτερα χρήσιμες κατά τη δειγματοληψία των μεταβλητών ανάδρασης, κατά την παραγωγή των παλμών της SPWM αλλά και κατά την καταγραφή των δεδομένων. / The main objective of this thesis is the implementation of the mechanical torque that appears on the rotor of a real wind turbine, using the method of rapid prototyping. That method has many advantages. The main advantage is that the use of a real wind turbine was avoided and that minimized the cost of research. A second advantage is that it was not necessary to wait for convenient weather conditions in order to carry out the experiments. In addition, damages of equipment were avoided using the method of rapid prototyping In order to accomplice this objective it is necessary to have an experimental construction, which will be used for tests and measurements, as well as the use of wind speed data and the characteristics of a real wind turbine, which will be used to calculate in scale the real torque that appears on the rotor. The experimental construction is shown in Pic.2. The torque on the rotor of the real wind turbine was calculated as a function of wind speed. That torque was implemented in scale using torque control of an induction motor in the laboratory. The experimental construction includes an induction machine, a constant current machine, a single-phase resistive load, a three-phase voltage source inverter and a digital signal processor, which is used to accomplice the control procedure. The torque control of the induction machine is achieved by regulating the amplitude and the frequency of the output voltage of the inverter, using the appropriate pulses to drive the IGBTs. The microprocessor produces the pulses using the method of Sinusoidal Pulse Width Modulation (SPWM). The parameters of the pulses are proportional to the torque error and are appropriately calculated using the method of Fuzzy Control. A torque meter was used in order to measure the torque on the shaft of the induction motor, which was the feedback signal for the control procedure. The code generation is achieved using a microprocessor (DSP). Initially, a simulation model is made using the program Simulink and then, using the right tools, the code is generated and run using the microprocessor. Using the microprocessor had many advantages and made the experiment procedure easier. Initially, additional control devices were not necessary during the experiments. Also, the microprocessor peripherals were useful during the sampling of feedback signals, during the calculation of SPWM pulses and during data recording.

The focus of this thesis work was the development of an approachto couple a previosly existing Thermal Energy Storage (TES) modelwritten in C++ with a Simulink/Simscape plant model to simulate anAdvanced Adiabatic Compressed Air Energy Storage (AA-CAES) plant.After the creation and validation of such tool, the complete modelwas used to run simulations, with the aim of assessing the AA-CAESplant's performance under multiple patterns of charge anddischarge.Most of the works found in the literature only provide values ofstorage efficiency obtained from analytical approaches, whilethose that use simulation tools provide average values ofefficiencies when the plant is performing a series of identicalcycles of charge and discharge. During this thesis project,instead, simulations were performed for consecutive irregularcycles determined as the plant response to the electric grid powerrequest. The average efficiency values obtained provide thereforea better representation of how the plant would perform in realapplications.The results show that, under the assumptions made, the AA-CAESplant's overall storage efficiency is influenced very weakly byalterations of the charge-discharge patterns, and that goodperformances can be expected not only for identical chargedischargeconsucutive cycles, but for any pattern that observesthe cavern pressure limits, as long as the thermal energy storageis sized wisely.In addition, a sensitivity analysis was performed in order toassess the influence of turbomachinery efficiency on overallstorage efficiency, for a specified plant layout. The results showthat the turbine efficiency is the most affecting parameter to theplant's performance, while the impact of the main compressors'sinefficiency is mitigated by the thermal recovery that takes placein the TES.The present work confirms that AA-CAES is a promising technologyand that storage efficiencies above 70% can be achieved even inrealistic production scenarios.Finally, future steps for more accurate simulations of plants'performances and more detailed energy production scenarios areproposed.MSc ET 18007Examinator: Joakim WidénÄmnesgranskare: Ane HåkanssonHandledare:

Water distribution systems convey drinking water from treatment plant and make available to consumers’ taps. It consists of essential components like pipes, valves, pumps, tanks and reservoirs etc. The main concern in the working of a water distribution system is to assure customer demands under a choice of quantity and quality throughout the complete life span for the probable loading situations. However, in some cases, the existing infrastructure may not be adequate to meet the customer’s requirements. In such cases, system modeling plays an important role in proper management of water supply systems. In present scenario, modeling plays a significant task in appropriate execution of water distribution system. From the angle of taking management decisions valve throttling control and pumps speed control are very important. These operational problems can be addressed by manual control or by automatic control. The problem is the use of manual controls that slow down the effectiveness of the system. It reduces the efficiency of operation of valve or pump. To improve the efficiency of such water distribution systems, an automatic control based technology has been developed that links the operation of the variable speed pump control or valve throttling control. By employing an automatic control, the pump can adjust its speed at all times to meet the actual flow requirements of each load served. In case of real system design Simulink is the most widely used tool. Commercial software package Matlab/Simulink used for creation of WDS model. The goal was to produce a model that could numerically analyze the dynamic performance of a water distribution system. A Comparison of single platform methodology (Simulink based control) and double platform methodology (Matlab and EPANET based control) has been done. Nonlinear Dynamic Inversion (DI) Control system model is developed for WDS model in Matlab/Simulink environment. Controller gain parameters are the very important value in control prospective. If the controller gain parameters are chosen incorrectly, the controlled process input can be unstable, i.e. its output diverges, with or without oscillation Tuning is the adjustment of control parameters (gains) to the optimum values for the desired control response. There are several methods for tuning controller like manual tuning (Trial and error procedure), Ziegler-Nichols method, Output Constraint Tuning (OCT) etc. Establishment of a pump operational policy by which all the reservoirs can be fed simultaneously to meet their requirements without creating undue transients. Tune the gain of DI controllers by different tuning methods and evaluate the best tuning method on the basis of controller performance. Development of meaningful additional objective is search of lower bound pump speed on the basis of control time or settling time. To bring the pump speeds in feasible range, application of constraint in pumps speed is introduced. The magnitude of constraints can be found using Monte Carlo methods. Monte Carlo methods are frequently used in simulating physical and mathematical systems. This method may be the most commonly applied statistical method in engineering and science disciplines. Another benefit is providing increased confidence that a model is robust using Monte Carlo testing. Model development for generalized control system for water distribution network provides the simplification needed for the simulation of large systems. Model development is based on the study of symmetric and non symmetric small, irregular networks, as well as large, regular and open bifurcating water distribution system. The problem considered in this section is that of flow dynamics in simple to complex, regular network which bifurcates in the form of a branching tree. In addition the control application of the flow network is investigated using valves as the manipulated variables to control branch flow rates. Communication between the network hydraulics coming from EPANET and control algorithm develop on Matlab (Programming Language) can be generalized with the help of development of general purpose control algorithm model.

The dissertation is an publication summary focused on the field of management processes in renewable energy systems, mathematical models and optimization possibilities for large and small scale photovoltaic systems. The articles were published in foreign impacted and reviewd journals and indexed proceedings of foreign and domestic conferences. The main results of the dissertation are the design, configuration and realization of the hybrid energy system with subsequent optimization. Using the data from the laboratory system, a mathematical model was compiled and subsequently validated in the Matlab/Simulink environment for a hybrid energy system with accumulation. The options for power production optimization with photovoltaic sources are based on both operational measurements (for commercial applications) and on the analysis of power flow controllers to optimize the~energy balance (for small scale applications in private buildings).

This thesis describes a design of a simulation of transmission of digital information via communication system and equalization of communication function. The layout of communication channel with multiway transmission is described in following part. Next part is about hardware modulator which generate modulated signal which is transmitted via communication channel and after is sampled by A/D convertion card to computer, where is equalizated and demodulated in Simulink. In the last part of this thesis, there is proposal of the laboratory task and its sample solution.