Robust composite nonlinear feedback for nonlinear Steer-by-Wire vehicle’s Yaw control

Yaw control is a part of an Active Front Steering (AFS) system, which is used to improve vehicle manoeuvrability. Previously, it has been reported that the yaw rate tracking performance of a linear Steer-by-Wire (SBW) vehicle equipped with a Composite Nonlinear Feedback (CNF) controller and a Disturbance Observer (DOB) is robust with respect to side wind disturbance effects. This paper presents further investigation regarding the robustness of the combination between a CNF and a DOB in a nonlinear environment through a developed 7-DOF nonlinear SBW vehicle. Moreover, in contrast to previous studies, this paper also contributes in presenting the validation works of the proposed control system in a real-time situation using a Hardware-in-Loop (HIL) platform. Simulation and validation results show that the CNF and DOB managed to reduce the influence of the side wind disturbance in nonlinearities

Implementation and Validation of a Simple Direct Identification Method for an Experimental Multi-Span Web Transport System

none2The industrial processes that require the use of the web require a control system which allows for preserving the properties of the web unaltered, avoiding the risk of wrinkling, tearing, breakage and other defects. This control generally takes place by detecting the tension and the speed in certain points of the system since these variables determine the stress state on the web, which, if altered beyond certain ranges, can lead to the defects mentioned above. The problem of tension and web speed control is very demanding because the system’s dynamic is a function of many process variables that often vary over a wide range. In this study, an experimental system consisting of 12 rollers, four motorised, was analysed. This system was divided into four subsystems according to the logic of decentralised control. The tension of the initial and final subsystems and the speeds of the two central subsystems were monitored. This study proposes estimating continuous-time transfer functions using experimental time-domain data. A nonlinear least-squares search-based method minimises a weighted prediction error norm for directly identifying the mathematical model used to describe the web transport system. To test the performance of the proposed strategy, experimental data were collected in an open-loop configuration with constant voltage given to the four servo motors. The collected data were subsequently processed to define an extremely simple system model composed of a very limited number of parameters representing the system through transfer functions. The model was further validated by comparing the results obtained through simulations with the experimental data obtained with different inputs, and was also validated with some closed-loop tests.openGiannoccaro N.I.; Sakamoto T.Giannoccaro, N. I.; Sakamoto, T

Upravljanje frekvencijom i radnom snagom mikro hidroelektrana kliznim režimom rada i redukcijom reda modela sustava

Micro hydro is treated as a major renewable energy resource. Such a kind of plants blooms because they can evade some dilemmas like population displacement and environmental problems. But their performance on the frequency index of power systems may be deteriorated in the presence of sudden small load perturbations and parameter uncertainties. To improve the performance, the problem of load frequency control (LFC) raises up. Design of state-based controllers on the aspect of modern control is challenging because only a part of the system states are measurable. This paper addresses the scheme of sliding mode control by model order reduction for the LFC problem of micro hydro power plants. The kind of plants usually has two operating modes, i.e., isolated mode and grid-connected mode. Under each operating mode, mathematical model and model reduction are investigated at first. According to the reduced-order model, a sliding mode control law is subsequently derived. Since the control law is applied to the original system, a sufficient condition about the system stability is proven in light of small gain theory. Simulation results illustrate the feasibility, validity and robustness of the presented scheme.Mikro hidroelektrane smatraju se jednim od glavnih obnovljivih izvora energije. Ovakve elektrane su poglavito zanimljive pošto izbjegavaju dileme vezane za iseljavanje ljudi i utjecaj na okoliš. Međutim, njihov učinak na indeks frekvencije energetskih sustava može biti negativan zbog naglih manjih promijena u opterećenju i nesigurnosti parametara. Kako bi se unaprijedila učinkovitost, javlja se problem regulacije frekvencije i radne snage. Projektiranje regulatora po varijablama stanja sustava izazovan je problem, jer je mjerljiv samo dio stanjasustava. Ovaj članak analizira problem upravljanja kliznim režimom rada reducirajući red modela sustava kod regulacije frekvencije i radne snage mikro hidroelektrana. Ovakve elektrane mogu raditi u samostalnom režimu rada ili biti spojene na distribucijsku mrežu. Za oba ražima rada prvo se istražuju matematički modeli te potom njihova redukcija. S obzirom na model reduciranog reda izvodi se upravljački zakon kliznog režima rada. Pošto se zakon upravljanja primjenjuje na izvorni sustav, dokazan je dovoljan uvjet za stabilnost u vidu teorije malog pojačanja.Simulacijski rezutati pokazuju izvedivost, ispravnost i robustnost predloženog pristupa

Advanced Strategies for Robot Manipulators

Amongst the robotic systems, robot manipulators have proven themselves to be of increasing importance and are widely adopted to substitute for human in repetitive and/or hazardous tasks. Modern manipulators are designed complicatedly and need to do more precise, crucial and critical tasks. So, the simple traditional control methods cannot be efficient, and advanced control strategies with considering special constraints are needed to establish. In spite of the fact that groundbreaking researches have been carried out in this realm until now, there are still many novel aspects which have to be explored

Integrated multi-functional morphing aircraft technologies

In the past years, the development of morphing wing technologies has received a great deal of interest from the scientific community. These technologies potentially enable an increase in aircraft efficiency by changing the wing shape, thus allowing the aircraft to fly near its optimal performance point at different flight conditions. This thesis explores the development, analysis, building and integration of two new functional Variable-Span Wing (VSW) concepts to be applied in Remotely Piloted Aircraft Systems (RPAS). Additional studies are performed to synthesize the mass of such morphing concepts and to develop mass prediction models. The VSW concept is composed of one fixed rectangular inboard part, inboard fixed wing (IFW), and a moving rectangular outboard part: outboard moving wing (OMW). An aerodynamic shape optimization code is used to solve a drag minimization problem to determine the optimal values of wingspan for various speeds of the vehicle’s flight envelope. It was concluded that, at low speeds, the original wing has slightly better performance than the VSW and for speeds higher than 25 m/s the opposite occurs, due to the reduction in wing area and consequently the total wing drag. A structural Finite Element Model (FEM) of the VSW is developed, where the interface between wing parts is modelled. Deflections and stresses resulting from static aerodynamic loading conditions showed that the wing is suitable for flight. Flutter critical speed is studied. FEM is used to compute the VSW mode shapes and frequencies of free vibration, considering a rigid or the real flexible interface, showing that the effect of rigidity loss in the interface between the IFW and the OMW, has a negative impact on the critical flutter speed. A full-scale prototype is built using composite materials and an electro-mechanical actuation system is developed using a rack and pinion driven by two servomotors. Bench tests, performed to evaluate the wing and its actuation mechanism under load, showed that the system can perform the required extension/retraction cycles and is suitable to be installed on a RPAS airframe, which has been modified and instrumented to serve as test bed for evaluating the prototype in-flight. Two sets of flight tests are performed: aerodynamic and energy characterization. The former aims at determining the lift-to-drag ratio for different airspeeds and the latter to measure the propulsive and manoeuvring energy when performing a prescribed mission. In the aerodynamic testing, in-flight evaluation of the RPAS fitted with the VSW demonstrates full flight capability and shows improvements produced by the VSW over a conventional fixed wing for speeds above 19 m/s. At low speeds, the original wing has slightly better lift-to-drag ratio than the VSW. Contrarily, at 30 m/s, the VSW in minimum span configuration is 35% better than the original fixed wing. In the other performed test, it is concluded that the VSW fitted RPAS has less overall energy consumption despite the increased vehicle weight. The energy reduction occurs only in the high speed condition but it is so marked that it offsets the increase in energy during takeoff, climb and loiter phases. Following the work on the first VSW prototype, a new telescopic wing that allows the integration of other morphing strategies is developed, within the CHANGE EU project. The wing adopted span change, leading and trailing edge camber changes. A modular design philosophy, based on a wing-box like structure, is implemented, such that the individual systems can be separately developed and then integrated. The structure is sized for strength and stiffness using FEM, based on flight loads derived from the mission requirements. A partial span, fullsized cross-section prototype is built to validate the structural performance and the actuation mechanism capability and durability. The wing is built using composite materials and an electromechanical actuation system with an oil filled nylon rack and pinion is developed to actuate it. The structural static testing shows similar trends when compared with numerical predictions. The actuation mechanism is characterized in terms of actuation speed and specific energy consumption and it was concluded that it functioned within its designed specifications. A full-scale prototype is later built by the consortium and the leading and trailing edge concepts from the different partners integrated in a single wing. Wind tunnel tests confirmed that the wing can withstand the aerodynamic loading. Flight tests are performed by TEKEVER, showing that the modular concept works reliably. From the previous works, it is inferred that morphing concepts are promising and feasible methodologies but present an undesired mass increase due to their inherent complexity. On the other hand, mass prediction methods to aid the design of morphing wings at the conceptual design phase are rare. Therefore, a mass model of a VSW with a trailing edge device is proposed. The structural mass prediction is based on a parametric study. A minimum mass optimization problem with stiffness and strength constraints is implemented and solved, being the design variables structural thicknesses and widths, using a parametric FEM of the wing. The study is done for a conventional fixed wing and the VSW, which are then combined to ascertain the VSW mass increment, i.e., the mass penalization of the adopted morphing concept. Polynomials are found to produce good approximations of the wing mass. Additionally, the effects of various VSW design parameters in the structural mass are discussed. On one hand, it was found that the span and chord have the highest impact in the wing mass. On the other hand, the VSW to fixed wing ratio proved that the influence of span variation ratio in the wing mass is not trivial. It is found that the mass increase does not grow proportionally with span variation ratio increase and that for each combination of span and chord, exists a span variation ratio that minimizes the mass penalty. Using the VSW to fixed wing ratio function, the mass model is derived. To ascertain its accuracy, a case study is performed, which demonstrated prediction errors below 10%. Although the mass model results are encouraging, more case studies are necessary to prove its applicability over a wide range of VSWs. The work performed successfully demonstrated that VSW concepts can achieve considerable geometry changes which, in turn, translate into considerable aerodynamic gains, despite the increased weight. They influence all aspects of the wing design, from the structural side to the actuation mechanisms. The parametric study summarizes the mass penalties of such concepts, being successful at demonstrating that the mass penalty is not straightforward and that a careful selection of span, chord and variable-span ratio can minimize the mass increase.Nos últimos anos, o desenvolvimento de asas adaptativas tem sido alvo de um grande interesse por parte da comunidade científica. Nesta tese explora-se o desenvolvimento, análise, construção e integração de dois novos conceitos de Asas de Envergadura Variável (VSWs) funcionais a serem aplicados em Sistemas de Aeronaves Pilotadas Remotamente (RPASs). Estudos adicionais são levados a cabo para sintetizar a massa desses conceitos e desenvolver modelos de previsão de massa. O conceito da VSW é constituído por uma parte interna retangular fixa, Asa Fixa Interna (IFW), e por uma parte externa retangular móvel, Asa Móvel Externa (OMW). Um código de otimização aerodinâmica é utilizado para minimizar a resistência ao avanço, determinando os valores ótimos de envergadura para várias velocidades de voo do veículo. Concluiu-se que, a baixas velocidades, a asa original apresenta um desempenho ligeiramente melhor que a VSW, enquanto que a velocidades superiores a 25 m/s, a VSW apresenta um desempenho melhor devido à redução da área das asas e, consequentemente, à redução da resistência total das asas. Para levar a cabo um estudo estrutural, foi desenvolvido um Modelo de Elementos Finitos (FEM) estrutural da VSW, no qual se modelou a interface entre a IFW/OMW. As deflexões e tensões resultantes dos carregamentos aerodinâmicos estáticos mostraram que a asa é capaz de suportar as cargas em voo. A velocidade de flutter é também investigada, sendo o FEM utilizado para calcular as formas dos modos de vibração da VSW e respetivas frequências de vibração livre. Considerou-se uma interface colada ou flexível, confirmando-se que o efeito da perda de rigidez na interface IFW/OMW, tem um impacto negativo sobre a velocidade de flutter. Um protótipo da VSW é construído, utilizando materiais compósitos, e um sistema de atuação eletromecânico é desenvolvido usando um sistema de pinhão e cremalheira movido por dois servomotores. Os testes de bancada, realizados para avaliar a asa e o mecanismo de atuação, mostraram que o sistema é capaz de realizar a extensão/retração da asa, sendo adequado para ser instalado num RPAS. Este RPAS foi modificado e instrumentado para servir de banco de ensaio para avaliação do protótipo em voo. São realizados dois conjuntos de testes de voo: caracterização aerodinâmica e energética. O primeiro incide na determinação da razão de planeio para diferentes velocidades e o segundo é levado a cabo para determinar a energia propulsiva e de manobra ao executar uma missão típica. Nos testes aerodinâmicos ficou comprovado que o RPAS equipado com a VSW é capaz de uma normal operação e ainda que mostra melhorias sobre uma asa fixa convencional para velocidades acima de 19 m/s. A velocidades mais reduzidas, a asa original tem um desempenho ligeiramente melhor do que a VSW. Por outro lado, a 30 m/s, a VSW na configuração de envergadura mínima é 35% melhor do que a asa fixa original. No outro ensaio realizado, conclui-se que o RPAS de envergadura variável tem menos consumo de energia global, apesar do aumento de peso do veículo. A redução de energia ocorre apenas na fase de cruzeiro de alta velocidade, mas foi tão acentuada que compensou o aumento da energia durante as fases de descolagem, subida e espera. Na sequência do trabalho anterior e no âmbito do projeto europeu CHANGE, é desenvolvida uma nova VSW que permite a integração de outras estratégias adaptativas. A nova asa adotou a mudança de envergadura, e a mudança de curvatura nos bordos de ataque e de fuga. Esta adotou uma filosofia de projeto modular, baseada numa caixa de torção, permitindo o desenvolvimento das diferentes tecnologias adaptativas separadamente. A estrutura é divmensionada para resistência e rigidez usando FEM, com base em cargas de voo derivadas dos requisitos da missão. Um primeiro protótipo é construído para validar o desempenho estrutural e a funcionalidade do mecanismo de atuação. A asa é construída usando materiais compósitos e utiliza um sistema de pinhão e cremalheira e um servomotor, para variar a envergadura. Testes estruturais estáticos mostram que as deflexões corroboram as previsões numéricas. O mecanismo de atuação é caracterizado em termos de velocidade de atuação e consumo de energia específica, concluindo-se que funciona dentro do previsto. O segundo protótipo é construído pelo consórcio e os conceitos de bordo de ataque e de fuga são integrados. Testes em túnel de vento confirmaram que a asa suporta o carregamento aerodinâmico. Os testes de voo, realizados pela TEKEVER, mostram que o conceito modular funciona de forma fiável. Baseado nos trabalhos anteriores, conclui-se que os conceitos adaptativos são promissores e viáveis, mas apresentam um aumento de massa indesejável devido à sua inerente complexidade. Por outro lado, os métodos de previsão de massa para auxiliar o projeto de asas adaptativas na fase de projeto conceitual são raros. Deste modo, um modelo de massa da VSW com um dispositivo de borda de fuga é proposto. A previsão de massa estrutural é baseada num estudo paramétrico. Um problema de minimização de massa com constrangimentos de rigidez e resistência é implementado e resolvido, sendo as variáveis de projeto espessuras e larguras estruturais. Para o levar a cabo, um FEM paramétrico da VSW é desenvolvido. O estudo é feito para uma asa fixa convencional e para a VSW, os quais são combinados para determinar o incremento de massa da VSW. Aproximações polinomiais das massas da asa são produzidas, mostrando serem capazes de produzir uma adequada representação. Adicionalmente, são discutidos os efeitos dos vários parâmetros de design da VSW na massa estrutural. Por um lado, verificou-se que a envergadura e a corda têm o maior impacto na massa da asa. Por outro lado, a razão de massas da VSW e da asa fixa provou que a influência da razão de variação de envergadura na massa das asas não é trivial. Verifica-se que o aumento de massa não cresce proporcionalmente com o aumento da razão de variação de envergadura e que para um dado conjunto de envergadura e corda existe uma razão de variação de envergadura que minimiza o aumento de massa. O modelo de massa é derivado usando a aproximação polinomial da razão da VSW com a asa fixa. Para verificar a precisão do modelo, é realizado um caso de estudo que demonstrou erros de previsão abaixo dos 10%. Embora os resultados do modelo de massa sejam encorajadores, mais casos de estudo são necessários para provar a sua aplicabilidade a uma ampla gama de VSW. O trabalho realizado demonstrou com sucesso que os conceitos de VSW podem alcançar consideráveis mudanças de geometria, que se traduzem em ganhos aerodinâmicos consideráveis, apesar do aumento de peso. Estes influenciam todos os aspetos do projeto da asa, desde a parte estrutural até aos mecanismos de atuação. O estudo paramétrico tentou resumir a penalização de massa de tais conceitos, sendo bem sucedido em demonstrar que esta penalização não é simples e que uma seleção cuidadosa de envergadura, corda e razão de variação de envergadura pode minimizar o aumento de peso.This thesis and the associated research was partially funded by the European Community’s Seventh Framework Programme (FP7) under the Grant Agreement 314139

Distributed Cooperative Control of Multi-Agent Systems Under Detectability and Communication Constraints

Cooperative control of multi-agent systems has recently gained widespread attention from the scientific communities due to numerous applications in areas such as the formation control in unmanned vehicles, cooperative attitude control of spacecrafts, clustering of micro-satellites, environmental monitoring and exploration by mobile sensor networks, etc. The primary goal of a cooperative control problem for multi-agent systems is to design a decentralized control algorithm for each agent, relying on the local coordination of their actions to exhibit a collective behavior. Common challenges encountered in the study of cooperative control problems are unavailable group-level information, and limited bandwidth of the shared communication. In this dissertation, we investigate one of such cooperative control problems, namely cooperative output regulation, under various local and global level constraints coming from physical and communication limitations. The objective of the cooperative output regulation problem (CORP) for multi-agent systems is to design a distributed control strategy for the agents to synchronize their state with an external system, called the leader, in the presence of disturbance inputs. For the problem at hand, we additionally consider the scenario in which none of the agents can independently access the synchronization signal from their view of the leader, and therefore it is not possible for the agents to achieve the group objective by themselves unless they cooperate among members. To this end, we devise a novel distributed estimation algorithm to collectively gather the leader states under the discussed detectability constraint, and then use this estimation to synthesize a distributed control solution to the problem. Next, we extend our results in CORP to the case with uncertain agent dynamics arising from modeling errors. In addition to the detectability constraint, we also assumed that the local regulated error signals are not available to the agents for feedback, and thus none of the agents have all the required measurements to independently synthesize a control solution. By combining the distributed observer and a control law based on the internal model principle for the agents, we offer a solution to the robust CORP under these added constraints. In practical applications of multi-agent systems, it is difficult to consistently maintain a reliable communication between the agents. By considering such challenge in the communication, we study the CORP for the case when agents are connected through a time-varying communication topology. Due to the presence of the detectability constraint that none of the agents can independently access all the leader states at any switching instant, we devise a distributed estimation algorithm for the agents to collectively reconstruct the leader states. Then by using this estimation, a distributed dynamic control solution is offered to solve the CORP under the added communication constraint. Since the fixed communication network is a special case of this time-varying counterpart, the offered control solution can be viewed as a generalization of the former results. For effective validation of previous theoretical results, we apply the control algorithms to a practical case study problem on synchronizing the position of networked motors under time-varying communication. Based on our experimental results, we also demonstrate the uniqueness of derived control solutions. Another communication constraint affecting the cooperative control performance is the presence of network delays. To this regard, first we study the distributed state estimation problem of an autonomous plant by a network of observers under heterogeneous time-invariant delays and then extend to the time-varying counterpart. With the use of a low gain based estimation technique, we derive a sufficient stability condition in terms of the upper bound of the low gain parameter or the time delay to guarantee the convergence of estimation errors. Additionally, when the plant measurements are subject to bounded disturbances, we find that that the local estimation errors also remain bounded. Lastly, by using this estimation, we present a distributed control solution for a leader-follower synchronization problem of a multi-agent system. Next, we present another case study concerning a synchronization control problem of a group of distributed generators in an islanded microgrid under unknown time-varying latency. Similar to the case of delayed communication in aforementioned works, we offer a low gain based distributed control protocol to synchronize the terminal voltage and inverter operating frequency

Contributions of flywheel systems in wind power plants

The stepwise replacement of conventional power plants by renewable-based ones such as wind power plants could a ect the system behaviour and planning. First, the network stability may be compromised as it becomes less resilient against sudden changes in the loads or generator trips. This is because wind turbines are not synchronized with network frequency but they are usually connected to the grid through fast controllable electronic power converters. And second, due to the stochastic nature of wind, the electrical power generated by wind power plants is neither constant non controllable. This aff ects the network planning as the expected generation level depends on non reliable wind forecasts. Also it aff ects the power quality as the fast fluctuations of wind power can cause harmonics and flicker emissions. For these reasons, network operators gradually set up more stringent requirements for the grid integration of wind power. These regulations require wind power plants to behave in several aspects as conventional synchronized generating units. Among other requirements, it is set the provision of some ancillary services to the grid as frequency and voltage control, the capability of withstanding short-circuits and faults, and to respect some threshold level with regard to the quality of the power generated. Accordingly, energy storage systems may play an important role in wind power applications by enhancing the controllability of the output of wind power plants and providing ancillary services to the power system and thus, enabling an increased penetration of wind power in the system. This thesis focuses on the potential uses of flywheel energy storage systems in wind power. The thesis introduces the basis of several energy storage systems as well as identi es their applications in wind power based on an extensive literature review. It follows with the presentation of the design and setting up of a scale-lab flywheel-based energy storage system. From this work, research concentrates on the application of flywheel devices for power smoothing of wind power plants. The developed concepts are proved by simulations but also experimentally using the above mentioned scale-lab test bench. In particular, research focuses on the de nition of an optimization criteria for the operation of flywheel devices while smoothing the wind power, and the design and experimental validation of the proposed control algorithms of the storage device. The last chapters of the thesis research on the role of wind power plants in system frequency control support. In this sense, an extensive literature review on the network operator's requirements for the participation of wind power plants in system frequency control related-tasks is off ered. Also, this review covers the proposed control methods in the literature for enabling wind turbines to participate in system frequency control. The results of this work open the door to the design of control systems of wind turbines and wind power plants for primary frequency control. The contribution of flywheel devices is also considered. Results highlight the tremendous potential of energy storage systems in general for facilitating the grid integration of wind power plants. Regarding the uses of flywheel devices, it is worth noting that some of their characteristics as the high-ramp power rates can be exploited for reducing the variability of the power generated by wind turbines, and thus for improving the quality of the power injected to the grid by wind power plants. Also, they can support wind power plants to ful l the requirements for their participation in system frequency control support related tasks.El progressiu despla cament de plantes de generaci o convencionals per part de plantes de generaci o de tipus renovable, com els parcs e olics, pot afectar el comportament i la plani caci o del sistema el ectric. Primer, l'estabilitat pot ser compromesa ja que el sistema el ectric resulta m es vulnerable davant canvis abruptes provocats per les c arregues del sistema o desconnexions no programades de generadors. Aix o es degut a que les turbines e oliques no estan sincronitzades amb la freqü encia el ectrica del sistema ja que la seva connexi o es a trav es de convertidors electr onics de pot encia. Segon, degut a la gran variabilitat del vent, la pot encia el ectrica generada per les turbines e oliques no es constant ni controlable. En aquest sentit, la qualitat de la pot encia del parc e olic es pot veure compromesa, ja que es poden detectar nivells apreciables d'harm onics i emissions de "flicker" degudes a les r apides variacions de la pot encia generada pel parc e olic. Per aquests motius, els operadors dels sistemes el ectrics fan gradualment m es restrictius els requeriments de connexi o dels parcs e olics al sistema el ectric. Aquestes regulacions requereixen als parcs e olics que es comportin en molts aspectes com plantes de generaci o convencional. Entre d'altres requeriments, els parcs e olics han de proveir serveis auxiliars per a la operaci o del sistema el ectric com tamb e el suport en el control dels nivells de tensi o i freqü encia de la xarxa; oferir suport durant curtcircuits; i mantenir uns nivells m nims en la qualitat de la pot encia generada. Els sistemes d'emmagatzematge d'energia poden millorar la controlabilitat de la pot encia generada pels parcs e olics i ajudar a aquests a proveir serveis auxiliars al sistema el ectric, afavorint aix la seva integraci o a la xarxa. Aquesta tesi tracta l'aplicaci o en parcs e olics dels sistemes d'emmagatzematge d'energia basats en volants d'in ercia. La tesi introdueix les bases de diversos sistemes d'emmagatzematge i identi ca les seves potencials aplicacions en parcs e olics en base a una extensa revisi o bibliogr a ca. El treball continua amb la posta a punt d'un equipament de laboratori, que con gura un sistema d'emmagatzematge d'energia basat en un volant d'in ercia. Següents cap tols de la tesi estudien l'aplicaci o dels volants d'in ercia per a esmorteir el per l fluctuant de la pot encia generada pels parcs e olics. Els treballs es focalitzen en la de nici o dels criteris per a la operaci o optima dels volants d'in ercia per la seva aplicaci o d'esmorteir el per l fluctuant de potencia e olica, i tamb e en el disseny i validaci o experimental dels algoritmes de control desenvolupats per governar el sistema d'emmagatzematge. Els cap tols finals de la tesi tracten sobre el suport al control de freqü encia per part dels parcs e olics. S'ofereix una extensa revisi o bibliografica respecte els requeriments indicats pels operadors del sistema el ectric en aquest sentit. A m es, aquesta revisi o cobreix els m etodes de control dels parcs e olics i turbines e oliques per la seva participaci o en el suport al control de freqü encia. Les conclusions extretes serveixen per proposar sistemes de control de parcs e olics i de turbines e oliques per proveir el servei de control de freqüencia. Aquest treball, tamb e contempla la inclusi o de volants d'in ercia en els parcs e olics. Dels resultats de la tesi se'n dedueix l'important potencial dels sistemes d'emmagatzematge d'energia per a afavorir la integraci o a la xarxa dels parcs e olics. La controlabilitat de la pot encia dels volants d'in ercia, afavoreix el seu us per reduir la variabilitat de la pot encia generada pels parcs e olics, millorant aix la qualitat de pot encia del mateix. A m es, els volants d'in ercia poder ajudar als parcs e olics a complir amb els requeriments per a la seva integraci o a xarxa, com la participaci o en el control de freqüencia del sistema el ectric