Fuzzy Predictive Controller for Mobile Robot Path Tracking

IFAC Intelligent Components and Instruments for Control Applications, Annecy, France 1997This paper presents a way of implementing a Model Based Predictive Controller (MBPC) for mobile robot path-tracking. The method uses a non-linear model of mobile robot dynamics and thus allows an accurate prediction of the future trajectories. Constraints on the maximum attainable angular velocity is also considered by the algorithm. A fuzzy approach is used to implement the MBPC. The fuzzy controller has been trained using a lookup-table scheme, where the database of fuzzy-rules has been obtained automatically from a set of input-output training patterns, computed with the predictive controller. Experimental results obtained when applying the fuzzy controller to a TRC labmate mobile platform are given in the paper.Ministerio de Ciencia y Tecnología TAP95-0307Ministerio de Ciencia y Tecnología TAP96-884C

Adaptive control of a solar furnace for material testing

IFAC Adaptive Systems in Control and Signal Processing. Glasgow. Scotland. UK. 26/08/1998This paper presents an adaptive control system for controlling the temperature of a solar furnace, which is a high solar concentrating facility made up of heliostats tracking the sun and reflecting solar radiation onto a static parabolic concentrating system at the focal spot of which a high percentage of the solar energy collected by the collector system is concentrated in a small area. A large attenuator (shutter) placed between the collector system and the concentrator serves to control the amount of solar energy used for heating the samples placed at the focal spot. The paper shows the results obtained in the application of adaptive PI controllers to a solar furnace, incorporating feedforward action, anti-windup and slew rate constraint handling mechanisms

Solar Thermal Plants Integration in Smart Grids

Solar energy penetration has been increasingly growing in recent years. Since solar energy is intermittent its integration in existing grids is difficult. This paper deals with the optimal integration of solar power plants in grids. The paper proposes a modification of energy hubs which allows to solve the optimization problem with a mixed integer programming algorithm in a distributed way. An introductory simulation study case is givenMinisterio de Educación DPI2008-05818Junta de Andalucía P07-TEP-02720Comisión Europea HD-MP

Oxidación del p-toluato de metilo en fase vapor

Tesis inédita de la Universidad de Madrid, Facultad de Ciencias, Sección de Químicas, leída el 10 de julio de 1967.Universidad de MadridTRUEProQuestpu

Oxidación del p-toluato de metilo en fase vapor

Tesis inédita de la Universidad de Madrid, Facultad de Ciencias, Sección de Químicas, leída el 10 de julio de 1967.Universidad de MadridTRUEProQuestpu

Modelling and Simulation of a Solar Power Plant with a Distributed Collectors System

IF AC Power Systems Modelling and Control Applicatio ns, Brussels, Belgium 1988This paper presents a model and computer simulation results of the distributed collectors field of a solar power plant. This plant is located in Tabernas (Almeria - Spain). The dynamic behaviour of the distributed collectors field is simulated by 100 lumped parameter submodels. Temperatures of the oil and the tube walls are modelled separately. The model also takes into account sun position, field geometry, mirrors reflectivity, solar radiation, and the inlet field oil temperature.Junta de Andalucía 07/CLM/MD

Studies for the application of an adaptative controller to hydroturbine generators

This paper describes some studies made towards the automatization of hydroturbine generators with microcomputers. The overall design will include an automata controlling the starting-up and shutting-down procedure as well as an self-tuning regulator for the speed control. A self-tuning regulator based on the classical pole-assignment-method is studied. The algorithm uses a fast procedure for solving the polynomial equation implicit to selfturner regulator. This procedure is very simple from a computational point of view as only applications of elementary transformations on a 2 x 2 polynomial matrix are needed.The algorithm has been programmed on a Digital PDP 1103 computer and applied to some test problems

Diseño e implementación de los sistemas de control de un receptor solar volumétrico y de la etapa de potencia de una central eléctrica termosolar

XXIV JORNADAS DE AUTOMÁTICA (24) (24.2003.LEÓN, ESPAÑA)En este trabajo se muestran someramente los esquemas de control desarrollados e implementados para poder operar de forma automática una planta solar de receptor central, caracterizada porque la energía incidente no puede ser manipulada. El trabajo pretende mejorar los esquemas de control existentes hasta el momento y que se han utilizado para la operación de la planta TSA, aprovechando además la instalación de un nuevo receptor volumétrico en la planta. El trabajo se centra en la descripción los sistemas de control del flujo de aire a través de receptor y en los sistemas de control de la etapa de potencia al no disponer de resultados de operación en la actualidad porque el nuevo receptor volumétrico está en fase de instalación.Ministerio de Ciencia y Tecnología DPI2001-2380-C02Ministerio de Ciencia y Tecnología DPI2002-04375-C0

A Volterra model of the greenhouse temperature using natural ventilation

Model-based control techniques are commonly applied to control the greenhouse climate. As well-known, these techniques require accurate models for adequate results. Several first-principle models have been developed for the greenhouse climate control problem considering all the physical and physiological processes. However, these models are too complex to be used for control purposes. On the other hand, empirical models based on input/output real data allow to obtain better results and less complex model structures. In the Mediterranean areas the main problem is cooling the greenhouse and this leads to natural ventilation as a standard tool. This paper presents the development and the results of a Volterra model for the greenhouse temperature including the crop effect and using natural ventilation.Ministerio de Ciencia y Tecnología DPI2004-07444-C04-01/04Ministerio de Ciencia y Tecnología DPI2007-66718-C04- 01/0

Production of structured lipids by acidolysis of an EPA-enriched fish oil and caprylic acid in a packed bed reactor: analysis of three different operation modes.

Structured triacylglycerols (ST) enriched in eicosapentaenoic acid (EPA) in position 2 of the triacylglycerol (TAG) backbone were synthesized by acidolysis of a commercially available EPA-rich oil (EPAX4510, 40% EPA) and caprylic acid (CA), catalyzed by the 1,3-specific immobilized lipase Lipozyme IM. The reaction was carried out in a packed bed reactor (PBR) operating in two ways: (1) by recirculating the reaction mixture from the exit of the bed to the substrate reservoir (discontinuous mode) and (2) in continuous mode, directing the product mixture leaving the PBR to a product reservoir. By operating in these two ways and using a simple kinetic model, representative values for the apparent kinetic constants (k X ) for each fatty acid (native, L i or odd, M) were obtained. The kinetic model assumes that the rate of incorporation of a fatty acid into TAG per amount of enzyme, r X (mole/(h g lipase)) is proportional to the extent of the deviation from the equilibrium for each fatty acid (i.e., the difference of concentration between the fatty acid in the triacylglycerol and the concentration of the same fatty acid in the triacylglycerol once the equilibrium of the acidolysis reaction is reached). The model allows comparing the two operating modes through the processing intensity, defined as m L t/(V[TG] 0 ) and m L /(q[TG] 0 ), for the discontinuous and continuous operation modes, respectively. In discontinuous mode, ST with 59.5% CA and 9.6% EPA were obtained. In contrast, a ST with 51% CA and 19.6% EPA were obtained when using the continuous operation mode. To enhance the CA incorporation when operating in continuous mode, a two-step acidolysis reaction was performed (third operation mode). This continuous two-step process yields a ST with a 64% CA and a 15% EPA. Finally, after purifying the above ST in a preparative silica gel column, impregnated with boric acid, a ST with 66.9% CA and 19.6% EPA was obtained. The analysis by reverse phase and Ag + liquid chromatography of the EPA-enriched ST demonstrated that the CA was placed in positions 1 and 3 and the EPA was occupying position 2 of the final ST