Control adaptivo de un motor DC paralelo empleando linealización por realimentación

Esta tesis trabaja en el desarrollo de un Control adaptivo de un motor paralelo empleando linealización por realimentación. Debido al conocimiento impreciso de los parámetros del motor, un enfoque adaptable agrega robustez a la técnica de linealización entrada-salida que requiere la exacta cancelación de los términos no lineales. El objetivo del control es seguir una velocidad de referencia aún cuando se tenga parámetros desconocidos y perturbaciones de carga. La estabilidad de la dinámica interna es asegurada por el análisis de la dinámica de ceros. Se ha desarrollado también un observador no lineal para el torque de carga con dinámica de error lineal. Las simulaciones se efectuaron usando el programa de simulación SIMULINKTM desde MATLABTM. El desempeño del controlador adaptivo se ha probado en tiempo real usando una configuración experimental. Se presenta una metodología para elaborar un programa de control en tiempo real que corra en tiempo real usando El SIMULINK Real-Time Workshop . La respuesta de velocidad de un motor DC paralelo se forzó a seguir un modelo de referencia de segundo orden con un tiempo de establecimiento de 20 segundos y un tiempo de subida de 10 segundos. Los resultados muestran que la ley de control adaptivo efectivamente agrega robustez a la supresión exacta de los términos no lineales y garantiza la convergencia del seguimiento.-- This thesis work deals with the development of a real-time adaptive feedback linearizing controller for a DC shunt motor. Due to the imprecise knowledge motor parameters, an adaptive approach adds robustness to an input-output linearization technique that requires exact cancellation of nonlinear terms. The control goal is to track a reference speed under unknown parameters and load disturbances. The stability of internals dynamics is assured by analysis of zero dynamics. A nonlinear observer for load torque with linear error dynamics was also developed to give a load torque estimate to the adaptive controller. The simulations were carried out using simulation software SIMULINKTM from MATLABTM. The performance of the adaptive controller was tested in real-time using a experimental setup. A methodology for building a real-time control program that runs in real time using the SIMULINK Real-Time Workshop was presented. The speed response of the DC shunt motor was forced to track a second order model reference with settling time of 20 sec. and a rise time of 10 sec. The results show that the adaptive control law effectively adds robustness to the exact cancellation of nonlinear terms and guarantees tracking convergence.Tesi

Implementación de una Plataforma Experimental para un Sistema de Teleoperación Robótica en Tiempo Real

El desarrollo de este trabajo presenta la realización de una plataforma experimental, la cual permitirá investigar sobre una metodología para el diseño y análisis de un sistema teleoperado, considerando la dinámica no lineal del manipulador esclavo, así como el retardo en el canal de comunicación. El trabajado ha sido desarrollado entre el laboratorio de Automática y Robótica (DISAM) de la Universidad Politécnica de Madrid (UPM) y el Laboratorio de Manufactura del Centro de Tecnologías Avanzadas de Manufactura (CETAM) de la Pontificia Universidad Católica del Perú (PUCP). La estructura mecánica del brazo, así como los accionamientos eléctricos ha sido implementada. Se han desarrollado pruebas experimentales del Sistema de Teleoperación. La tarjeta PC104 (embedded board) ha sido configurada y puesta a punto, ésta comanda la interface de potencia y sensores de los motores DC de cada articulación del brazo. Se ha desarrollado los drives para el manejo de los accionamientos del maestro y del esclavo: envío/recepción de datos de posición velocidad, aceleración y corriente a través de una red CAN. Así como los programas para la interconexión a través de una red LAN, del Sistema Operativo Windows y el Sistema Operativo en Tiempo Real - QNX

An Implemented of a Real-Time Experimental Setup for Robotic Teleoperation System

The development of this work presents the implementation of an experimental platform, which will permit to investigate on a methodology for the design and analysis of a teleoperated system, considering the delay in the communication channel. The project has been developed in partnership with the laboratory of Automatic and Robotics of the Universidad Politécnica de Madrid and the Laboratory at the Centro de Tecnologías Avanzadas de Manufactura at the Pontificia Universidad Católica del Perú. The mechanical structure of the arm that is located in the remote side has been built and the electric servomechanism has been mounted to control their movement. The experimental test of the Teleoperation system has been developed. The PC104 card commands the power interface and sensors of the DC motor of each articulation of the arm. Has developed the drives for the management of the operations of the master and the slave: send/reception of position, speed, acceleration and current data through a CAN network. The programs for the interconnection through a LAN network, between the Windows Operating System and the Real-time Operating System (QNX), has been developed. The utility of the developed platform (hardware and software) has been demonstrated

Control of a Nonlinear Teleoperation System by State Convergence

In this work, we proposes a control strategy that allows the remote manipulator follow the local manipulator through the state convergence even if it has a delay in the communication channel. The bilateral control of the teleoperator system considers the case were the human operator applies a constant force on the local manipulator and when the interaction of the remote manipulator with the environment is considered passive. The stability analysis was performed using Lyapunov- Krasovskii functional, it showed for the case with constant delay, that using a proposed control algorithm by state convergence resulted in asymptotically stable, local and remote the nonlinear teleoperation system

Control of a Teleoperation System by State Convergence with Variable Time Delay

In this paper, we propose a novel control scheme for bilateral teleoperation of n degree-of-freedom (DOF) nonlinear robotic systems with time-varying communication delay. We consider that the human operator contains a constant force on the local manipulator. The local and remote manipulators are coupled using state convergence control scheme. By choosing a Lyapunov-Krasovskii functional, we show that the local-remote teleoperation system is asymptotically stable. It is also shown that, in the case of reliable communication protocols, the proposed scheme guarantees that the remote manipulator tracks the delayed trajectory of the local manipulator. The time delay of communication channel is assumed to be unknown and randomly time varying, but the upper bounds of the delay interval and the derivative of the delay are assumed to be known

Stability Analysis of Teleoperation System by State Convergence with Variable Time Delay

We propose a novel control scheme for bilateral teleoperation of n degree-of-freedom (DOF) nonlinear robotic systems with time-varying communication delay. A major contribution from this work lies in the demonstration that the structure of a state convergence algorithm can be also applied to nth-order nonlinear teleoperation systems. By choosing a Lyapunov Krasovskii functional, we show that the local-remote teleoperation system is asymptotically stable. The time delay of communication channel is assumed to be unknown and randomly time varying, but the upper bounds of the delay interval and the derivative of the delay are assumed to be known

State Convergence Theory Applied to a Delayed Teleoperation System

State convergence is a control strategy that was proposed in the early 2000s to ensure stability and transparency in a teleoperation system under specific control gains values. This control strategy has been implemented for a linear system with or without time delay. This paper represents the first attempt at demonstrating, theoretically and experimentantally, that this control strategy can also be applied to a nonlinear teleoperation system with n degrees of freedom and delay in the communication channel. It is assumed that the human operator applies a constant force on the local manipulator during the teleoperation. In addition, the interaction between the remote manipulator and the environment is considered passive. Communication between the local and remote sites is made by means of a communication channel with variable time delay. In this article the theory of Lyapunov-Krasovskii was used to demonstrate that the local-remote teleoperation system is asymptotically stable

Sugerencias analíticas para la fabricación de sensores inteligentes basados en nanoesructuras amorfas, ante las condiciones de las montañas andinas

It is proposed in this abstract some suggestions for the manufacturing of advanced sensors (smart sensors) that are based in amorphous nanostructures in order to prepare intelligent sensors from which their transducers elaboration need specific requirements, such as in geometry and material of every sample. Moreover, it is quite important the correlation understanding between the necessities of the community or company that will operate with them. It means, the manufacturing of the transducers samples can be prepared by sputtering process, atomic load deposition and also by electrochemical reactions. Hence it is suggested to analyze the chemical components that are possible to find in the Andes mountains, also the strict compromise of the responsible residual collection of every production step and caring the environment conditions. Furthermore, it is proposed that designers could get understanding of the Andes mountains conditions, because many times it is not analyzed the geographic or climatic conditions, where there will be used the devices that require sensors for many applications such as in fishing tasks, agriculture tasks, mining tasks and public transport tasks. In this context, the advantages of the sensors based on nanostructures are supported by the robustness and short response time that give more time for active applications of the sensors as part of mechanic or mechatronic systems. This advantage helps for programming possibilities by a microcontroller in order to execute adaptive algorithms and enhancing the physical measurement tasks.En esta propuesta se plantean algunas sugerencias para la fabricación de sensores inteligentes basados en nanoestructuras amorfas, para lo cual la elaboración de los transductores de los sensores debe tener en cuenta la correlación entre su geometría interna (en escala nanométrica) y el material que lo compone, además de los requerimientos de la empresa que los necesite y el espacio geográfico de la comunidad donde estos sean usados. Tal es así, que la fabricación de estos sensores requiere procesos complejos cual pulverización catódica, deposición atómica, e incluso deposición atómica mediante reacciones electro-químicas. Por lo tanto, se sugiere estudiar qué minerales y componentes químicos se pueden encontrar en los alrededores de las montañas Andinas, para así poderlos usar en la fabricación de los sensores, teniendo un estricto compromiso del cuidado ambiental con los residuos acabado los procesos de fabricación. Además, se plantea tomar en cuenta la comprensión de las características geográficas y climatológicas del lugar de fabricación, cual también el lugar donde se someterá a prueba y uso de los sensores diseñados, que generalmente para las actividades de la población Andina, puede darse en la minería, pesca, agricultura y transporte público. En este contexto, los sensores diseñados en base a nanoestructuras tienen la ventaja de un corto tiempo de respuesta y robustez frente a perturbaciones, lo cual es muy útil para tareas de sistemas mecánicos o mecatrónicos donde el carácter activo de los sensores mejore el performance de las tareas, también esta ventaja es un soporte desde el punto de vista de la programación del microcontrolador que le dé el carácter de inteligencia artificial al sensor elaborado, pues permite ejecutar algoritmos complejos y adaptativos para trabajar en mejor respuesta de la transducción

Optimal Analysis for the Correlation between Vibration and Temperature through an Intelligent Sensor/Transducer Based in Amorphous Nanostructures to Measure Vibrating Surfaces Temperature

The vibration is an oscillatory movement caused by a propagation of waves through fluids or solids, and this consequence is achieved in many mechanic systems by the energy transmission between the movement source with the machine that needs the transmission movement, such as the vibration produced by a combustion engine, by a compressor system and by a result of movement transmission over rotor systems. However, if it is not a controlled mechanism to moderate the produced decibels, the main system that is affected by the vibration can reduce its performance; moreover, it can increase the surface temperature of the vibrating source and systems around. In spite of this, when it uses contact sensors to measure the vibration and temperature over the surface vibrating system, the measured data are under disturbance caused by the vibration source. Therefore, in this research is proposed an intelligent sensor/transducer based in amorphous nanostructures owing to measure the vibration of the surface through infrared (IR) emitter/receiver and the absorbance of the receiver sample has a quite range of work and robustness under disturbance of vibrating signals. This proposed sensor also has the possibility to charge energy by itself because of sun/warmth energy conversion

Gestión del conocimiento: perspectiva multidisciplinaria. Volumen 11

El libro “Gestión del Conocimiento. Perspectiva Multidisciplinaria”, Volumen 11, de la Colección Unión Global, es resultado de investigaciones. Los capítulos del libro, son resultados de investigaciones desarrolladas por sus autores. El libro cuenta con el apoyo de los grupos de investigación: Universidad Sur del Lago “Jesús María Semprúm” (UNESUR), Zulia – Venezuela; Universidad Politécnica Territorial de Falcón Alonso Gamero (UPTAG), Falcón – Venezuela; Universidad Politécnica Territorial de Mérida Kleber Ramírez (UPTM), Mérida – Venezuela; Universidad Guanajuato (UG) - Campus Celaya - Salvatierra - Cuerpo Académico de Biodesarrollo y Bioeconomía en las Organizaciones y Políticas Públicas (C.A.B.B.O.P.P), Guanajuato – México; Centro de Altos Estudios de Venezuela (CEALEVE), Zulia – Venezuela, Centro Integral de Formación Educativa Especializada del Sur (CIFE - SUR) - Zulia - Venezuela, Centro de Investigaciones Internacionales SAS (CIN), Antioquia - Colombia.y diferentes grupos de investigación del ámbito nacional e internacional que hoy se unen para estrechar vínculos investigativos, para que sus aportes científicos formen parte de los libros que se publiquen en formatos digital e impreso