Diseño del gemelo digital de célula robotizada para sistema de control multiagente y puesta en marcha virtual y real

Los gemelos digitales son uno de los componentes de la llamada Industria 4.0, modelos que no son más que réplicas virtuales de procesos que simulan el comportamiento del sistema original. Este proyecto tiene como objetivo modelar un gemelo digital de una célula robotizada, así como el análisis y simulación. Validar los proyectos de automatización y programa robot para la implementación real. Asimismo, se detalla la realización del gemelo digital, describiendo paso a paso el modelado y la lógica introducida. Por último, se demuestra que el proyecto cumple todos los objetivos establecidos, siendo posible su aplicación en la industria. La posible implementación de este tipo de tecnologías permitirá acortar los plazos de puesta en marcha, resultando así en una reducción de los costes asociados a esta.Biki digitalak 4.0 Industria delakoaren osagarrietako bat dira, jatorrizko sistema baten portaera simulatzen duten prozesuen erreplika birtualak. Proiektu honen helburu nagusiak honakoak ziren: zelula robotikoaren biki digital baten eredua burutzea, bai eta modelo horretan analisia eta simulazioa egitea. Automatizazio eta robot programaren balioztapena lortu makina errealan inplementatzeko. Halaber, biki digitalaren gauzapena zehaztatzen da, pausoz pauso deskribatuz bertan barruratutako eredu-egitea eta logika. Azkenik, baieztatzen da proiektuak hasieran ezarritako helburuak betetzen dituela, bere industriarako aplikazioa ahalbidetu lezakeelarik. Gainera, teknologia mota hauen balizko inplementatzeak abiarazpen-prozesuaren epeak laburtuko ditu; horrenbestez, berari lotutako kostuak murriztuz.Digital twins are one of the components belonging to the so-called Industry 4.0, which are nothing but virtual replicas of processes that simulate the behavior of the original system. The main objectives of this project were not only to model the digital twin of a robotic cell, but also to analyze and simulate it. The simulation is going to validate de automatization project and the robot program to then implement it in a real machine. Moreover, the execution of the digital twin itself is detailed, describing step by step the modelling and the logic introduced. Lastly, it is shown that the project achieves the objectives stated above, thus being allowed its feasible implementation in the industry. Therefore, the use of this technologies will permit to shorten the deadline of the launching process, turning out into a reduction of the associated costs

Architecture for Smart Buildings Based on Fuzzy Logic and the OpenFog Standard

The combination of Artificial Intelligence and IoT technologies, the so-called AIoT, is expected to contribute to the sustainability of public and private buildings, particularly in terms of energy management, indoor comfort, as well as in safety and security for the occupants. However, IoT systems deployed on modern buildings may generate big amounts of data that cannot be efficiently analyzed and stored in the Cloud. Fog computing has proven to be a suitable paradigm for distributing computing, storage control, and networking functions closer to the edge of the network along the Cloud-to-Things continuum, improving the efficiency of the IoT applications. Unfortunately, it can be complex to integrate all components to create interoperable AIoT applications. For this reason, it is necessary to introduce interoperable architectures, based on standard and universal frameworks, to distribute consistently the resources and the services of AIoT applications for smart buildings. Thus, the rationale for this study stems from the pressing need to introduce complex computing algorithms aimed at improving indoor comfort, safety, and environmental conditions while optimizing energy consumption in public and private buildings. This article proposes an open multi-layer architecture aimed at smart buildings based on a standard framework, the OpenFog Reference Architecture (IEEE 1934–2018 standard). The proposed architecture was validated experimentally at the Faculty of Engineering of Vitoria-Gasteiz to improve indoor environmental quality using Fuzzy logic. Experimental results proved the viability and scalability of the proposed architecture.The authors wish to express their gratitude to the Basque Government, through the project EKOHEGAZ II; to the Diputación Foral de Álava (DFA), through the project CONAVANTER; to the UPV/EHU, through the projects GIU20/063 and CBL 22APIN; and to the MobilityLab Foundation (CONV23/12), for supporting this work

Maximum Power Point Tracker Controller for Solar Photovoltaic Based on Reinforcement Learning Agent with a Digital Twin

Photovoltaic (PV) energy, representing a renewable source of energy, plays a key role in the reduction of greenhouse gas emissions and the achievement of a sustainable mix of energy generation. To achieve the maximum solar energy harvest, PV power systems require the implementation of Maximum Power Point Tracking (MPPT). Traditional MPPT controllers, such as P&O, are easy to implement, but they are by nature slow and oscillate around the MPP losing efficiency. This work presents a Reinforcement learning (RL)-based control to increase the speed and the efficiency of the controller. Deep Deterministic Policy Gradient (DDPG), the selected RL algorithm, works with continuous actions and space state to achieve a stable output at MPP. A Digital Twin (DT) enables simulation training, which accelerates the process and allows it to operate independent of weather conditions. In addition, we use the maximum power achieved in the DT to adjust the reward function, making the training more efficient. The RL control is compared with a traditional P&O controller to validate the speed and efficiency increase both in simulations and real implementations. The results show an improvement of 10.45% in total power output and a settling time 24.54 times faster in simulations. Moreover, in real-time tests, an improvement of 51.45% in total power output and a 0.25 s settling time of the DDPG compared with 4.26 s of the P&O is obtained

Particle Swarm Optimization-Based Control for Maximum Power Point Tracking Implemented in a Real Time Photovoltaic System

Photovoltaic panels present an economical and environmentally friendly renewable energy solution, with advantages such as emission-free operation, low maintenance, and noiseless performance. However, their nonlinear power-voltage curves necessitate efficient operation at the Maximum Power Point (MPP). Various techniques, including Hill Climb algorithms, are commonly employed in the industry due to their simplicity and ease of implementation. Nonetheless, intelligent approaches like Particle Swarm Optimization (PSO) offer enhanced accuracy in tracking efficiency with reduced oscillations. The PSO algorithm, inspired by collective intelligence and animal swarm behavior, stands out as a promising solution due to its efficiency and ease of integration, relying only on standard current and voltage sensors commonly found in these systems, not like most intelligent techniques, which require additional modeling or sensoring, significantly increasing the cost of the installation. The primary contribution of this study lies in the implementation and validation of an advanced control system based on the PSO algorithm for real-time Maximum Power Point Tracking (MPPT) in a commercial photovoltaic system to assess its viability by testing it against the industry-standard controller, Perturbation and Observation (P&O), to highlight its advantages and limitations. Through rigorous experiments and comparisons with other methods, the proposed PSO-based control system’s performance and feasibility have been thoroughly evaluated. A sensitivity analysis of the algorithm’s search dynamics parameters has been conducted to identify the most effective combination for optimal real-time tracking. Notably, experimental comparisons with the P&O algorithm have revealed the PSO algorithm’s remarkable ability to significantly reduce settling time up to threefold under similar conditions, resulting in a substantial decrease in energy losses during transient states from 31.96% with P&O to 9.72% with PSO

Model Predictive Control Design and Hardware in the Loop Validation for an Electric Vehicle Powertrain Based on Induction Motors

Electric vehicles (EV) have gained importance in recent years due to environmental pollution and the future scarcity of fossil resources. They have been the subject of study for many years, where much work has focused on batteries and the electric motor (EM). There are several types of motors in the market but the most widely used are induction motors, especially squirrel cage motors. Induction motors have also been extensively studied and, nowadays, there are several control methods used—for example, those based on vector control, such as field-oriented control (FOC) and direct torque control (DTC). Further, at a higher level, such as the speed loop, several types of controllers, such as proportional integral (PI) and model predictive control (MPC), have been tested. This paper shows a comparison between a Continuous Control Set MPC (CCS-MPC) and a conventional PI controller within the FOC method, both in simulation and hardware in the loop (HIL) tests, to control the speed of an induction motor for an EV powered by lithium-ion batteries. The comparison is composed of experiments based on the speed and quality of response and the controllers’ stability. The results are shown graphically and numerically analyzed using performance metrics such as the integral of the absolute error (IAE), where the MPC shows a 50% improvement over the PI in the speed tracking performance. The efficiency of the MPC in battery consumption is also demonstrated, with 5.07 min more driving time

Wireless Technologies for Industry 4.0 Applications

Wireless technologies are increasingly used in industrial applications. These technologies reduce cabling, which is costly and troublesome, and introduce several benefits for their application in terms of flexibility to modify the layout of the nodes and scaling of the number of connected devices. They may also introduce new functionalities since they ease the connections to mobile devices or parts. Although they have some drawbacks, they are increasingly accepted in industrial applications, especially for monitoring and supervision tasks. Recently, they are starting to be accepted even for time-critical tasks, for example, in closed-loop control systems involving slow dynamic processes. However, wireless technologies have been evolving very quickly during the last few years, since several relevant technologies are available in the market. For this reason, it may become difficult to select the best alternative. This perspective article intends to guide application designers to choose the most appropriate technology in each case. For this purpose, this article discusses the most relevant wireless technologies in the industry and shows different examples of applications

Ultraprecise Controller for Piezoelectric Actuators Based on Deep Learning and Model Predictive Control

Piezoelectric actuators (PEA) are high-precision devices used in applications requiring micrometric displacements. However, PEAs present non-linearity phenomena that introduce drawbacks at high precision applications. One of these phenomena is hysteresis, which considerably reduces their performance. The introduction of appropriate control strategies may improve the accuracy of the PEAs. This paper presents a high precision control scheme to be used at PEAs based on the model-based predictive control (MPC) scheme. In this work, the model used to feed the MPC controller has been achieved by means of artificial neural networks (ANN). This approach simplifies the obtaining of the model, since the achievement of a precise mathematical model that reproduces the dynamics of the PEA is a complex task. The presented approach has been embedded over the dSPACE control platform and has been tested over a commercial PEA, supplied by Thorlabs, conducting experiments to demonstrate improvements of the MPC. In addition, the results of the MPC controller have been compared with a proportional-integral-derivative (PID) controller. The experimental results show that the MPC control strategy achieves higher accuracy at high precision PEA applications such as tracking periodic reference signals and sudden reference change

Modelado y control en simulación de la estación FMS-201 para inyección de fallos

[ES] Los gemelos digitales son uno de los componentes de la llamada Industria 4.0, modelos que no son más que réplicas virtuales de procesos que simulan el comportamiento del sistema original. Este proyecto tiene como objetivo modelar un gemelo digital de la estación FMS-201, así como el análisis, simulación y control de los fallos inyectados en dicho modelo. Para ello, se expone en el documento la metodología utilizada tanto para la identificación y caracterización de fallos, como para su detección y resolución. Asimismo, se detalla la realización del gemelo digital, describiendo paso a paso el modelado y la lógica introducida. Por último, se demuestra que el proyecto cumple todos los objetivos establecidos, siendo posible su aplicación en la industria. La posible implementación de este tipo de tecnologías permitirá acortar los plazos de puesta en marcha, resultando así en una reducción de los costes asociados a esta.[EUS] Biki digitalak 4.0 Industria delakoaren osagarrietako bat dira, jatorrizko sistema baten portaera simulatzen duten prozesuen erreplika birtualak. Proiektu honen helburu nagusiak honakoak ziren: FMS-201 estazioaren biki digital baten eredua burutzea, bai eta modelo horretan injektatutako akatsen analisia, simulazioa eta kontrola. Horretarako, idazkian adierazten da bai akatsen identifikazio eta ezaugarritzea zein berauen hautemate eta ebazpenerako jarraitutako metodologia. Halaber, biki digitalaren gauzapena zehaztatzen da, pausoz pauso deskribatuz bertan barruratutako eredu-egitea eta logika. Azkenik, baieztatzen da proiektuak hasieran ezarritako helburuak betetzen dituela, bere industriarako aplikazioa ahalbidetu lezakeelarik. Gainera, teknologia mota hauen balizko inplementatzeak abiarazpen-prozesuaren epeak laburtuko ditu; horrenbestez, berari lotutako kostuak murriztuz.[ENG] Digital twins are one of the components belonging to the so-called Industry 4.0, which are nothing but virtual replicas of processes that simulate the behaviour of the original system. The main objectives of this project were not only to model the digital twin of the FMS-201 station, but also to analyse, simulate and control the errors injected in it. In order to achieve this aim, the methodology used for the identification and characterization of the errors is presented in this report, as well as the one employed for the detection and resolution of such errors. Moreover, the execution of the digital twin itself is detailed, describing step by step the modelling and the logic introduced. Lastly, it is shown that the project achieves the objectives stated above, thus being allowed its feasible implementation in the industry. Therefore, the use of this technologies will permit to shorten the deadline of the launching process, turning out into a reduction of the associated costs