DISEÑO DE UN CONTROL DE TEMPERATURA DIFUSO PARA UN TÚNEL DE SECADO DE CÍTRICOS (TEMPERATURE FUZZY CONTROL DESIGN FOR A CITRUS DRYING TUNNEL)

Resumen El limón mexicano es un producto de mercado internacional y las empacadoras de cítricos realizan esfuerzos para cumplir con las normas de calidad e inocuidad de esta fruta. Una planta empacadora es proceso de industrialización que consta de diferentes etapas, entre estas, se incluyen un presecado y secado, al sanitizado y encerado, respectivamente, que consisten en hacer circular el limón mediante una banda transportadora por un túnel con flujo de aire caliente para extraer la humedad en su superficie. Sin un control adecuado de temperatura, el fruto presentará humedad o deshidratación. En este trabajo se presenta el modelado y control difuso de temperatura de un túnel de secado. Con datos experimentales de entrada-salida en lazo abierto se identifican los parámetros del modelo para diseñar el controlador. Los resultados se validan con simulaciones, evidenciando que el set-point de temperatura se alcanza en menos de 100s sin sobresalto, con un buen desempeño evitando el estrés térmico. Palabras Clave: Control difuso, control de temperatura, túnel de secado. Abstract The Mexican lemon is an international market product. The citrus packing companies make efforts to comply with the quality and safety standards of this fruit. A citrus packing plant is an industrialization process that consists of different stages, including pre-drying after sanitizing and drying after waxing, which consists on make circulate the lemon through a conveyor belt inside of a tunnel with hot air flow to extract moisture on its surface. If there is not an adequate temperature control, the fruit will show moisture or dehydration. In this paper the modeling and diffuse temperature control for drying tunnel is presented. Using open-loop input-output experimental data, the model parameters are identified to design a fuzzy control. The results are validated with numerical simulations, showing that the temperature set-point is reached in less than 100s without overshoot, which is a good performance avoiding thermal stress. Keywords: Drying tunnel, fuzzy control, temperature control

Comparison of LMI Solvers for Robust Control of a DC-DC Boost Converter

This work deals with a robust Fault-Tolerant Control (FTC) design for a class of uncertain systems. Fault resilience is associated with a robustness bound generated by a sufficient Linear Matrix Inequality (LMI) condition for static state feedback stabilization. This design control approach is based on solving an optimization problem expressed in terms of LMI with three different programming solvers which are mincx (Matlab), lmisolver (Scilab) and cvxopt (Python). Numerical validations were carried out, first on an academic model, then on the model of a PV energy conversion system connected to a DC-DC boost converter. Then, a robustness analysis for fault resilience associated with a control law gains, obtained using the three solvers, was realized to investigate the best performance. This approach was finally validated on an experimental test bench

Attitude Control of a Quadcopter Using Adaptive Control Technique

This chapter presents an adaptive control technique to stabilize the attitude dynamics of unmanned aerial vehicle (UAV) type quadrotor in the presence of disturbances and/or uncertainties in the parameters due to changes in the payload, nonlinear actuators, and change in environmental conditions. To address the above problem, MRAC (model reference adaptive control) strategy is used. In this schema, a cost function is defined as a function of the error between the output of the system and a desired response from a reference model. Based on this error, the controller parameters are updated. To guarantee the global asymptotic stability of the system, Lyapunov’s theory is applied. Simulation results using MATLAB-Simulink platform are presented to demonstrate the convergence of the controller parameters

Modélisation et commande robuste des drones miniature[s] (Conception de l'architecture embarquée)

Cette thèse porte sur la conception de l'architecture informatique embarquée pour la commande de deux objets volants miniatures ou drones: un hélicoptère à quatre rotors et un avion. Les modèles dynamiques de chaque véhicule sont obtenus en utilisant la méthodologie de Newton-Euler prenant en compte les forces et moments aérodynamiques. Trois approches de commande sont utilisées pour le quadri-rotor, la première est linéaire et les deux autres sont non linéaires. Concernant l'avion, nous avons proposé seulement un contrôleur linéaire pour la stabilisation d'attitude. Les lois de commande non linéaires sont basées sur l'approche de Lyapunov appelée technique de saturations emboîtées. Un nouvel outil pour l'analyse de robustesse est présenté. Cet outil est basé sur l'approche de la caractérisation du value-set du modèle mathématique du système de commande en boucle fermée. Ce modèle mathématique est représenté par une fonction de transfert à paramètres intervalle. Pour le quadri-rotor, la marge de robustesse pour maintenir la stabilité dans le système de commande est calculée, en tenant en compte de l'incertitude paramétrique et du retard existant dans les actionneurs. Pour l'avion miniature, la propriété de stabilité absolue robuste est vérifiée prenant en compte seulement l'incertitude paramétrique. Dans les deux cas le value-set transforme le problème analytique en un problème du type numérique-graphique. La validation des lois de commande proposées pour chaque véhicule a été réalisée en utilisant la plate-forme expérimentale qui exécute les algorithmes en temps réel avec une bonne performance.This thesis presents the embedded architecture design of an autopilot for the control of two miniature flying machines called drones: a quad-rotor helicopter and a miniature aeroplane. The dynamic models of each vehicle are obtained using the Newton-Euler method taking into account the aerodynamic forces and moments. Three control approaches are used for the quad-rotor, one linear and two nonlinear. For the airplane only a linear controller is proposed for the attitude stabilisation. The nonlinear controls are based on one Lyapunov approach called nested saturation. A new tool for the robustness analysis is presented. This tool is based on the value set characterization approach of the mathematical model for the closed-Ioop control system, which is represented by an interval plant. For the quad-rotor, the robustness margin to keep stability in the control system is calculated. This is done taking into account the parametric uncertainty and the time-delay in the actuators. For the miniature airplane the robust absolute stability property is verified considering only the parametric uncertainty. ln both cases the value set method transforms the analytical problem into a computational-graphic problem. This report describes with detail the validation of the control laws proposed for each vehicle in the experimental platform which executes the algorithms in real-time with a good performance.COMPIEGNE-BU (601592101) / SudocSudocFranceF

Photometric-Planner for Visual Path Following

International audienceRobotic navigation is the aspect of cognition related to robot robust mobility. It combines perception, some knowledge on the environment and a set of goal poses to reliably control the robot during a mission that involves displacement. Vision-based autonomous navigation is an instantiation of the latter discipline where visual perception is used to control the robot and to represent the environment. This paper presents a vision-based navigation system that uses its onboard camera to navigate and a visual path that represents the scene with a set of images. Being a memory-based system, the navigation is conceived as a concatenation of positioning tasks in the visual servoing scheme. The novelty on the proposed system relies on the generation of the images that compose the visual path. These images are rendered from a preobtained model of the scene. The experiments evaluate the performance of the system over three different scenes, contemplating indoor and outdoor environments, and using an Unmanned Aerial Vehicle as testbed

Photometric Path Planning for Vision-Based Navigation

International audienceWe present a vision-based navigation system that uses a visual memory to navigate. Such memory corresponds to a topological map of key images created from moving a virtual camera over a model of the real scene. The advantage of our approach is that it provides a useful insight into the navigability of a visual path without relying on a traditional learning stage. During the navigation stage, the robot is controlled by sequentially comparing the images stored in the memory with the images acquired by the onboard camera. The evaluation is conducted on a robotic arm equipped with a camera and the model of the environment corresponds to a top view image of an urban scene

Fundamentos De Electrónica Industrial: Un Enfoque Práctico

La mayoría de los procesos industriales utilizan máquinas eléctricas para su operación, los cuales necesitan ser accionados o controlados de alguna manera. El control electrónico ha ganado día a día terreno en este tipo de procesos, y es aquí donde la electrónica industrial juega un papel importante, dado a que relaciona la ingeniería eléctrica, el control y la electrónica para lograr un óptimo funcionamiento de los sistemas electrónicos industriales. En este contexto, esta obra presenta los fundamentos de electrónica industrial con un enfoque práctico, estudiando los dispositivos electrónicos de potencia y circuitos integrados más comunes. Este libro va dirigido a estudiantes de licenciatura en las áreas de ingeniería electrónica e ingeniería industrial, y pretende ser un apoyo didáctico en la enseñanza de este campo de la ingeniería ya que su contenido lleva al estudiante a validar en forma práctica los conocimientos adquiridos a lo largo del texto

Quadrotor UAV attitude stabilization using fuzzy robust control

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Ground Station Design for a UAV Monitoring

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Robust Control Analysis Techniques Applied to a Mini Aircraft.

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