Atenuación de efectos pendulares en grúas-torre usando control por rechazo activo de perturbaciones en tiempo discreto con observador resonante

En este artículo, se propone un esquema de control en tiempo discreto basado en el enfoque del rechazo activo de perturbaciones (ADR) para abordar el problema de control de oscilaciones en la carga de grúas-torre sujetas a incertidumbres paramétricas y perturbaciones externas. El esquema de control propuesto usa un observador extendido que incorpora un modelo interno resonante diseñado para mejorar la estimación de variables de estado y perturbaciones, en especial las provenientes de la oscilación de la carga. La ley de control se diseña para rechazar las perturbaciones en línea y acomodar la dinámica de lazo cerrado. La propuesta de control se valida experimentalmente en una grúa-torre a escala, y es comparado con un PI-vectorial y otro control basado en el enfoque ADR. Los resultados experimentales muestran que el esquema propuesto presenta mejor desempeño para reducir las oscilaciones en la carga y exhibe mejoras sustanciales en el rechazo de perturbaciones.In this paper, the problem of payload oscillations in tower-cranes subject to parametric uncertainties and external disturbances through a discrete-time Active Disturbance Rejection Control (ADRC) scheme is addressed. In the proposed control scheme, state and disturbance estimations are provided by an extended state observer which incorporates a resonant internal model designed to improve disturbance/state estimations specially those coming from the payload oscillation. Then, the control law is designed to reject the disturbances on-line and accommodate the closed-loop system dynamics. The control proposal is experimentally validated on a small-scale tower-crane, and compared to an observer-based PI controller and other ADRC scheme. The experimental results show that the proposed control scheme provides improved attenuation in the oscillations of the payload and exhibits substantial improvements in disturbance rejection properties

Parameter and Payload Identification of a 2-DOF Robotic Manipulator: An Algebraic Identification Approach

Este artículo aborda el problema de identificar los parámetros y las cargas útiles de un manipulador robótico 2-DOF. La metodología propuesta para nuestra investigación fue el método de identificación algebraica realizada en dos etapas: primero, identificando los parámetros del manipulador, y segundo, identificando la carga útil de la punta. Se utilizaron dos casos de simulación numérica diferentes para validar la metodología de identificación propuesta. En ambos casos se logró una rápida convergencia con un bajo porcentaje de error.This paper addresses the problem of identifying the parameters and the payloads of a 2-DOF robotic manipulator. The methodology proposed for our research was the algebraic identification method conducted in two stages: First, identifying the parameters of the manipulator and second, identifying the tip payload. Two different numerical simulation cases were used to validate the proposed identification methodology. In both cases, fast convergence was achieved with a low error percentage

Robust Active Disturbance Rejection Control Approach to Maximize Energy Capture in Variable-Speed Wind Turbines

This paper proposes an alternative robust observer-based linear control technique to maximize energy capture in a 4.8 MW horizontal-axis variable-speed wind turbine. The proposed strategy uses a generalized proportional integral (GPI) observer to reconstruct the aerodynamic torque in order to obtain a generator speed optimal trajectory. Then, a robust GPI observer-based controller supported by an active disturbance rejection (ADR) approach allows asymptotic tracking of the generator speed optimal trajectory. The proposed methodology controls the power coefficient, via the generator angular speed, towards an optimum point at which power coefficient is maximum. Several simulations (including an actuator fault) are performed on a 4.8 MW wind turbine benchmark model in order to validate the proposed control strategy and to compare it to a classical controller. Simulation and validation results show that the proposed control strategy is effective in terms of power capture and robustness

Automatic Stabilization of a Riderless Bicycle using the Active Disturbance Rejection Control Approach

[ES] Este trabajo propone una estrategia de Control por Rechazo Activo de Perturbaciones (ADRC), usando observadores extendidos de perturbación, para estabilizar una bicicleta en movimiento, sin conductor y con una velocidad de avance variable. Aunque la bicicleta tiene una dinámica inestable y no lineal alrededor de su posición vertical, que puede modelarse como un sistema Lineal de Parámetros Variantes (LPV) dependientes de la velocidad, el diseño del controlador usa un modelo simplificado de parámetros concentrados invariantes en el tiempo y una velocidad nominal constante. El esquema ADRC agrupa las discrepancias entre el modelo simplificado y la planta, junto con las perturbaciones externas en una señal aditiva unificada, que es estimada a través del observador y realimentada mediante una ley de control lineal para rechazarla. La efectividad de la estrategia es validada mediante una co-simulación entre ADAMS y MATLAB, la cual exhibe un alto desempeño y robustez sobre un modelo dinámico virtual de la bicicleta, sometida a perturbaciones externas severas y variaciones de parámetros.[EN] This work proposes an ADRC (Active Disturbance Rejection Control) strategy by disturbance extended observers to stabilize a moving riderless bicycle with a variant forward speed. Although the bicycle has an unstable and non-linear dynamics when in its upright position, which can be modeled as a LPV (Linear-Parameter-Varying) system that depends on the forward speed, a simplified time-invariant and lumped-parameter model, with an nominal constant forward speed is used in the controller design. ADRC scheme groups discrepancies between the simplified model and the plant, with external disturbances into an equivalent additive unified disturbance signal at input, which is estimated via the observer and rejected through a linear control law. The effectiveness of this strategy is validated by a co-simulation between ADAMS and MATLAB, which exhibits a high performance and robustness in a virtual dynamic model of the bicycle, submitted to severe external disturbances and parameter variations. Baquero-Suárez, M.; Cortes-Romero, J.; Arcos-Legarda, J.; Coral-Enriquez, H. (2017). Estabilización Automática de una Bicicleta sin Conductor mediante el Enfoque de Control por Rechazo Activo de Perturbaciones. Revista Iberoamericana de Automática e Informática industrial. 15(1):86-100. https://doi.org/10.4995/riai.2017.8832OJS86100151Ai-Buraiki, O., Thabit, M. B., Jun 2014. Model Predictive Control Design Approach for Autonomous Bicycle Kinematics Stabilization. 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Control Systems, IEEE 30 (5), 23-32. https://doi.org/10.1109/MCS.2010.937745Cortés Romero, J., Luviano Juárez, A., Álvarez Salas, R., Sira Ramírez, H., Aug 2010. Fast Identification and Control of an Uncertain Brushless DC Motor Using Algebraic Methods. In: 12th International Power Electronics Congress (CIEP). pp. 9-14. https://doi.org/10.1109/CIEP.2010.5598844Cortés Romero, J., Ramos, G., Coral Enriquez, H., Aug 2014. Generalized Proportional Integral Control for Periodic Signals under Active Disturbance Rejection Approach. ISA Transactions 53 (6), 1901-1909. https://doi.org/10.1016/j.isatra.2014.07.001Emaru, T., Tsuchiya, T., Dec 2005. Research on Estimating Smoothed Value and Differential Value by using Sliding Mode System. IEEE Transactions on Robotics and Automation 21 (6), 391-402.Gao, B., Junpeng Shao, Xiaodong Yang, Nov 2014. A Compound Control Strategy Combining Velocity Compensation with ADRC of Electroydraulic Position Servo Control System. ISA Transactions 53 (6), 1910-1918. https://doi.org/10.1016/j.isatra.2014.06.011Goldstein, H., 1953. Classical Mechanics, 3rd Edition. Addison-Wesley, Ch. 5, pp. 184-188.Gordon Wilson, D., Jim Papadopoulos, 2004. Bicycling Science, 3rd Edition. The MIT Press, Ch. 8, pp. 263-310.Hwang, C.-L., Hsiu-Ming Wu, Shih, C.-L., May 2009. Fuzzy Sliding Mode Underactuated Control for Autonomous Dynamic Balance of an Electrical Bicycle. IEEE Transactions on Control Systems Technology 17 (3), 658-670. https://doi.org/10.1109/TCST.2008.2004349Jin, H., Yang, D., Liu, Z., Zang, X., Li, G., Zhu, Y., Dec 2015. A Gyroscope-Based Inverted Pendulum with Application to Posture Stabilization of Bicycle Vehicle. In: 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO). pp. 2103-2108. https://doi.org/10.1109/ROBIO.2015.7419084Kooijman, J. D. G., Meijaard, J. P., Papadopoulos, J. M., Ruina, A., Schwab, A. L., 2011. A Bicycle can be Self-Stable without Gyroscopic or Caster Effects. Science 332 (6027), 339-342. https://doi.org/10.1126/science.1201959Kooijman, J. D. G., Schwab, A. L., Meijaard, J. P., May 2008. Experimental Validation of a Model for the Motion of an Uncontrolled Bicycle. Multibody System Dynamics 19 (1), 115-132. https://doi.org/10.1007/s11044-007-9050-xLam, P. Y., Sep 2011. Gyroscopic Stabilization of a Kid-Size Bicycle. In: 2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems (CIS). pp. 247-252. https://doi.org/10.1109/ICCIS.2011.6070336Lewis, F. L., Popa, L. X. D., 2008. Optimal and Robust Estimation, with an Introduction to Stochastic Control Theory, 2nd Edition. CRC Press, Ch. 3, pp. 151-204.Limebeer, D. J. N., Sharp, R. S., Oct 2006. Bicycles, Motorcycles, and Models. IEEE Control Systems 26 (5), 34-61. https://doi.org/10.1109/MCS.2006.1700044Meijaard, J., Papadopoulos, J. M., Ruina, A., Schwab, A., 2007. Linearized Dynamics Equations for the Balance and Steer of a Bicycle: a Benchmark and Review. 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Benchmark Results on the Linearized Equations of Motion of an Uncontrolled Bicycle. Journal of Mechanical Science and Technology 19 (1), 292-304. https://doi.org/10.1007/BF02916147Schwab, A. L., J. P. Meijaard, Papadopoulos, J. M., Aug 2005b. A Multibody Dynamics Benchmark on the Equations of Motion of an Uncontrolled Bicycle. In: Proceedings of the Fifth EUROMECH Nonlinear Dynamics Conference. pp. 511-521.Schwab, A. L., Meijaard, J. P., May 2013. A Review on Bicycle Dynamics and Rider Control. Vehicle System Dynamics 51 (7), 1059-1090. https://doi.org/10.1080/00423114.2013.793365Schwab, A. L., Meijaard, J. P., Kooijman, J. D. G., Aug 2012. Lateral Dynamics of a Bicycle with a Passive Rider Model: Stability and Controllability. Vehicle System Dynamics 50 (8), 1209-1224. https://doi.org/10.1080/00423114.2011.610898Srivastava, S., Pandit, V., 2016. A PI/PID Controller for Time Delay Systems with Desired Closed Loop Time Response and Guaranteed Gain and Phase Margins. 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Robótica y responsabilidad civil: reflexiones en torno al fundamento del deber de reparar

246 páginasEl papel de las Nuevas Tecnologías en la actualidad, en el particular caso de la robótica, plantea desafíos insalvables a la institución de la Responsabilidad Civil. En desarrollo de esta idea, la obra examina y describe las propuestas regulatorias y opiniones judiciales foráneas que han pretendido adecuar las premisas dogmáticas de la Responsabilidad a los daños antijurídicos que podrían acaecer en el marco de este escenario novedoso; enseguida, el discurso de la obra se dirige a procurar una adecuación ele los principales regímenes de responsabilidad previstos en el sistema jurídico colombiano a los daños antijurídicos precitados. Tanto más los regímenes de responsabilidad objetiva que aquél justificado exclusivamente sobre la culpa del agente del daño, son idóneos para adecuarse a la mayoría de casos objeto de la investigación, salvo aquellos que involucran dispositivos equipados con inteligencia artificial, que cuentan con indepenclencia mayor. La obra culmina aspirando a que, debido a dicha particularidad, la reparación del daño sufrido por las víctimas de dispositivos inteligentes artificialmente sea asumida por fondos de compensación, arguyendo razones filosóficas.The role of New Technologies nowadays, in the particular case of robotics, poses an overwhelrning challenge to the institution of Liability. Following, this paper examines and describes the regulatory proposals and judicial opinions for which the dogmatíc prernises of liability for unlawful damages that may occur within the frarnework of this novel scenario have been pretended to be adequate; The cliscourse of the paper addresses to adapt the main regimes of liability in the Colornbian legal system towards the afore mentionecl unlawful damages. Both, the strict liability and the liability based on fault, are suitable for rnost of the cases scrutinized in the investigation, except far those related to artificial intelligence. This text culminates aspiring that, due to this particularity, the compensation of the damage suffered by the victims of Al devices should be assurned by a compensation fund, based on philosophical reasons.PregradoAbogado(a

Design, construction and control of a unidirectional tele-operated seismic simulator for testing small scale structural models

Este artículo presenta el diseño, construcción y control de un simulador sísmico uniaxial para modelos estructurales de pequeña escala. Inicialmente, el documento muestra el diseño de cada parte del simulador hasta llegar a la construcción de todo el prototipo. Luego, se halla un modelo matemático del simulador utilizando un procedimiento de identificación en el lazo de velocidad que se valida mediante respuesta en frecuencia. A partir del modelo identificado se diseñan los controladores de los lazos de velocidad y posición, que proveen al sistema el desempeño requerido. Finalmente, se presentan varias pruebas para la validación del simulador sísmico y se describe la interfaz de control remota desarrollada en Java®, que permite al usuario definir las señales de excitación, visualizar los registros obtenidos de la prueba y observar el video en línea desde Internet

Análisis de la incidencia de las instituciones creadas en el 2002 en la generación de empleo en Colombia (2002-2010)

La tesis busca explicar la incidencia de las reformas institucionales del año 2002 en el comportamiento del mercado laboral y la generación de empleo durante el periodo 2002-2010The thesis seeks to explain the impact of institutional reforms of 2002 in the behavior of the labor market and job creation during the period 2002-201

Active Disturbance Rejection Control of Horizontal-Axis Wind Turbines

Abstract. Wind turbines are complex nonlinear machines whose main objective is to convert the wind energy into electric power. These systems work in two main operating regions. In region 2, the energy captured must be maximized by forcing the turbine speed to proportionally track the wind speed; in region 3, the wind speed is too high and the energy captured must be dissipated and the turbine speed must be regulated to its nominal value. Wind turbines are systems with enormous challenges, not only because of the regulation of speed and power under highly nonlinear aerodynamics, but also due to the high efficiency required even when model uncertainties, periodic disturbances, flexible modes, or system faults are present. This dissertation addresses the control of horizontal-axis wind turbines operating in regions 2 and 3 under the active disturbance rejection control paradigm. New control schemes based on the active disturbance rejection philosophy are proposed in order to tackle three specific problems in wind turbine control, such as: a) wind energy capture maximization of wind turbines operating in region 2, b) regulation of speed and power of wind turbines operating in region 3, and c) reduction of periodic loads on the rotor and the structure of the wind turbine. The proposed schemes are validated using a 5 MW reference nonlinear large-scale wind turbine implemented in the FAST (fatigue, aerodynamics, structures and turbulence) code and tested under realistic 3-D wind speed field. The FAST code is considered as a standard wind turbine dynamic simulation tool in industry. The results showed that the proposed active disturbance rejection control schemes are effective for controlling the wind turbine in regions 2 and 3, with effective attenuation of the periodic load components of the blades.Doctorad

Implementation of a LQG controller for Seismic Protection of a structural model of one degree of freedom. Implementación de un Controlador LQG para la Protección Sísmica de un Modelo Estructural de un Grado de Libertad

Presenta el modelado y la identificación de una estructura de un grado de libertad, así como el diseño de un controlador activo LQG que busca reducir las vibraciones de la estructura de un piso ante excitaciones sísmicas en su base. El controlador usa como realimentación la aceleración del primer nivel de la estructura y se diseña con base en el modelado y la identificación del sistema estructural realizado. El modelo se validó experimentalmente y el desempeño del sistema de control se verificó en simulación y experimentalmente, excitando la estructura en su base con los sismos de El Centro y Armenia, observando disminuciones en la aceleración relativa de la estructura hasta en un 63,68 y desplazamientos relativos inferiores al 1 de la altura. This record was migrated from the OpenDepot repository service in June, 2017 before shutting down

China as a source of financial resources and cooperation for Latin America and the Caribbean: comparative analysis with Africa

Los dias 8 y 9 de enero de 2015 se llevó a cabo el Foro Celac 60-China en Pekin, el cual tenía por objetivo formalizar los esfuerzos por incrementar el desarrollo, la igualdad, el mutuo beneficio y la cooperación entre China y América Latina. En el acuerdo resultante del Foro, quedó consignado que los principios que guiarían estos esfuerzos y acercamientos serían los del respeto, la igualdad, la pluralidad, la apertura, la inclusión y la ausencia de condiciones, lo cual serviría para garantizar el establecimiento de formas creativas de cooperación para un desarrollo sostenible y, en especial, de contribuciones para el fortalecimiento de la cooperación Sur-Sur