ResumenEste trabajo presenta la validación de un sistema de control adaptativo por modelo de referencia con ley de control proporcional-derivativo MRAC-PD, que es usado como sistema de control de una mesa vibratoria de dos ejes. La mesa controlada se basa en un mecanismo biela-manivela utilizada para reproducir movimientos sísmicos sobre modelos a escala de estructuras civiles. El controlador MRAC-PD se diseñó en base a la regla MIT de optimización como mecanismo de adaptación de los parámetros proporcional y derivativo. Los resultados fueron mejores que los obtenidos con controladores MRAC con uno y dos parámetros de adaptación proporcionales, controladores adaptativos con predictor Smith para compensar el error introducido por los retardos de los sistemas, y un controlador Fuzzy. La validación de los sistemas de control se implementa en una plataforma hardware de 32 bits de Microchip y se accede de forma remota a través de la red nacional RENATA. Palabras clave: control adaptativo, controlador MRAC-PD, predictor Smith, mesa vibratoria, biela-manivela Model Reference Adaptive Controller for Biaxial Shaking Table Based on the Slider-Crank Mechanism AbstractThis work shows the validation of a model reference adaptive controller with proportional-derivative control law MRAC-PD. This model is designed as a control system of a shaking table with two axis, based on a slider-crank mechanism, and it is used to generate earthquakes on scale models of civilian structures. The MRAC-PD design was based on the MIT optimization rule as adaptation mechanism for the proportional and derivative parameters. The results are better than those obtained with MRAC controllers with one and two proportional adaptation parameters, adaptive controllers with Smith predictor to compensate the delay errors introduced by the systems and a Fuzzy controller. The validation of the control systems are implemented on a 32 bits hardware platform from Microchip and it is remotely accessed through the national RENATA network.
Different mechanisms have been designed to generate vibratory motion to test the evaluation of seismic control systems to be used in structural buildings. These systems are called "shaking-tables" and they are usually designed with linear actuators which facilitate the implementation of classical control systems for its proper operation. This paper presents a position fuzzy control system designed to control the displacement behavior of earthquakes on the shaking-table based on a slider-crank mechanism. The results show repeatability greater than 97%, adequate to the validation of anti-seismic controllers on small-scale models. KeywordsShaking table; seismic simulator; slider-crank mechanism; fuzzy control; intraclass correlation coefficient ICC. ResumenDiferentes mecanismos se han diseñado para generar movimientos vibratorios que ayuden a la evaluación de sistemas de control antisísmi-cos, para ser usados en edificaciones civiles. Estos sistemas denominados "mesas vibradoras" se diseñan generalmente con actuadores lineales los cuales facilitan la implementación de sistemas de control clásicos para su correcto funcionamiento. Este trabajo presenta un sistema de control fuzzy, orientado a controlar el comportamiento de desplazamiento de movimientos telúricos sobre una mesa vibratoria basada en un mecanismo biela-manivela; los resultados presentan una repetitividad superior al 97%, adecuada para la validación de controladores antisísmicos en modelos a pequeña escala. Palabras claveMesa Vibratoria; simulador sísmico; mecanismo biela-manivela; control Fuzzy; coeficiente de correlación intraclase ICC.Tecno. Lógicas., Edición Especial, octubre de 2013 [19]
The model-based design methodology is presented for the development of an experimental SEPIC-MPPT controller powered by a photovoltaic module, designed to extract water from a deep well using a DC submersible motor pump. To specify the proposed methodology, a photovoltaic panel was characterized under various conditions of solar radiation and the modeling of its Voltage-Current relationship was carried out. The best tilt angle for the installation was determined to be nine degrees (9°). Similarly, a SEPIC controller was developed from model-based design. The results obtained showed an average adjustment error of less than 4%, on the performance parameters contrasted in the modeled / experimental system. The efficiency achieved by the SEPIC-MPPT controller was 85.26%. It is concluded that the methodology implemented for the design is coherent and valid for the development of SEPIC-MPPT controllers with application in underground water extraction systems, in areas with photovoltaic potential.
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