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Master's Dissertation
DOI
10.11606/D.3.2018.tde-21092018-150106
Document
Author
Full name
Guilherme Scabin Vicinansa
Institute/School/College
Knowledge Area
Date of Defense
Published
São Paulo, 2018
Supervisor
Committee
Silva, Paulo Sergio Pereira da (President)
Novaes, Carlos Eduardo de Brito
Romano, Rodrigo Alvite
Title in English
Algebraic estimators with applications.
Keywords in English
Adaptive control
Algebraic estimators
Logic-based control
Nonlinear control
Abstract in English
In this work we address the problem of friction compensation in a pneumatic control valve. It is proposed a nonlinear control law that uses algebraic estimators in its structure, in order to adapt the controller to the aging of the valve. For that purpose we estimate parameters related to the valve's Karnopp model, necessary to friction compensation, online. The estimators and the controller are validated through simulations.
Title in Portuguese
Estimadores algébricos com aplicações.
Keywords in Portuguese
Atrito
Controle adaptativo
Estimação paramétrica
Válvulas
Abstract in Portuguese
Nessa pesquisa, estudamos o problema de compensação de atrito em válvulas pneumáticas. É proposta uma lei de controle não linear que tem estimadores algébricos em sua estrutura, para adaptar o controlador ao envelhecimento da válvula. Para isso, estimam-se os valores de parâmetros relacionados ao modelo de Karnopp da válvula, necessários à compensação do atrito, de maneira online. Os estimadores e o controlador são validados através de simulações.
 
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Publishing Date
2018-09-26
 
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