Dissertations / Theses on the topic 'Torque model'

The electrical activity of skeletal muscle¡ªthe electromyogram (EMG)¡ªis of value to many different application areas, including ergonomics, clinical biomechanics and prosthesis control. For many applications the EMG is related to muscular tension, joint torque and/or applied forces. In these cases, a goal is for an EMG-torque model to emulate the natural relationship between the central nervous system and peripheral joints and muscles. This thesis mainly describes an experimental study which relates the simultaneous biceps/triceps surface EMG of 12 subjects to elbow torque at seven joint angles (ranging from 45¡ÃƒÂ£to 135¡ÃƒÂ£) during constant-posture, quasi-constant-torque contractions. The contractions ranged between 50% maximum voluntary contractions (MVC) extension and 50% MVC flexion. Advanced EMG amplitude (EMG¦Ãƒâ€™) estimation processors were investigated, and three nonlinear EMG¦Ãƒâ€™-torque models were evaluated. Results show that advanced (i.e., whitened, multiple-channel) EMG¦Ãƒâ€™ processors lead to improved joint torque estimation, compared to unwhitened, single-channel EMG¦Ãƒâ€™ processors. Depending on the joint angle, use of the multiple-channel whitened EMG¦Ãƒâ€™ processor with higher polynomial degrees produced a median error that was 50%-66% that found when using the single-channel, unwhitened EMG¦Ãƒâ€™ processor with a polynomial degree of 1. The best angle-specific model achieved a minimum error of 3.39% MVCF90 (i.e., error referenced to MVC at 90¢X flexion), yet it does not allow interpolation across angles. The best model which parameterizes the angle dependence achieved an error of 3.55% MVCF90. This thesis also summarizes other collaborative research contributions performed as part of this thesis. (1) Decomposition of needle EMG data was performed as part of a study to characterize motor unit behavior in patients with amyotrophic lateral sclerosis (ALS) [with Spaulding Rehabilitation Hospital, Boston, MA]. (2) EMG-force modeling of force produced at the finger tips was studied with the purpose of assessing the ability to determine two or more independent, continuous degrees of freedom of control from the muscles of the forearm [with WPI and Sherbrooke University]. (3) Identification of a nonlinear, dynamic EMG-torque relationship about the elbow was studied [WPI]. (4) Signal whitening preprocessing for improved classification accuracies in myoelectric control of a prosthesis was studied [with WPI and the University of New Brunswick].

A linear neuromuscular model was developed and incorporated within a driver/vehicle model. Optimal control was used to minimise metabolic energy and path-following error. Simultaneous feed-forward and feedback operation was observed, with the stretch reflex loop acting to reject disturbances. A trade-off between minimising the feedback error signal and energy consumption exists that has not been previously identified. A non-linear, Huxley/Zahalak-based model of an agonist/antagonist muscle pair connected to a second order load was implemented (the ‘MDM’ model). Mechanistic and energy consumption predictions compare favourably with published data. The model was linearized, to allow incorporation within a linear neuromuscular framework. A suitable model structure was fitted using parametric methods. A novel, linear, energy consumption model was proposed. A parameter study of the MDM model was carried out. Variable natural length behaviour was observed, consistent with real muscle operation. Findings suggested that the stretch reflex gain is not large enough to account for low frequency behaviour observed by some researchers for ‘stochastic disturbance’ type experiments. An optimal controller representing cognitive influence was shown to account for this behaviour. A Box-Jenkins method for identifying intrinsic and reflex dynamics models (on the basis of reflex delay) was developed and validated. The impact of the stretch reflex gain and noise levels on identification success was investigated. Intrinsic and reflex models were identified from eight test subjects’ data. The closed-loop neuromuscular model agreed well with measured data, and was generally consistent with MDM model predictions. Low frequency control action and changes in stretch reflex dynamics were observed, stemming from cognitive influence. Other researchers have failed to account for this.

Optimizing the performance of internal combustion engines increases complexity of control strategies and makes the calibration process long and expensive. The first activity of this Thesis explains the possibility of reduce tests on the bench saving in terms of working hours and operating costs. In particular, through MATLAB codes, it’s shown how extrapolating data of spark advance min and extramin from the spark advance dynamic sweep. The tests are usually demanded by the ECU supplier, who is responsible for the final calibration, but the calibrator engineer still has the task of checking the work of the supplier. For this reason the second activity of this Thesis was to create a simplified Torque-based model that determines the behavior and response of the engine (R2 = 0.98). Cases of study are explained in details and various simulations are realized.

For decades models have been developed for predicting the size of the weld nugget and heat affected zones in fusion welded structures. The basis for these models is the welding heat input, which is fairly well understood for most arc welding processes. However, this traditional approach is not as straightforward for Friction Stir Welding (FSW). To date, there is no definitive relationship to quantify the heat input for FSW. An important step to establish a heat input model is to identify how FSW process parameters affect weld power. This study details the relationship between FSW process parameters and torque for three different aluminum alloys: 7075, 5083 and 2024. A quantitative weld power and heat input model is created from the torque input. The heat input model shows that decreasing the spindle speed or increasing the feed rate significantly decreases the heat input at low feed rates. At high feed rates, feed rate and spindle speed have little effect on the heat input. Process parameter versus heat input trends are verified by measurements of the weld heat affected zones. In addition, this study outlines and validates the use of a variable spindle speed test for determining torque over a broad range of parameters. The variable spindle speed test provided significant improvements over previous methods of determining torque as this new method enabled the torque to be modeled over a broad range of parameters using a minimum number of welds. The methods described in this study can be easily used to develop torque models for different alloys and materials.

<p>The importance of control systems and diagnostics in vehicles are increasing and has resulted in several new methods to calculate better control signals. The performance can be increased by calculating these signals close to optimum, but that also require more and precise information regarding the system.</p><p>One of the wanted control signals are the crankshaft torque and the thesis presents two different methods to estimate this torque using engine speed variations. These methods are Modeling of the Crankshaft and Frequency Analysis. The methods are evaluated and implemented on for a four cylinder SAAB engine. Measurements are made in an engine test cell as well as a vehicle.</p><p>The results show that the Modeling of the Crankshaft method does not produce a satisfying estimation, with a difference of about 200% between estimated and calculated torque. On the other hand, the Frequency Analysis provides an accurate estimation of both mean and instantaneous indicated torque, with a maximum difference of ±20% between estimated and calculated torque.</p>

This thesis deals with advanced modelling and control of energy efficient automotive drivetrains with torque-fill capability during gearshifts. The literature discussing automotive transmission technology, in particular manual transmissions, automated manual transmissions (AMTs) and dual clutch transmissions (DCTs), with the respective gearshift control methodologies, is reviewed in detail. To increase the overall drivetrain efficiency and address the problem of AMT torque interruption during the shift transients, a novel transmission layout, named as ‘6+2’ in the remainder of the thesis, is introduced. The ‘6+2’ is based on the hybridisation of an AMT. In this layout the torque-fill functionality is achieved via an embedded electric motor drive, which is connected to the transmission output shaft. The gearshift performance of the ‘6+2’ is analysed and compared to that of the DCT of a case study high performance passenger car, through a high-fidelity model-based method and objective gearshift performance indicators. The gearshift simulation models are validated in terms of longitudinal acceleration profiles, with gearshift test data provided by the industrial sponsors of the project, Oerlikon Graziano (Italy) and Vocis Driveline Controls (UK). The analysis shows that with the current ‘6+2’ prototype full torque-fill is supported for gearshifts of up to 40% of driver torque demand. This thesis proposes a novel optimal gearshift controller for the clutch reengagement phase of the ‘6+2’. The controller is designed with the purpose of simultaneously reducing clutch energy dissipation and providing smooth clutch engagement. The computationally efficient structure of this controller facilitates its real-vehicle implementation. The performance of the controller is evaluated on the gearshift simulator and compared to that of the conventional gearshift controller of the prototype ‘6+2’. Significant reductions (53% on the average) in clutch dissipation energy are achieved with the proposed control structure. A similar optimal controller and a model predictive controller are designed and successfully assessed for the inertia phase of the case study DCT. The objectives of these advanced formulations are tuneable reductions clutch dissipation losses, smooth clutch engagement, and capability of handling variations in the oncoming clutch torque, determined by the driver input on the accelerator pedal.

The aim of this thesis is to address the design of a torque vectoring system for an electric All-Wheel-Drive car. The torque vectoring objective is to substitute the need of a mechanical differential in case of an electric car with four individual hub motors. It can be exploited also to perform various forms of electronic stability, such as traction and launch control, improving safety, sports performance and off-road capabilities of vehicles. These technologies involve individual control of each wheel’s drive torque or braking force in response to the dynamics of the driving conditions and the driver’s intentions. This work present a non-linear model derived from a Lagrangian approach to the solution of the control problem, that is then studied at the equilibrium point along a curvilinear trajectory.

Spin torque oscillators (STOs) are microwave oscillators with an attractive blend of features, including a more-than-octave tunability, GHz operating frequencies, nanoscale size, nanosecond switching speed and full compatibility with CMOS technology. Over the past decade, STOs' physical phenomena have been explored to a greater extent, their performance has been further improved, and STOs have already shown great potential for a wide range of applications, from microwave sources and detectors to neuromorphic computing. This thesis is devoted to promoting the STO technology towards its applications, by means of implementing the STO's electrical model, dedicated CMOS integrated circuits (ICs), and STO-CMOS IC integration. An electrical model, which can capture magnetic tunnel junction (MTJ) STO's characteristics, while enabling system- and circuit-level designs and performance evaluations, is of great importance for the development of MTJ STO-based applications. A comprehensive and compact analytical model, which is based on macrospin approximations and can fulfill the aforementioned requirements, is proposed. This model is fully implemented in Verilog-A, and can be used for efficient simulations of various MTJ STOs. Moreover, an accurate phase noise generation approach, which ensures a reliable model, is proposed and successfully used in the Verilog-A model implementation. The model is experimentally validated by three different MTJ STOs under different bias conditions. CMOS circuits, which can enhance the limited output power of MTJ STOs to levels that are required in different applications, are proposed, implemented and tested. A novel balun-low noise amplifier (LNA), which can offer sufficient gain, bandwidth and linearity for MTJ STO-based magnetic field sensing applications, is proposed. Additionally, a wideband amplifier, which can be connected to an MTJ STO to form a highly-tunable microwave oscillator in a phase-locked loop (PLL), is also proposed. The measurement results demonstrate that the proposed circuits can be used to develop MTJ STO-based magnetic field sensing and microwave source applications. The investigation of possible STO-CMOS IC integration approaches demonstrates that the wire-bonding-based integration is the most suitable approach. Therefore, a giant magnetoresistance (GMR) STO is integrated with its dedicated CMOS IC, which provides the necessary functions, using the wire-bonding-based approach. The RF characterization of the integrated GMR STO-CMOS IC system under different magnetic fields and DC currents shows that such an integration can eliminate wave reflections. These findings open the possibility of using GMR STOs in magnetic field sensing and microwave source applications.<br><p>QC 20151112</p>

Thesis (M.S.)--Worcester Polytechnic Institute.<br>Keywords: system identification; EMG; optimal sampling rate; linear torque model; EMG-torque model; EMG amplitude; torque. Includes bibliographical references (p. 77-86).

Hybrid feedforward-feedback controllers are a valid alternative to the standard feedback PID controllers which are usually adopted in Industrial Automation. A correct feedforward action can increase the controller performances and it can also function as a real time fault detector in order to avoid dangerous crashes, while feedback is necessary to guarantee controller stability. This thesis focuses on the problem of determining the correct feedforward torque to control a servomechanism by providing two different procedures. First, a model-based approach is discussed with the idea to evaluate, through a Gaussian process based machine learning algorithm, the proper feedforward action to steer the mechanism along a given trajectory, starting from a known training set. The realization of the ideal model through the Euler-Lagrange procedure is reported, as well as the the Gaussian process training and test procedures. Then, an empirical approach is presented, which is able to determine the mechanical parameters of the system in order to evaluate the necessary feedforward torque through the Euler dynamical equation. Finally, these procedures are tested on a physical test bench and on an specific axis motion in the Wrap 250 packaging machine from TMC. The results from these tests display an average reduction of the feedback current for both the model-based and the empirical approaches, proof that the feedforward branch is working in cooperation with the feedback control loop.

The anti-torque mechanism of a NOTAR helicopter is a complex system including vertical tail and pressurized tail boom which provides air ejection used for both circulation control around the boom and creating directed jet air at the end of the boom. This thesis targets the modeling of this mechanism and integrating it to a helicopter simulation model. Flight tests are performed on the MD 600N helicopter to verify the results. Finally, the simulation is compared with flight test data.

Use of permanent magnets made of rare earth materials such as samarium cobalt and neodymium-boron-iron in Permanent Magnet Synchronous Motor (PMSM) drives has resulted in high flux density and improved performance of the drive. Field Oriented Control (FOC) has become one of the most popular speed and torque control techniques for AC motors. In PMSM drive detection/computation of rotor position is crucial for ensuring high performance during FOC. Rotor position is often sensed by incremental encoders or resolvers. The use of positon sensors in motor speed control increases the cost, size, weight and wiring complexity, and reduces the mechanical robustness and reliability of the PMSM drive systems. Sensor-less speed control techniques overcome these drawbacks related to estimation of speed and rotor position. The PMSMs are generally employed in industrial servo applications because of their fast dynamic performance. However, PMSMs suffers from ripples in the torque produced. Torque ripples in PMSM are produced because of cogging, current measurement error, switching of inverter and harmonics in magnetic flux. Torque ripples also leads to fluctuations in speed thus limiting the use of PMSM in several servo applications. Torque ripples could be minimized in applications that demand accurate speed/position tracking. The present work aims to explore use of different modern control techniques to minimize torque ripples in the operation of PMSM drives in comparison to previously reported control techniques. The objectives of the research include – a) modelling, design and development of laboratory prototype of PMSM drive, b) design and implementation of improved artificial neuro fuzzy inference system (ANFIS) based model reference adaptive control (MRAC) observer for sensor-less control of PMSM, v c) minimization of stator current ripples and torque ripples in PMSM drive using advanced predictive current controller (APCC) based on Dead Beat (DB) control theory d) minimization of torque ripples using intelligent hybrid controller (IHC) and e) torque ripple minimization by model predictive control of PMSM using proportional-plus- integral resonant (PI-RES) controller. The strategies to reduce torque ripples, that have been reported in the literature, may be classified into a) approaches based on the design improvement of the motor, b) methods based on control techniques or c) a combination of these two. The most critical aspect in high performance drive is the choice of the control algorithm that minimizes the torque ripples effectively for a given application. In this research work, a laboratory hardware prototype is designed and developed for real time analysis of PMSM drive based on sensor-less field-oriented control. An experimental setup is developed for implementation of FOC on PMSM using dSPACE DS1104 controller and performance of the drive is analysed using different control techniques. An improved ANFIS based MRAC observer is designed and implemented for FOC of PMSM with space vector PWM (SVPWM). In the proposed method adaptive model and adaptive mechanism are replaced by an improved ANFIS controller, which neutralize the effect of parametric variation and results in improved performance of the drive. The required rotor position and speed are estimated using the proposed MRAC observer. Simulation studies using MATLAB/Simulink and comparative analysis of the conventional MRAC based observer with improved ANFIS based MRAC observer show that better dynamic performance of the PMSM drive is achieved using the improved ANFIS based MRAC. vi An advanced predictive controller (APCC) based on deadbeat (DB) control theory is also developed and analysed for reduction of torque ripples in PMSM. The performance of the proposed APCC based on DB control theory are compared with hysteresis based direct current controller (DCC) and duty cycle-based model predictive controller (Duty-MPCC) under different operating condition through simulation studies using MATLAB/Simulink. It is observed that the implementation of proposed APCC results in better dynamic performance with less ripples in torque and stator currents, and lesser THD in stator current as compared to DCC and Duty-MPCC. An intelligent hybrid controller (IHC) has also been developed and implemented for FOC of PMSM to minimize torque ripples for constant torque operation. The proposed IHC is designed by combining a fuzzy logic controller (FLC) with PI controller with a novel switching capability. The intelligent switching decision of the developed IHC is based on overshoots, undershoots and oscillations observed in the system. Simulation studies for the FOC of PMSM using the proposed IHC indicates better dynamic performance with lesser torque ripples and lower THD in stator current in comparison with conventional PI controller. In addition, a proportional-plus-integral resonant (PI-RES) controller is designed and implemented for FOC of PMSM with model predictive controller (MPC) to minimize torque ripples for constant torque operation. The MPC is designed to provide the optimal voltage vector by minimizing the objective function calculated from stator current prediction for k th instant. The PI-RES controller is developed by combining a resonant controller with PI controller. Due to the compensating torque current produced by the resonant controller and reference current from the PI controller, ripples in the speed response are minimized. A PI- RES controller generates the reference pulsating torque current, which counteracts the ripples vii in load torque. The FOC of PMSM with MPC using PI-RES is simulated in MATAB/Simulink and the performance of the drive is compared with MPC using PI controller. The proposed FOC of PMSM with MPC using PI-RES demonstrate better dynamic performance, lower torque ripples and lower THD in stator current in comparison with conventional PI controller based MPC.

Este trabalho apresenta um método de estimativa de torque do joelho baseado em sinais eletromiográficos (EMG) durante terapia de reabilitação robótica. Os EMGs, adquiridos de cinco músculos envolvidos no movimento de flexão e extensão do joelho, são processados para encontrar as ativações musculares. Em seguida, mediante um modelo simples de contração muscular, são calculadas as forças e, usando a geometria da articulação, o torque do joelho. As funções de ativação e contração musculares possuem parâmetros limitados que devem ser calibrados para cada usuário, sendo o ajuste feito mediante a minimização do erro entre o torque estimado e o torque medido na articulação usando a dinâmica inversa. São comparados dois métodos iterativos para funções não-lineares como técnicas de otimização restrita para a calibração dos parâmetros: Gradiente Descendente e Quasi-Newton. O processamento de sinais, calibração de parâmetros e cálculo de torque estimado foram desenvolvidos no software MATLAB®; o cálculo de torque medido foi feito no software OpenSim com sua ferramenta de dinâmica inversa.<br>This work presents a method for knee torque estimation based on electromyographic signals (EMG) during robotic rehabilitation therapy. EMG, taken from five muscles acting during flexion and extension movements of the knee joint, are processed to get the muscle activations. Then, through a simple model of muscle contraction, the forces are computed and knee torque estimated using the joint geometry. Muscle activation and muscle contraction functions have bounded parameters to be adjusted for each user. This adjustment is made by minimizing the error between the estimated torque and the measured torque in the joint computed via inverse dynamics. Two iterative methods for constrained nonlinear optimization are compared, escending Gradient and Quasi-Newton. Signal processing, parameters calibration and estimated torque calculation are developed in the MATLAB® software. Measured torque calculation is performed on OpenSim software using the dynamic inverse tool.

<p>In recent years Hardware-in-the-Loop HiL, has gained more and more</p><p>popularity within the vehicle industry. This is a more cost effective research alternative, as opposed to the tests done the traditional way, since in HiL testing the idea is to test the hardware of interest, such as an electronic control unit, in a simulated (or partially simulated) environment which closely resembles the real-world environment.</p><p>This thesis is ordered by Daimler Chrysler AG and the objective of this thesis is the developing of a cylinder-by-cylinder model for the purpose of emulation of misfire in a four-stroke SI-engine. This purpose does not demand a precise modelling of the cylinder pressure but rather an adequate modelling of position and amplitude of the torque produced by each cylinder. The model should be preferebly computaionally tractable so it can be run on-line. Therefore, simplifications are made such as assuming the rule of a homogenous mixture, pressure and temperature inside the cylinder at all steps, so the pressure model can be analytical and able to cope with the real-time demand of the HiL. The model is implemented in Simulink and simulated with different sample rates and an improvement is to be seen as the sample rate is decreased.</p>

In order to make a profit in any earthmoving operation it is important to plan the operation, select the appropriate equipment and use the haul units efficiently in order to obtain the maximum productivity. Maximizing productivity is one of construction project management personnel's primary objectives, but can also be one of their greatest challenges. The need for effective productivity planning is obvious since productivity ultimately translates into profit. In order to plan an earthmoving operation it is important to understand the travel times of the hauling equipment. Travel time is a variable that, in turn, depends upon other variables associated with the haul unit, and the haul road conditions. Presently there is no travel time model that appropriately considers these factors and simulates the interactions among them such that more detailed analysis could be performed. Such a model needs to be developed. The objective of this research is to develop a detailed model to simulate the travel time considering, in the amount of detail needed, the variables upon which travel time is dependent. The key in the development of the model is the calculation of acceleration. The simulation of how instantaneous acceleration varies may be a complex procedure because instantaneous acceleration is a function of numerous variables, many of which are in turn functions of the velocity and position, which are themselves integral functions of acceleration. The acceleration of a vehicle is dependent on the vehicle characteristics, road conditions, and operator. It is very difficult to consider changes in instantaneous acceleration by using analytical procedures. A numerical method should be used in order to analyze the complex system and determine the travel time or velocity profile of the vehicle. MATLAB software was used to analyze and solve the complex system numerically. A model that considers that the machine is working at full capacity was developed. It considers the variables that affect travel time in the amount of detail needed. The impact that the operator has in the machine performance can be highlighted after a comparison of the results obtained with actual field data, once the model is calibrated.<br>Master of Science

The thesis deals with the design of a permanent magnet synchronous machine controller that isimplemented on an embedded platform to replace the off-the-shelf controller currently being used in theelectric race car of the KTH Formula Student team. Software implementation of the control algorithmwas tested in laboratory environment on the hardware prototype of a 2-level three-phase voltage sourceinverter.Field oriented control and finite control set model predictive control algorithms were implemented insimulation environment. The latter performed better in terms of reducing switching activity and torqueripple, but needs vastly more computational resources due to its nature of being an online optimizationproblem. Trade-off curve of phase current harmonic distortion and switching activity showed that themodel prediction control algorithm performs better in the low frequency range (1-20 kHz). Obtainedsimulation results were used for power electronics component selection.Field oriented control was implemented on a TMS320F28335 DSP. SPI communication was employedto configure gate driver circuits and perform error handling. The DSP program follows interrupt basedorganization and the main control loop runs on the variable frequency of the pulse width modulation.Low voltage test results on three-phase inductive-resistive load showed that the controller outputssinusoidal current. Efficiency measurement, high voltage and motor testing were hindered by interferencefrom the Silicon-Carbide MOSFETs that prohibited correct operation of hardware.<br>Den här uppsatsen handlar om designen och implementeringen av en motorstyrning för en permanen- magnetiserad synkronmotor, med syfte att ersätta standardmotorstyrningsenheten i KTH Formula Students tävlingsbil. Implementationen av styralgoritmen testades experimentellt tillsammans med en prototyptillverkad frekvensomriktare i labbmiljö. Regleralgoritmer för field oriented control och finite control set model predictive control implementerades och testades i simuleringsmiljö. Den senare algoritmen visade sig prestera bättre i form av lägre vridmomentsoscillationer trots lägre switch-frekvens men den kräver samtidigt mer beräkningskraft. Övertonsinnehållet (THD) i fasströmmarna som funktion av switchfrekvensen undersöktes för de båda regleralgoritmerna, algoritmen för model predictive control gav lägre THD vid lägre frekvenser (1-20 kHz). Simuleringsresultaten användes för att motivera valet av komponenter till frekvensomriktaren. Regleralgoritmen för field oriented control implementerades och testades experimentellt med hjälp av ett utvecklingskort (TMS320F28335) från Texas Instruments. SPI-kommunikation användes för att konfigurera drivkretsana samt för att utläsa felkoder. Experimentalla tester som utfördes på låg spänningsnivå visade att strömmen till lasten var sinusformad. Mätning av verkningsgrad och provning tillsammans med motorn på en högre spänningsnivå gick inte att geno av att de snabba switchförloppen i kiselkarbidtransistorerna störde ut motorstyrningen.

<p>Continuously throughout the process of developing Engine Control Units (ECU), the ECU and its control functions need to be dimensioned and tested for the engine itself. Since interaction between an ECU and a physical engine is both expensive and inflexible, software models of the engine are often used instead. One such test system, where an ECU interacts with software models, is called Hardware-in-the-Loop (HiL). This thesis describes a model constructed to facilitate implementation on a HiL testbed. </p><p>The model, derived in Matlab/Simulink, is a Cylinder-by-Cylinder Engine Model (CCEM) reconstructing the angle synchronous torque of a diesel engine. To validate the model, it has been parameterised for the DaimlerChrysler engine OM646, a straight turbocharged four cylinder diesel engine, and tested towards measured data from a Mercedes-Benz C220 test vehicle. Due to hardware related problems, validation could only be performed for low engine speeds where the model shows good results. Future work around this theme ought to include further validation of the model as well as implementation on HiL.</p>

Mathematical relationships have long been used to describe many aspects of muscle function such as the relationship between muscle force and muscle length, muscle force and velocity of contraction or the degree of muscle activation during a contraction. During this work various mathematical expressions have been employed in order to gain an insight into different aspects of muscle activity. The first part of the work examined whether performing a strength protocol on a dynamometer can lead to an increase in eccentric strength output as well as in the neuromuscular activation of the quadriceps group of muscles that appears inhibited during slow concentric and fast eccentric contractions. Neuromuscular activation was modelled via a three-parameter sigmoid function that was also tested for robustness to perturbations in the maximum activation values. During the second part of the study the "functional" hamstrings to quadriceps ratio H:Qfun was expressed as a function of two variables i.e., angular velocity and joint angle. Initially nine-parameter torque-angular velocity-angle profiles were obtained for the knee extensors and flexors from a group of participants. A theoretical 17- parameter H:Qfun function was then derived for each dataset. Subsequently, a simpler, 6-parameter function was derived, RE = aexp(bωn + cθm)-dω1/2θ2 that best reproduced the original 17-parameter fit. Finally, a six-segment subject specific torque-driven model of the Snatch lift was developed in order to investigate the optimal mechanics of the lift. The model simulated the lift from its initiation until the end of the second pull when the feet of the athlete momentarily leave the platform. The six-segment model comprised of foot, shank, thigh, torso (head + trunk), arm and forearm segments with torque generators at the ankle, knee, hip and shoulder joints respectively. The torque profiles were obtained using an isokinetic dynamometer.

A computer simulation model of a springboard and a diver was developed to investigate diving takeoff techniques in the forward and the reverse groups. The springboard model incorporated vertical, horizontal and rotational movements based on experimental data. The diver was modelled as an eight-segment link system with torque generators acting at the metatarsal-phalangeal, ankle, knee, hip and shoulder joints. Wobbling masses were included within the trunk, thigh and shank segments to allow for soft tissue movement. The foot-springboard interface was represented by spring-dampers acting at the heel, ball and toes of the foot. The model was personalised to an elite diver so that simulation output could be compared with the diver's own performance. Kinematic data of diving performances from a one-metre springboard were obtained using high speed video and personalised inertia parameters were determined from anthropometric measurements. Joint torque was calculated using a torque / angle / angular velocity relationship based on the maximum voluntary torque measured using an isovelocity dynamometer. Visco-elastic parameters were determined using a subject-specific angledriven model which matched the simulation to the performance in an optimisation process. Four dives with minimum and maximum angular momentum in the two dive groups were chosen to obtain a common set of parameters for use in the torque-driven model. In the evaluation of the torque-driven model, there was good agreement between the simulation and performance for all four dives with a mean difference of 6.3%. The model was applied to optimise for maximum dive height for each of the four dives and to optimise for maximum rotational potential in each of the two dive groups. Optimisation results suggest that changing techniques can increase the dive height by up to 2.0 cm. It was also predicted that the diver could generate rotation almost sufficient to perform a forward three and one-half somersault tuck and a reverse two and one-half somersault tuck.

Friction force oscillations caused by changing properties of the contact zone between brake disc and pad are well known from various applications. Resulting effects like brake judder are known phenomena in brake technologies and in the scope of various scientific work. A new measure to potentially reduce brake torque oscillations is the active compensation with the use of the control system of a self-energizing hydraulic brake (SEHB). New in comparison to traditional disc brakes is the fact that the brake torque is measured by the pressure in an additional supporting cylinder. Thus, the brake system is able to work in brake torque control mode. Within this paper a dynamic simulation model of the SEHB is shown and evaluated with measurement data achieved from a full scale test rig for railway applications. Based on the simulation model a pressure control strategy is developed to minimize brake torque oscillations of lower frequencies. The control parameters of the simulation are transferred to the experimental setup. Finally, simulation and experimental results are compared. Future work will deal with the development of control strategies to additionally minimize brake torque oscillations of the higher dynamics.

This paper presents a numerical model for the evaluation of the actual torque in Gerotor units. The model consists of two major modules: the pre-processor module and the HYGESim module. The preprocessor module consists of the geometric and the mechanical module. The geometric pre-processor module considers the CAD geometry of Gerotor with tolerances as input and it provides as output the geometric features needed to evaluate the rotor loading and the flow features. The mechanical preprocessor module evaluates the forces of interaction at the contact points between the rotors. The flow displaced by the unit is evaluated using a lumped parameter model whereas the lubricating gaps are evaluated by solving the Reynolds Equation. The main novel aspects consist of the evaluation of the frictional losses at various interfaces. An Elasto-Hydrodynamic Lubrication (EHL) approach is used to evaluate the frictional losses at the contact points between the rotors. Tests on a prototype Gerotor unit are performed for the model validation, particularly as pertains to the features of the shaft torque. Additionally, the paper comments on the distribution of the different torque loss contributions associated with the operation of the unit taken as reference.

During the takeoff for a trampoline skill the trampolinist should produce sufficient vertical velocity and angular momentum to permit the required skill to be completed in the aerial phase without excessive horizontal travel. The aim of this study was to investigate the optimum technique to produce forward somersault rotation. A seven-segment, subject-specific torque-driven computer simulation model of the takeoff in trampolining was developed in conjunction with a model of the reaction forces exerted on the trampolinist by the trampoline suspension system. The ankle, knee, hip, and shoulder joints were torque-driven, with the metatarsal-phalangeal and elbow joints angle-driven. Kinematic data of trampolining performances were obtained using a Vicon motion capture system. Segmental inertia parameters were calculated from anthropometric measurements. Viscoelastic parameters governing the trampoline were determined by matching an angle-driven model to the performance data. The torque-driven model was matched to the performance data by scaling joint torque parameters from the literature, and varying the activation parameters of the torque generators using a simulated annealing algorithm technique. The torque-driven model with the scaled isometric strength was evaluated by matching the performance data. The evaluation produced close agreement between the simulations and the performance, with an average difference of 4.4% across three forward rotating skills. The model was considered able to accurately represent the motion of a trampolinist in contact with a trampoline and was subsequently used to investigate optimal performance. Optimisations for maximum jump height for different somersaulting skills and maximum rotation potential produced increases in jump height of up to 14% and increases of rotation potential up to 15%. The optimised technique for rotation potential showed greater shoulder flexion during the recoil of the trampoline and for jump height showed greater plantar flexion and later and quicker knee extension before takeoff. Future applications of the model can include investigations into the sensitivity of the model to changes in initial conditions, and activation, strength, and trampoline parameters.

The diploma thesis deals with a calculation and a construction concept of a balancing unit of a strait five cylinder combustion engine. The thesis contains the calculation and the construction concept of the balancing shafts. Also the concept of the calculation model of a driving mechanism with the balancing unit in MSC Adams – Engine is included.

This thesis describes computational control of vehicle powertrains using common variable, engine torque. The thesis is divided into three main parts. The first one shows design of methods for torque estimation using known or measured variables on the vehicle. The second part contains design of powertrain control algorithm utilizing the engine torque as a common variable among individual modules. The third part describes experimental optimization of the longitudinal acceleration of a vehicle using torque control.

Goal of this semestral thesis is development of chassis electronic stability control ESP. Thesis analyze kinematic model of chassis, design of dynamic model, which is used for simulation of designed systems. Final system will be used in Formule Student monopost.

Duchenne Muscular Dystrophy (DMD) is an X-linked recessive, progressive muscle-wasting disease characterized by mutations in the dystrophin gene. Duchenne muscular dystrophy is the most common and most severe form of inherited muscle diseases, with an incidence of 1 in 3,500 male births1,2. Mutations in the dystrophin gene result in non-functional dystrophin or the complete absence of the protein dystrophin, resulting in necrosis and fibrosis in the muscle, loss of ambulation, cardiomyopathies, inadequate or failure of respiratory function, and decreased lifespan. Although there has been little research for effective nutritional strategies, dietary intervention may be effective as an adjuvant treatment. In this study, wild type (WT) and mdx animals were provided either a control or elevated branched chain amino acid (BCAA) diet nocturnally for 25 weeks to determine if the elevated BCAAs would attenuate muscle torque loss. Twenty-five weeks of chronic, elevated BCAA supplementation had no impact on muscle function measures. Interestingly, mdx and WT animals had the same torque responses in the low stimulation frequencies (1 Hz – 30 Hz) compared to higher stimulation frequencies. Tetanus was reached at a much lower stimulation frequency in mdx animals compared to WT animals (100 Hz vs +150 Hz). The mdx mouse consistently had more cage activity in the light cycle X- and Y-planes. Interestingly, animals on the BCAA diet increased X-, Y-, and Z-plane activity in the dark cycles at four weeks while animals on the control diet more Z-plane activity at 25 weeks, although not significant. All three BCAAs were elevated in the plasma at 25 weeks, although only Leu was significantly elevated. The BCAAs had no effect on. The diaphragm and skeletal muscle masses were larger in mdx animals, and WT animals had a significantly larger epididymal fat pad. The active state of BCKDC determined by phosphorylation of the E1α enzyme was greater in WT animals in white skeletal muscle, but not red skeletal muscle. Protein synthesis effectors of the mTORC1 signaling pathway and autophagy markers were similar among groups. Wild type animals had increased mTORC1 effectors and animals on the BCAA diet had decreased autophagy markers, although not significant. Although BCAAs did not affect muscle function, fibrosis, or protein synthesis effectors, this study illustrates the functionality of mdx muscles over time. It would be interesting to see how the different muscle fiber types are affected by DMD, noting the differences between the diaphragm, heart, red muscle, and white muscle fibrosis markers. Although there was no increase in mTORC1 effectors with an elevated BCAA diet, it would be interesting to determine muscle protein synthesis, myofibrillar protein synthesis, and total protein turnover in the mdx mouse with an elevated BCAA diet, although the dietary intervention started when mice arrived at 4 weeks of age, earlier intervention may be beneficial early in the disease process.<br>Doctor of Philosophy<br>Duchenne Muscular Dystrophy (DMD) is an X-linked recessive, progressive muscle-wasting disease characterized by mutations in the dystrophin gene. Duchenne muscular dystrophy is the most common and most severe form of inherited muscle diseases, with an incidence of 1 in 3,500 male births1,2. Mutations in the dystrophin gene result in non-functional dystrophin or the complete absence of the protein dystrophin, resulting in necrosis and fibrosis in the muscle, loss of movement and walking ability, cardiomyopathies, inadequate or failure of respiratory function, and decreased lifespan. Although there has been little research for effective nutritional strategies, dietary intervention may be effective as an adjuvant treatment and palliative care. The branched chain amino acids (BCAAs) are known to directly stimulate muscle protein synthesis by direct activation of the mechanistic target of rapamycin complex 1 (mTORC1). This study aimed to illustrate the differences between diseased and healthy mice and determine if BCAAs can reduce muscle torque loss. Twenty-five weeks of chronic, elevated BCAA supplementation had no impact on muscle function measures. Interestingly, mdx and WT animals had the same torque responses in the low stimulation frequencies (1 Hz – 30 Hz) compared to higher stimulation frequencies. Tetanus was reached at a much lower stimulation frequency in mdx animals compared to WT animals (100 Hz vs +150 Hz). The mdx mouse consistently had more cage activity in the light cycle X- and Y-planes. Interestingly, animals on the BCAA diet increased X-, Y-, and Z-plane activity in the dark cycles at four weeks while animals on the control diet more Z-plane activity at 25 weeks, although not significant. All three BCAAs were elevated in the plasma at 25 weeks, although only Leu was significantly elevated. The BCAAs had no effect on. The diaphragm and skeletal muscle masses were larger in mdx animals, and WT animals had a significantly larger epididymal fat pad. The active state of BCKDC determined by phosphorylation of the E1α enzyme was greater in WT animals in white skeletal muscle, but not red skeletal muscle. Protein synthesis effectors of the mTORC1 signaling pathway and autophagy markers were similar among groups. Wild type animals had increased mTORC1 effectors and animals on the BCAA diet had decreased autophagy markers, although not significant. Although BCAAs did not affect muscle function, fibrosis, or protein synthesis effectors, this study illustrates the functionality of mdx muscles over time. It would be interesting to see how the different muscle fiber types are affected by DMD, noting the differences between the diaphragm, heart, red muscle, and white muscle fibrosis markers. Although there was no increase in mTORC1 effectors with an elevated BCAA diet, it would be interesting to determine muscle protein synthesis, myofibrillar protein synthesis, and total protein turnover in the mdx mouse with an elevated BCAA diet, although the dietary intervention started when mice arrived at 4 weeks of age, earlier intervention may be beneficial early in the disease process.

The Synchronous Reluctance Motor (SynRM) has been studied. A suitable machine vector modelhas been derived. The influence of the major parameters on the motor performance has beentheoretically determined.Due to the complex rotor geometry in the SynRM, a suitable and simple combined theoretical(analytical) and finite element method has been developed to overcome the high number ofinvolved parameters by identifying some classified, meaningful, macroscopic parameters.Reducing the number of parameters effectively was one of the main goals. For this purpose,attempt has been made to find and classify different parameters and variables, based on availableliteratures and studies. Thus a literature study has been conducted to find all useful ideas andconcepts regarding the SynRM. The findings have been used to develop a simple, general, finiteelement aided and fast rotor design procedure. By this method rotor design can be suitablyachieved by related and simplified finite element sensitivity analysis.The procedure have been tested and confirmed. Then it is used to optimize a special rotor for aparticular induction machine (IM) stator. This optimization is mainly focused on the torquemaximization for a certain current. Torque ripple is also minimized to a practically acceptablevalue. The procedure can also be used to optimize the rotor geometry by considering the othermachine performance parameters as constrains.Finally full geometrical parameter sensitivity analysis is also done to investigate the influence ofthe main involved design parameters on the machine performance.Some main characteristics like magnetization inductances, power factor, efficiency, overloadcapacity, iron losses, torque and torque ripple are calculated for the final designs and in differentmachine load conditions.Effects of ribs, air gap length and number of barriers have been investigated by means of suitableFEM based method sensitivity analysis.

Cette thèse est dédiée à la validation du modèle de Tracé de Rayons Vectoriels Complexes (VCRM - Vectorial Complex Ray Model en anglais) par la comparaison des diagrammes de diffusion avec les résultats de SIE- MLFMA (Surface Integral Equation with Multilevel Fast Multipole Algorithm en anglais) et les applications de MLFMA développé à la prédiction de la force de pression de radiation, le couple et la tension exercés sur des grosses particules non-sphériques par un faisceau laser. En introduisant la courbure du front d’onde comme une nouvelle propriété des rayons lumineux, VCRM apporte une amélioration considérable sur la précision et l’applicabilité du modèle de rayons pour la diffusion de la lumière par les particules non-sphériques. Cependant ses résultats pour les particules non-sphériques restent à valider. Alors, MLFMA est une méthode numérique très efficace pour traiter l’interaction de la lumière avec des particules de forme quelconque. Afin d’étendre sa capacité pour les grosses particules, dans cette thèse, MLFMA est améliorée et parallélisée. Le code mis au point permet d’obtenir des résultats exacts pour les particules de paramètre de taille supérieur à 600. Le bon accord entre les diagrammes de diffusion des grosses particules ellipsoïdales calculées par MLFMA et VCRM illustre la grande capacité de ces deux méthodes. Ensuite, le code MLFMA développé est appliqué au calcul de la force de pression de radiation (FPR) et le couple sur des particules homogènes de forme quelconque. Pour éviter l’imprécision de la description mathématique en champ lointain de faisceau laser, l’expression analytique de champs électromagnétiques dans la région proche de la particule est utilisée. La FPR et le couple sont donc calculés par le flux du vecteur du tenseur de Maxwell sur une surface sphérique incluant la particule. Cette méthode est très puissante et flexible permettant de prédire la FPR et le couple exercés par un faisceau de forme quelconque sur une grosse particule, comme des particules sphéroïdales, des particules de forme de globule rouge ou moteur. La FPR et le couple sont des effets mécaniques globaux d’un faisceau de lumière exercés sur une particule. La tension sur la surface d’une particule peut être importante dans l’étude des propriétés élastiques de certaines particules. Le code MLFMA développé est donc étendu au calcul de la tension de surface et VCRM a été appliqué à l’analyse le mécanisme de la tension sur des particules sphéroïdales.

My diploma thesis deals with a specific dynamic model of DC motor with the parameters obtained from the calculation and from the program using the finite element method. It shows how much accurate results can be achieved in the model, if you use only the values which can be measured, recorded and calculated on the engine. This thesis contens three parts. First part describes the structure and function of DC motor and the basic principle and the use of FEM. Next is calculation analytical and numerical parameters. The search parameters include torque, resistance and inductance of armature winding, resistance and inductance of excitation windings. The last part is dedicated to creating a dynamic model. Results from the dynamic model and measured values are compared in the conclusion of my thesis.

Táto práca pojednáva o problematike vytvárania a simulácie reluktančnej sieti synchrónneho stroja s V tvarovanými permanentnými magnetmi v programe PSpice. Na začiatku sa oboznámime s konštrukciou a parametrami stroja a potom vyvodíme základné rovnice na výpočet každého prvku siete. Vypočítame každý prvok tohto stroja a potom vytvoríme túto sieť v PSpice. Na začiatku je simulovaná sieť statická a všetky magnetické odpory sú lineárne. Neskôr nahradíme lineárne odpory reprezentujúce plechy nelineárnymi a počítame s precovnou teplotou permanentných magnetov. Potom porovnáme naše výsledky s FEM metódou počítanými hodnotami a vypočítame indukované napätie v jednej cievke stroja. Na záver vypočítame výkonovú a momentovú charakteristiku stroja.

This thesis focuses on the analysis of the dynamic behavior of the load from the measurement of stator currents of induction motor. Work is sorted from basic engine failures equations, mathematical models, types of signal processing, simulation and measurement. The practical part deals with the design of the motor model in Matlab Simulink, the simulated and the measurement of the pump BETA 12 YC On the Department of Fluid Engineering Victor Kaplan. Use appropriate types of signal processing evaluate the results. The aim of this work is to analyze the dynamic changes of the load.

This thesis deals with the analysis, design and test of three-phase high efficiency electrical motors, with particular reference to motors with a rotor winding. At first, the background and the motivations of this work are described. The bibliography on the subjects is deeply examined and a selection of the most relevant papers can be found in the reference. In this scenario, the main objective of this thesis are illustrated. The Line-Start (LS) Synchronous Machine (SyM) design is a subject under investigation since the beginning of the last century, when solid state power converters was not available to drive SyMs. The LS SyM diffusion was limited by the intrinsic difficulties in its design and by the availability of the cheaper and more robust Induction Machine (IM). The working principle of IM and LS SyM are briefly described, as well as the state of the art of the techniques of analysis. Recently, there is a renewed interest on LS SyMs due to the new efficiency requirements and fast analysis techniques are required for the LS SyM design. A Finite-Element (FE) aided analytical model is developed to simulate the LS SyM dynamic. The aim is to develop a model that gives reliable solutions with limited computational efforts compared with other analysis techniques. With this procedure, the LS SyM rotor parameters can be quickly calibrated to fulfill the dynamic load requirements. An innovative analysis technique of LS SyM steady state condition is described. Such an analysis is carried out in the same reference frame used for classical SyMs. It is shown that the analysis can be used to optimize some machine parameters. The issues in LS SyM manufacturing are introduced, with particular reference to the die casting process. The possibility to apply the recent improvements in the SRM design to LS SyM is discussed from the manufacturing point of view. Stochastic optimization has been adopted for the design of electrical motors to reduce the torque ripple, increase the average torque and reduce the losses. The LS SyM torque ripple reduction, achieving at the same time a high average torque, is an important issue even though this topic is not treated extensively in the literature for LS SyM. For this reason, a stochastic optimization is considered in this thesis for the design of a new LS SyM lamination. The analysis is applied on a small size, 2-pole, three-phase LS SyM as this category is still not found in the motor market. The optimization is carried out considering the necessity to achieve a robust design, suitable for the industrial production, as such a LS SyM must be competitive with the workhorse of electrical motors, the IM. One of the most promising design is prototyped. Its performance are compared with the corresponding IM. To demonstrate the feasibility in adopting LS SyM in the large-scale production, an innovative LS SyM design is proposed. The main aim is to use the same lamination for motors of different number of poles so as to reduce the manufacturing cost. A tradeoff between contrasting aspects is necessary in the design step. The performance achievable by these rotor structures are quantified. An analytical model that describes the mutual interaction between coupled electrical circuits in machines with complex rotor structure is developed. Such a model is useful to analyze the parasitic torques in the torque characteristic of motors with rotor cage such as IM and LS SyM. The literature reveals that this topic has been discussed extensively for IM. As regards LS SyM, there is a lack of theoretical studies regarding harmonic phenomena due to the complex machine structure. This part of the thesis aims to fill this gap. The high and unstable cost of rare-earth PMs, together with the advances in solid-state control technology, leads designers to reconsider IM for variable speed drive (VSD) applications. To the aim of making the IM suitable for the full-speed sensorless control, a particular cage design is considered. An intentionally created saliency is introduced in the rotor so as to allow the rotor position to be estimated by means of a high frequency (HF) injected signal in the stator winding also at zero-speed. Different experimental tests are carried out on IMs with asymmetrical rotor cage to validate the analysis techniques and quantify the achievable performance. As far as the HF signal injection sensorless technique is concerned, the cross-saturation differential inductance of SyMs represents an issue. It causes a rotor position estimation error, reducing the region in which such technique is effective. The proper-ties of the cross-saturation inductance are deeply discussed. It is originally shown that the cross-saturation inductance depends from certain machine parameters. With such an analysis, a designer can consider the effect of the cross-saturation inductance in any model-based control algorithm. A rotor winding is added in Surface-mounted permanent-magnet machine (SPM) to create a HF anisotropy that is useful to detect the rotor position by means of a HF signal injection. Such a configuration is called ”ringed-pole”. In literature, this technique has been used on small-size machines. In certain configuration, the presence of the additional rotor winding causes significant rotor losses. This part of the thesis studies the rotor losses in ringed pole machines by means of FE analysis and analytical models. The aim is to investigate if the ringed-pole technique can be adopted also for large machines from the point of view of additional losses. With few exceptions, the work described in this thesis is always supported by means of experimental measurements. Dedicated experiments has been designed. Their results are compared with those achieved with analytical models or FE analysis.<br>Questo lavoro di tesi è incentrato sull’analisi, la progettazione e la prototipazione di macchine elettriche trifase ad alto rendimento, con particolare riferimento a motori dotati di avvolgimenti rotorici. Inizialmente si descrivono le motivazioni di questo lavori di tesi e il contesto in cui essa si inserisce, illustrandone i principali obiettivi. Una dettagliata analisi bibliografica è alla base del lavoro svolto. Una selezione di questi lavori si trova nelle referenze. I motori sincroni autoavvianti (LS SyM) sono stati introdotti nella prima metà del novecento e la loro progettazione è soggetto di ricerca sin da allora. Essi non si sono mai affermati a causa della loro difficile progettazione e per la disponibilità del più robusto ed economico motore ad induzione (IM). Dopo aver descritto il principio di funzionamento di IM e LS SyM, se ne illustrano le tecniche di analisi sviluppate fino al giorno d’oggi. Negli ultimi anni vi è un rinnovato interesse verso i LS SyM grazie agli stringenti requisiti di rendimento. Vi è quindi la necessità di tecniche di progettazione veloci ed affidabili per LS SyM. I risultati di simulazioni agli elementi finiti sono stati combinati a modelli analitici per descrivere la complessa dinamica di LS SyM. L’obiettivo è quello di ottenere una risposta sufficientemente precisa in tempi molto più brevi rispetto ad altre tecniche di analisi. In questo modo si rende possibile una rapida e precisa calibrazione dei parametri rotorici necessari per soddisfare determinati requisiti di carico dinamico. Parte di questa tesi è dedicata allo sviluppo di una tecnica di analisi per LS SyM in condizioni di regime. Tale analisi `e condotta nello stesso sistema di riferimento usato nei classici modelli per macchine sincrone non autoavvianti. Si mostra che l’analisi proposta permette anche di ottimizzare alcuni parametri di macchina. Negli ultimi anni vi sono stati numerosi sviluppi nella progettazione di macchine sincrone a riluttanza, con o senza l’assistenza di magneti permanenti. In questa tesi si è voluto investigare sulla possibilità di applicare tali sviluppi ai LS SyM, tenendo in considerazione i vincoli costruttivi legati alla presenza della gabbia rotorica. Lo scopo è quello di ridurre il volume di magneti permanenti utilizzati per contenere i costi di produzione. Si è affrontato il problema dell’industrializzazione dei LS SyM, con particolare riferimento al processo di pressofusione del rotore. Nell’intento di ridurre il ripple di coppia, incrementare la coppia media e ridurre le perdite dei motori elettrici, recenti lavori propongono l’utilizzo di algoritmi di ottimizzazione stocastica nella fase di progettazione. I suddetti obiettivi sono basilari anche per LS SyM, anche se per questo tipo di motori la letteratura è meno fornita. Per questo motivo si è voluto utilizzare un algoritmo di ottimizzazione nella fase di progettazione della lamiera di un LS SyM. L’analisi è applicata ad un LS SyM trifase a 2 poli di piccola taglia, dato che ancora non si trovano nei cataloghi dei principali costruttori. L’ottimizzazione è sviluppata considerando la necessità di ottenere un progetto robusto e comunque adatto alla produzione industriale, dato che tale LS SyM deve essere competitivo con l’ormai consolidato IM. Una promettente struttura rotorica è stata prototipata. Le prestazioni ottenute sono confrontate con quelle del corrispondente IM. Si è proposta un innovativa configurazione di LS SyM per dimostrare la fattibilità del loro utilizzo su scala industriale. Lo scopo è quello di utilizzare la stessa lamiera per motori con un diverso numero di poli, riducendo di conseguenza il costo di produzione. Per fare ciò è necessario un compromesso tra aspetti contrastanti nel progetto. In questa parte di tesi, si è voluto quantificare le prestazioni ottenibili da tali geometrie nelle diverse configurazioni. In questa tesi si è sviluppato un modello analitico per caratterizzare l’interazione di circuiti elettrici accoppiati in strutture complesse quali quelle dei LS SyM. Questa analisi mira ad essere uno strumento per la determinazione analitica delle coppie parassite in motori dotati di gabbia rotorica come LS SyM e IM. La letteratura riporta un gran numero di lavori riguardanti la descrizione di coppie parassite nella caratteristica di coppia di motori IM. In LS SyM, l’analisi delle coppie parassite è molto più complessa a causa della struttura di macchina. In letteratura, gli studi analitici riguardanti gli effetti di armoniche di MMF in motori LS SyM sono pochi ed incompleti. L’elevato ed instabile prezzo dei magneti permanenti, assieme allo straordinario sviluppo dell’elettronica allo stato solido, ha spinto a riconsiderare il motore ad induzione per applicazioni a velocità variabile. In questo scenario, si è considerato un avvolgimento rotorico a gabbia di scoiattolo in cui i conduttori sono asimmetrici. Tale asimmetria permette il riconoscimento sensorless della posizione rotorica tramite iniezione di segnali ad alta frequenza negli avvolgimenti di statore anche a velocità molto basse. Sono stati condotti test sperimentali su prototipi di IM con gabbia asimmetrica allo scopo di verificare le tecniche di analisi e di quantificare le prestazioni ottenibili da tali geometrie. Proseguendo l’analisi delle problematiche riscontrate in controlli di tipo sensorless con iniezione di segnale, si sono approfondite le proprietà della mutua induttanza differenziale causata dal fenomeno della saturazione incrociata tra asse d e q in macchine sincrone. Essa causa un errore nella stima della posizione rotorica, riducendo di fatto l’applicabilità del controllo sensorless con iniezione di segnale. Dopo aver discusso in dettaglio le propriet`a di tale induttanza, si `e dimostrato che essa dipende da alcuni parametri di macchina. Con i risultati ottenuti, può essere intrapresa una serie di accorgimenti nel controllo della macchina volta a mitigare l’effetto negativo dell’induttanza mutua dovuta alla saturazione incrociata. Uno o più avvolgimenti rotorici possono essere introdotti anche in motori sincroni a magneti permanenti superficiali, allo scopo di estendere l’applicabilità del controllo sensorless con iniezione di segnale anche a questo tipo di motori. In questo tipo di macchine, denominate ”ringed-pole”, tali avvolgimenti rotorici possono essere sede di perdite importanti nel funzionamento a regime. In letteratura, questa tecnologia è stata applicata a motori di piccola taglia. In questo contesto, si sono studiate le perdite rotoriche di macchine ”ringed-pole” tramite analisi agli elementi finiti e modelli analitici. Lo scopo è quello di verificare se l’uso di tale tecnologia può essere esteso a macchine di taglia superiore dal punto di vista delle perdite rotoriche. Con poche eccezioni, gli argomenti di questa tesi sono validati tramite misure sperimentali. I risultati delle prove sperimentali sono confrontati con quelli provenienti da modelli analitici o da analisi agli elementi finiti.

Amputation of the lower limb may result in musculo-skeletal changes similar to those that occur following space flight, immobilisation and prolonged bed rest. The similarities desist when one considers the invasive nature of amputation surgery and the impact that partial loss of a limb has on the loading characteristics of the affected leg. The aim of this study was to determine the musculo-skeletal changes that occur following trans-femoral and trans-tibial amputation, and to compare differences in the musculo-skeletal characteristics of these groups, which may occur as a function of the modified loading environment. Unique to this investigation was the study of a new trans-femoral amputee, which was incorporated to investigate the time course of any changes in muscle and bone atrophy and decreases in muscle strength in the early post-operative period. This study was also designed to provide a comparison with longer-term amputees and examine relationships between muscle morphology and strength and identified changes in gait behaviour by reference to normal gait patterns. Eight unilateral trans-femoral and 8 trans-tibial amputees (mean age 35.2yrs. ± 9.8 and 35.3yrs. ± 8.9 respectively) were subjects in the study. There were 7 males and 1 female in each of the amputee groups. A control group of similar number was used, with subjects matched on age, weight, height and gender. In the first phase of the investigation dual energy x-ray absorptiometry and magnetic resonance imaging was used to measure bone mineral density (B:MD) of the lumbar spine (L2-IA) and femoral neck (FN) and to calculate the volume and cross-sectional area (CSA) of selected muscles. Strength evaluation was assessed by measurement of maximal isometric hip torque using a Kin-Com dynamometer. Gait analyses were undertaken to determine differences in the angular kinematics of the residual and sound limb together with an electromyographic (EMG) assessment of the onset and offset of the activity of 4 hip muscles of the residual and sound thigh, which was synchronised with the kinematic measures. Differences in ground reaction force (GRF) between the residual and sound limb of each group were also examined. A single case study involving a 19-year-old motor accident victim who sustained a traumatic trans-femoral amputation of his right leg was conducted to determine the structural and functional changes over a 9-month period. Structural and functional evaluations were repeated every 3 months, beginning at 4 months post amputation, using similar methodologies and procedures described for the longer-term amputees. In the longer-term amputees the volume and CSA of the residual musculature of the trans-femoral group was significantly lower by comparison with the sound limb and no difference was found between the residual and sound musculature of the trans-tibial group. Mean torque of the residual hip was lower than that of the sound hip of the trans-femoral and trans-tibial group but the difference was not significant. Bone mineral density of the residual FN was significantly lower than that of the sound FN of the trans-femoral group but there was no difference in the trans-tibial group. No differences were found between the two experimental groups and controls at the L2-1A site. Muscle volume was significantly correlated with BMD of the L2- 1A vertebrae in the residual and sound limb of the trans-tibial group. Trans-femoral and trans-tibial amputees had a significantly slower walking velocity than that of the control group. Cadence of the trans-femoral group was significantly lower than both trans-tibial and the control groups. Stride length was not significantly different between the trans-femoral and control group but was significantly lower in the trans-tibial group. Significant differences were found between the trans-femoral and control group in the range of ankle and knee motion of the sound limb and between the sound and residual ankle, knee and hip joints of the trans-femoral and trans-tibial group. Mean GRF was lower in the residual limb compared to the sound limb for both groups, although the differences were not significant. The activity of rectus femoris, biceps femoris and adductor longus in the sound limb of the trans-femoral group were generally active for a longer duration compared to the controls and the duration of activity of these same muscles differed between the residual and sound limb musculature of the trans-tibial group. In the case study subject, BMD in the residual FN was 38.4 per cent lower than the sound FN at 4 months, decreasing to 42.1 per cent at the end of the 9-month evaluation. At this time point bone loss of the case study subject was greater than the average difference between the residual and sound limb of the longer-term amputees suggesting some recovery of bone mass may be possible. Rectus femoris and biceps femoris showed greater atrophy than the intact muscles, psoas major, adductor longus and the gluteals. At 7-months post amputation, hip torque of the residual limb in all planes of movement was lower by comparison with the sound limb. There was considerable intra-group variability in the data, which reflected the heterogeneity of the groups with respect to surgical fixation procedures, types of prosthesis used and their different physical activity levels. It was shown that longerterm trans-femoral amputees experienced considerable muscle and bone atrophy of their residual limb, which was greater than that experienced by the trans-tibial group. Although loading was not measured directly the difference between the two groups of amputees perhaps reflected their altered loading environment. Isometric hip torque was not different between the residual and sound limb of the trans-femoral and trans-tibial group, an unexpected result in the trans-femoral group considering the muscle atrophy present. The morphological changes combined with the prosthetic components were likely responsible for differences in amputee gait function. In the more recent amputee, muscle and bone atrophy was most rapid in the first 4 months but the volume and CSA of rectus femoris and biceps femoris continued to decrease up to 13 months post amputation. Isometric torque of the hip flexors and extensors decreased between 7 and 10 months and stabilised by 13 months post amputation while there was no change in the torque of the hip abductors and adductors from the initial measure. The potential for recovery of BMD, muscle size and muscle strength must be considered and may be applied to the design of more effective prostheses and rehabilitation strategies aimed at improving functional outcomes.

The fist part of this work is dealt with the construction of the mathematical models of voltage and current transformers. There are created and simulated models of voltage and current transformer with the nonlinear magnetization characteristics. The second part of this work is dealt with equivalent circuit of the induction motor in the form of Gamma-circuit. The speed-torque characteristic and the dependence of stator current on the slip are calculated from this equivalent circuit. The third part of this work is dealt with electromagnetic design of the alternating current machines by the help of a classic way and a new way.

This thesis evaluates different controllers for traction control on an electric forklift truck and has been done in cooperation with Toyota Material Handling Manufacturing Sweden. The need for a traction control system has increased with the introduction of lithium-ion batteries replacing the older lead-acid batteries, reducing the battery weight and therefore the downward force on the driving wheel increasing the risk for slip. The forklift truck was modelled using Simulink and validated by experiment. Different possible control strategies were investigated and three were chosen for implementation in simulation. These were controllers based on Model Following Control, Maximum Transmissible Torque Estimation and Sliding Mode Control. Model Following Control makes use of a nominal model to compare actual wheel speed values with nominal wheel speed values to determine if slip is occurring, Maximum Transmissible Torque Estimation makes use of a closed-loop disturbance observer to compute the maximum transmissible torque possible without inducing slip and using it as a limitation on the input signal, and Sliding Mode Control uses different functions to \say{slide} along a sliding surface to stay around a specific slip value. All three controller types were developed both as speed controlled and torque controlled. All of the controllers could reduce slip heavily in simulation. The Maximum Transmissible Torque Estimation controller reduced slip the most and kept oscillations at a minimum, but was not as responsive as the others to driver commands. The conclusion was that the controller of choice would depend on the working environment of the forklift truck. In a low friction environment where slip is expected to occur often, the Maximum Transmissible Torque Estimation controller is advisable, while the other two would be a better choice for environment with low slip occurrence. The use of torque control, while often better with regards to decreasing slip, could not be advised due to a perceived increase in implementation cost.

Hydropower maintains its position as the most important source of renewable electric energy in the world. The efficiency of large hydropower plants is unsurpassed, and after more than hundred years of development, the technology is mature and highly reliable. While new hydro resources are currently being developed in Asia and South America, most European countries go through a phase of intense refurbishment and upgrading of existing plants. Challenges faced by the hydropower industry include a knowledge transfer to new generations and the adaptation of unit designs to meet new operational requirements. As with all branches of engineering, the use of computerized design tools has revolutionized the art of hydropower plant design and the analysis of its performance. In the present work, modern tools like coupled field-circuit models and semi-analytic permeance models are used to address different aspects of electromagnetic analysis of generators in large hydropower plants. The results include the presentation of a mathematical model that uses concepts from rotating field theory to determine the air-gap flux density waveform in a hydroelectric generator. The model was succesfully used to evaluate armature voltage harmonics and damper bar currents at no-load and load conditions. A second study is concerned with the importance of losses due to rotational fields in core loss calculations. It is found that dynamic and rotational effects typically increase the total core loss estimates with about 28% in large hydroelectric generators. In a third study, linear models for the calculation of salient pole shoe form factors at an arbitrary level of magnetic loading are presented. The effect of the damper winding configuration on the damping capability of salient-pole generators is then evaluated in a separate study. The predicted impact of the coupling between damper cages on adjacent poles on the damping torque production is verified in a set of experiments.

Induction machine drives with various configurations are getting a lot of attention in several industrial applications. Due to this increasing demand in industrial applications, the significance of developing effective control approaches for obtaining a high dynamic performance from the induction machine drives became essential. Up to the present time, the control of induction machine drives using power converters has been based on the principle of mean value, using pulse width modulation with linear controllers in a cascaded structure. Recent research works have demonstrated that it is possible to use Predictive Control to control induction machine drives with the use of power converters, without using modulators and linear controllers. This new approach will have a strong impact on control in power electronics in coming decades. The advantages of Predictive Control are noticed through the ability to consider a multi-objective case within the model, easy inclusion of non-linearities within the model, simple treatment of system constraints, easy of digital implementation, and flexibility of including modifications and extension of control horizons according to the required applications. Upon this, the research presented in this thesis concerns with developing different control topologies for various configurations of induction machine drives based on finite control set model predictive control (FCS-MPC) principle, which actuates directly the switch states of the voltage source inverter (VSI). In addition, for enhancing the robustness of the induction machine drives, different sensorless approaches are utilized and tested for validations. The first topology of induction machine drives that has been studied is the induction motor (IM) drive. An effective model predictive direct torque control (MP DTC) approach is used to control the torque and stator flux of the motor through the utilization of an effective cost function, through which the understanding and comparing implementation variants and studying convergence and stability issues can be easily investigated. The speed sample effect on the control variants and overall performance of the proposed MP DTC is analyzed, which enables the understanding of the real base principle of DTC, as well as why and when it works well. Two different sensorless procedures for estimating the speed and rotor position are used by the proposed MP DTC approach; the first utilizes a model reference adaptive system (MRAS) observer, while the other exploits the prediction step during the implementation of proposed MP DTC to get the speed information through performing a linear extrapolation of the speed values starting from the last two estimated samples. Extensive simulation and experimental tests have been carried out to validate the effectiveness of both sensorless approaches in achieving precise tracking of speed commands for a wide range of variations. For enhancing the robustness of proposed MP DTC, the stator flux as a control variable is replaced with controlling the flow of the reactive power through the induction motor drive. As the reactive power is a measured quantity compared with the estimated value of stator flux, thus, the sensitivity of the control against parameters variation is limited, and this confirmed through the obtained results from both simulation and experimental tests. In addition, an effective alternative approach to the MP DTC is presented, which based on controlling the instantaneous values of the active and reactive powers of the IM drive based on model predictive principle, instead of controlling the torque and flux as in MP DTC. This technique has the advantage that all controlled variables are became measured quantities (active and reactive powers), thus the estimation problems that commonly present in classic DTC schemes are effectively limited. For the last two control approaches (MP DTC reactive power control, and MP IPCactive and reactive power control), the sensorless that utilizes the predictive feature is also adopted. Obtained results via simulation and experiments confirm the feasibility of the two alternatives control procedures in obtaining a robust dynamic response of IM drive. To limit the accompanied ripple contents in the controlled values of electromagnetic torque and stator flux of induction motor, an effective ripple reduction technique has been presented. The technique is based on the derivation of the optimal value for the weighting factor (w_f) used in the cost function. A detailed mathematical derivation of the optimal value of w_f is introduced based on the analysis of torque and flux ripples behaviors. The proposed ripple reduction technique has been validated via simulation utilizing Matlab/Simulink software, and experimentally tested using a fast control prototyping dSpace 1104 board. In addition, the prediction step based sensorless approach is adopted during implementation. The performance of the IM drive using the proposed approach is compared with the results obtained from MP DTC approach that uses an arbitrary value of w_f. The comparison confirms the validity of the proposed ripple reduction procedure in reducing the ripple contents in the controlled variables while preserving the permissible computation burdens during the implementation. The FCS-MPC principle is also utilized to control the current of induction motor as an alternative to classic field oriented control (FOC), the proposed model predictive current control (MPCC) approach belongs to the class of the hysteresis predictive control (for limiting the switching frequency) as the MPCC is triggered by the exceeding of the error of a given threshold. In addition, a sensorless drive is achieved by including an effective Luenberger observer (LO) for precise estimation of rotor flux vector together with stator current, speed and load torque. The stator currents are estimated to eliminate the accompanied noise in their values when they are directly measured, thus the currents noise during prediction is limited. An effective pole placement procedure for the selection of observer gains has been adopted. The procedure is based on shifting the poles of the observer to the left of the motor poles in the complex (s-plane) with low imaginary part, so that the stability of the observer is enhanced for wide speed range. The feasibility of the sensorless MPCC for IM drive is confirmed through the obtained simulation and experimental results. The second topology of induction machine drives that has been studied is the doubly fed induction motor (DFIM) drive. An effective model predictive direct torque control (MP DTC) algorithm is developed for controlling the torque and rotor flux of DFIM drive. In addition, an effective sensorless approach is presented, which estimates the speed and rotor position in an explicit way without the need for involving the flux in the estimation process, thus the effect of parameters variation on the overall performance of the sensorless observer is effectively limited, this has been approved through the obtained results that are performed for a wide speed range from sub-synchronous to super-synchronous speed operation. During the operation, the stator resistance and magnetizing inductance values are changed from their original values to study the variation effect on the observer performance. Matlab/Simulink software and a prototyping dSpace 1104 control board are used to validate the effectiveness of proposed sensorless MP DTC approach through simulation and experiments, respectively. The results proof the robustness of the proposed sensorless approach and its ability to achieve precise estimation of the speed and rotor position. The third topology of induction machine drives that has been studied is the doubly fed induction generator (DFIG). A detailed analytical derivation for the proposed model predictive direct power control (MP DPC) approach for DFIG is presented, which as a sequence considered as a transposed control approach from the MP DTC used before for doubly fed induction motor (DFIM). A sensorless approach based on model reference adaptive system (MRAS) observer is adopted for estimating the speed and rotor position. Both simulation using Matlab/Simulink software and experimental test using a prototyping dSpace 1104 control board have tested the dynamic performance of the drive. Obtained results affirm the feasibility of the proposed MP DPC approach in achieving a decoupled control of active and reactive powers for DFIG. In summary, it can be said that the proposed model predictive control approaches have proved their ability in achieving high dynamic performance for different topologies of induction machine drives. In addition, the proposed sensorless techniques have confirmed their effectiveness for a wide range of speed variations. All of this are approved and validated through extensive simulation and experimental tests.<br>Gli azionamenti con machine ad induzione (macchine asincrone nelle loro varie configurazioni), stanno riacquistando molta attenzione in diverse applicazioni industriali. A causa di questo crescente interesse applicativo, è diventato di essenziale importanza lo sviluppo di efficaci tecniche di controllo per ottenere dagli azionamenti in questione elevate prestazioni dinamiche. Fino ad oggi, il controllo degli azionamenti con macchina a induzione alimentati da convertitori di potenza è basato sul “principio del valore medio” delle grandezze in commutazione, utilizzando la modulazione di larghezza di impulsi con controllori lineari in una struttura a cascata. Recenti ricerche hanno dimostrato che è possibile utilizzare il Controllo Predittivo per controllare gli azionamenti con macchina a induzione, con l'utilizzo di convertitori di potenza senza utilizzare modulatori e controllori lineari. Questo nuovo approccio avrà un forte impatto sul controllo dell'elettronica di potenza nei prossimi decenni. I vantaggi del Controllo Predittivo derivano dalla possibilità di perseguire problemi multi-obiettivo, di includere facile le non linearità all'interno del modello, di trattare in modo semplice i vincoli di sistema, nonché dalla facilità di implementazione digitale e dalla flessibilità di includere modifiche ed estensioni al controllo secondo le applicazioni richieste. Inlinea con tutto ciò, la ricerca presentata in questa tesi riguarda lo sviluppo di diverse topologie di controllo per varie configurazioni di azionamenti con macchine a induzione, basate sul principio di Controllo Predittivo a modello con insieme finito degli stati di controllo (Finite Control Set Model Predictive Control - FCS-MPC), che definisce direttamente l’assetto dell'inverter di tensione (VSI). Inoltre, per aumentare la robustezza degli azionamenti, vengono proposti e sperimentati diversi approcci senza sensori elettromeccanici (sensorless). La prima topologia studiata di azionamenti con macchina a induzione (IM) è l'azionamento con motore a gabbia. Il controllo diretto di coppia (DTC) è aggiornato in termini di controllo predittivo a modello (MP DTC) e usato per controllare la coppia e il flusso statorico attraverso l'utilizzo di una efficace funzione di costo attraverso la quale è anche possibile facilmente comprendere e confrontare le varianti di implementazione e studiare i problemi di convergenza e di stabilità. Viene analizzato l'effetto della velocità sulle diverse versioni di controllo e sulle prestazioni complessive del MP DTC proposto; ciò consente di comprendere appieno il principio del DTC, nonché perché e quando esso funzioni bene. Vengono utilizzate due diverse procedure di stima della posizione e della velocità del rotore nel MP DTC proposto; il primo utilizza uno stimatore adattivo con modello di riferimento (MRAS), mentre l'altro sfrutta la stessa fase di predizione del MP DTC proposto per ottenere le informazioni sulla velocità effettuando infine un'estrapolazione lineare dei valori di velocità a partire dagli ultimi due campioni stimati. Sono state eseguite numerose prove in simulazione e sperimentali per convalidare l'efficacia di entrambi gli approcci sensorless nell’ottenere un preciso inseguimento del comando di velocità per una vasta gamma di situazioni. Per migliorare la robustezza del MP DTC proposto rispetto alle variazioni parametriche, il controllo del flusso dello statore viene sostituito con quello della potenza reattiva assorbita dal motore ad induzione; di conseguenza la sensibilità del controllo alle variazioni dei parametri è limitata e ciò è confermato attraverso i risultati ottenuti sia dalla simulazione che dalle prove sperimentali. Inoltre, viene presentato un ulteriore efficace approccio alternativo per il MP DTC, basato sul principio del controllo predittivo a modello dei valori istantanei delle potenze attive e reattive dell'azionamento, invece di controllare la coppia e il flusso come nell’usuale MP DTC. Questa variante ha il vantaggio che tutte le variabili controllate sono divenute quantità misurate (potenze attive e reattive) e quindi i problemi di stima comunemente presenti nei classici schemi DTC sono efficacemente limitati. Per gli ultimi due approcci di controllo (controllo di coppia e di potenza reattiva e controllo di potenza attiva e reattiva) viene anche adottato la stima della velocità rotorica che sfrutta la funzione predittiva del controllo. I risultati ottenuti attraverso la simulazione e la sperimentazione confermano la fattibilità delle due procedure alternative di controllo per ottenere una risposta dinamica robusta dell’azionamento con IM. Per limitare il ripple che accompagna gli andamenti controllati della coppia e del flusso statorico del motore, è stata presentata una tecnica efficace di riduzione della sua ampiezza. La tecnica è basata sull’impiego di un valore ottimale per il fattore di ponderazione w_f utilizzato nella funzione di costo per sommare i due contributi che la definiscono. Viene introdotta una derivazione matematica dettagliata del valore ottimale di w_f attraverso l'analisi dei comportamenti dell’ondulazione di coppia e del flusso. La tecnica di riduzione del ripple proposta è stata verificata tramite la simulazione usando il software Matlab/Simulink e sperimentalmente utilizzando la scheda di rapida prototipazione del controllo dSpace 1104. Ancora, l'implementazione adotta l'approccio sensorless basato sulla fase di predizione. Le prestazioni dell’azionamento con IM utilizzando quest’ultimo approccio proposto sono confrontate con i risultati ottenuti con l'approccio MP DTC che utilizza invece un valore arbitrario di w_f. Il confronto conferma la validità della procedura di riduzione del ripple nelle variabili controllate mantenendo nel contempo gli oneri di calcolo entro i limiti consentiti per l'implementazione. Il principio FCS-MPC è anche utilizzato per controllare la corrente del motore di induzione come alternativa al controllo classico ad orientamento di campo (Field Oriented Control -FOC). L'approccio proposto di controllo di corrente di tipo predittivo (Model Predictive Current Control - MPCC) appartiene alla classe del controllo predittivo ad isteresi (per limitare il frequenza di commutazione) in quanto il MPCC viene attivato dal raggiungimento dell’errore di corrente di una determinata soglia. In questo caso, la caratteristica sensorless dell’azionamento è ottenuta includendo un efficace osservatore Luenberger (LO) per una precisa stima del vettore del flusso del rotore insieme alla coppia di carico e alla velocità. È stata adottata una efficace procedura di allocazione dei poli per la selezione dei guadagni dell'osservatore; la procedura si basa sul posizionamento dei poli dell'osservatore a sinistra di quelli del motore nel complesso (piano di s) con una ridotta parte immaginaria, in modo che la stabilità dell'osservatore sia migliorata in un'ampia gamma di velocità. La fattibilità dell'azionamento sensorless con MPCC è ancora confermata attraverso la simulazione e i risultati sperimentali. La seconda topologia degli azionamenti con macchina a induzione che è stata studiata è l'azionamento con motore ad anelli con rotore alimentato da invertitore e statore da rete (Doubly Fed Induction Motor DFIM). È stato sviluppato un efficace algoritmo predittivo a modello (MP DTC) per il controllo dinamico della coppia e del flusso di rotore dell'azionamento DFIM. Inoltre, viene presentato un approccio efficace di soluzione sensorless che valuta la velocità e la posizione del rotore in modo esplicito senza la necessità di coinvolgere la stima del flusso nel processo di predizione; di conseguenza l'effetto delle variazioni dei parametri sulle prestazioni complessive dell'osservatore di posizione e velocità è sensibilmente limitato. Questo è stato provato attraverso i risultati ottenuti con test eseguiti in un'ampia gamma di velocità, dal sub-sincronismo a velocità super-sincrona. Durante l'operazione, la resistenza dello statore e i valori di induttanza di magnetizzazione sono stati modificati rispetto ai valori reali per studiare l'effetto di variazioni parametriche sulle prestazioni dell'osservatore. Anche in questo caso, il software Matlab/Simulink e una scheda di controllo dSpace 1104 sono stati utilizzati per convalidare l'efficacia dell'approccio sensorless del MP DTC per l’azionamento. I risultati dimostrano la robustezza del controllo sensorless proposto e la sua capacità di ottenere una precisa stima della posizione e della velocità del rotore. La terza topologia di azionamenti con macchina a induzione che è stata studiata è quella del generatore ad induzione con rotore avvolto (DFIG) e invertitore sul rotore. Viene presentata una derivazione analitica dettagliata del controllo predittivo diretto di potenza (MP DPC) per DFIG, che trasferisce ed estende l’approccio di controllo del MP DTC citato prima per il motore a induzione a doppia alimentazione (DFIM). Una soluzione sensorless ancora basata sull'osservatore adattivo a modello di riferimento (MRAS) è adottato per stimare la velocità e la posizione del rotore. Sia le simulazioni usando il software Matlab/Simulink che i test sperimentali utilizzando la scheda dSpace 1104 hanno mostrato le elevate prestazioni dinamiche dell'azionamento. I risultati ottenuti confermano la fattibilità del metodo MP DPC proposto per ottenere un controllo disaccoppiato di potenze attive e reattive per DFIG. In sintesi, si può dire che l'utilizzo proposto del controllo predittivo a modello ha dimostrato la sua capacità di ottenere elevate prestazioni dinamiche per le diverse topologie degli azionamenti con macchina ad induzione considerati. Inoltre, le tecniche sensorless proposte hanno confermato la loro efficacia per una vasta gamma di velocità. Tutto questo è stato verificato e validato attraverso una vasta attività analisi simulativa e di sperimentazione in laboratorio.

Doctora en Ciencias, Mención Física<br>El objetivo general de este trabajo es estudiar la dinámica de la magnetización, tanto en el régimen lineal como no lineal, de la capa ferromagnética libre de una estructura nanopilar, cuando se inyecta una corriente polarizada en spin. Para ello, se desarrolla un modelo que utiliza un método alternativo a las simulaciones micromagnéticas usuales, siguiendo un formalismo Hamiltoniano estándar. La capa libre corresponde a un disco de un material ferromagnético suave (específicamente permalloy), de sección circular, y se aplica un campo magnético paralelo al plano que determina una magnetización de equilibrio cuasi-uniforme en su misma dirección. Si la corriente continua supera un cierto umbral, se excitan las ondas de spin y es posible observar auto-oscilaciones de la magnetización. En particular, se estudia la estabilidad de la auto-oscilación del modo que es excitado a la menor corriente crítica, considerando dos versiones del modelo: una que incluye los efectos del borde del disco, y otra que no. Además, se estudia la dinámica lineal de las ondas de spin bajo corrientes alternas. Esta tesis se organiza de la siguiente manera. En la introducción se exponen de manera resumida la motivación, los objetivos y la metodología a utilizar. El capítulo 1, que corresponde al marco teórico, introduce los conceptos básicos para comprender el problema en cuestión. En el capítulo 2 se presenta en detalle el modelo, basado en un formalismo Hamiltoniano, el cual se utiliza para estudiar la dinámica de la magnetización. En el capítulo 3 se estudia la estabilidad de la auto-oscilación del modo con corriente crítica más baja, que corresponde al modo uniforme o macro-spin. Se considera que la capa libre es muy delgada, lo cual permite aproximar el campo demagnetizante al de un plano infinito, y se determina la corriente continua crítica por sobre la cual es posible observar la auto-oscilación del modo uniforme. Luego, se determinan los modos normales de oscilación de la magnetización no uniformes y se estudia la interacción entre la auto-oscilación del modo uniforme con los modos no uniformes. Se determina cuándo comienza el crecimiento exponencial de los modos no uniformes, lo cual permite conocer el rango del espacio de parámetros donde sólo existe la oscilación del modo macro-spin de manera aislada. En el capítulo 4 se introducen los efectos que tienen los bordes del disco, considerando el campo demagnetizante completo. Primero se determina la magnetización de equilibrio que ya no es uniforme. Luego se estudian los modos normales de oscilación de un disco ferromagnético con un campo aplicado en el plano, determinándose sus formas y frecuencias. En el capítulo 5 se estudia la excitación de las ondas de spin del capítulo anterior, mediante la inyección de una corriente continua, y se determina la corriente crítica necesaria para observar auto-oscilaciones de la magnetización. Luego, se determina la región del espacio de parámetros en la cual es posible observar un sólo modo auto-oscilando. En el capítulo 6, se considera que la corriente continua es menor a la corriente crítica y se le agrega una componente alterna. Se estudia la excitación de modos normales bajo este forzamiento: se consideran los efectos del campo de Oersted y la componente perpendicular del torque por transferencia de spin, y se estudian resonancias directas y paramétricas. Finalmente se presenta una sección de conclusiones.<br>Este trabajo ha sido parcialmente financiado por Becas Conicyt 2012 folio núm. 21120160, CEDENNA y FONDECYT N° 1130192

The diploma thesis deals with experimental determination of hydrodynamic load on the overflowed bridge deck model. In the first part of the thesis the author describes the analysis of the problem together with the basic physical laws and principles that are used or assumed in the measurement itself. In the second part the author describes the measurements in the laboratory of the Faculty of Civil Engineering and its gradual processing. At the end of the work are described the results of measurement, their comparison with numerical modeling, other authors and their possible use in practice.