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4. Marco teórico para el estudio de la generación de potencia en aerogeneradores operando a velocidades de viento bajas

Author

Miquelez-Madariaga, Irene, Lizarraga-Zubéldia, Idoia, Díaz de Corcuera, Asier, Elso, Jorge, Miquelez-Madariaga, Irene, Lizarraga-Zubéldia, Idoia, Díaz de Corcuera, Asier, and Elso, Jorge

Abstract

[Resumen] Cuando trabajan por debajo de su potencia nominal, los aerogeneradores deben seguir los cambios en la velocidad de viento para asegurar una producción de energía óptima. En ese caso, el control empleado de manera tradicional consiste en una realimentación no lineal de la velocidad del generador. En este artículo se propone un enfoque del problema basado en el uso de modelo lineales representados en el dominio frecuencial. De este modo, no solo podemos analizar la eficiencia de la estrategia empleada actualmente sino evaluar los posibles beneficios de otras estrategias de control complementarias. Para validar el análisis del modelo lineal, se propone estudiar la energía generada a través de una descomposición frecuencial de la señal de viento. Por último, se propone una señal de par óptima basada en la medida de viento.

Published
2022

13. Control del Ángulo de Cabeceo de un Helicóptero Como Benchmark de Diseño de Controladores

Author

García-Sanz, Mario, Elso, Jorge, and Egaña, Igor

Subjects
Controller design, Control de helicópteros, Identificación, Pitch control, Benchmark, Helicopters, System identification
Abstract

[ES] En el presente documento se desarrolla un benchmark para evaluar comparativamente diferentes metodologías de diseño de controladores. En concreto se propone el control del ángulo de cabeceo (pitch) de un helicóptero de dos rotores paralelos. El artículo describe el helicóptero y su modelo analítico, identifica experimentalmente sus parámetros, propone una función de costo a minimizar y muestra el comportamiento experimental de un PID típico. La evaluación del benchmark se realizará de modo experimental con la maqueta del helicóptero., [EN] A benchmark problem for controller design is introduced in this paper. The objective is to design a controller that meets the performance specifications of a helicopter pitch control. The paper describes the helicopter, its analytic and experimental model and the cost function to be minimized. The input-output data of the plant are also provided on the benchmark site. The proposed solutions will be evaluated with the actual helicopter test-bed in the Lab.

Published
2010

14. Helicopter pitch control as a benchmark for design of controllers

Author

García-Sanz, Mario, Elso, Jorge, and Egaña, Igor

Subjects
Controller design, Control de helicópteros, Identificación, Pitch control, Benchmark, Helicopters, System identification
Abstract

[ES] En el presente documento se desarrolla un benchmark para evaluar comparativamente diferentes metodologías de diseño de controladores. En concreto se propone el control del ángulo de cabeceo (pitch) de un helicóptero de dos rotores paralelos. El artículo describe el helicóptero y su modelo analítico, identifica experimentalmente sus parámetros, propone una función de costo a minimizar y muestra el comportamiento experimental de un PID típico. La evaluación del benchmark se realizará de modo experimental con la maqueta del helicóptero. [EN] A benchmark problem for controller design is introduced in this paper. The objective is to design a controller that meets the performance specifications of a helicopter pitch control. The paper describes the helicopter, its analytic and experimental model and the cost function to be minimized. The input-output data of the plant are also provided on the benchmark site. The proposed solutions will be evaluated with the actual helicopter test-bed in the Lab.

Published
2010

15. Quantitative feedback control for multivariable model matching and disturbance rejection.

Author

Elso, Jorge, Gil‐Martinez, Montserrat, and Garcia‐Sanz, Mario

Subjects
*FEEDBACK control systems, *MATHEMATICAL models, *MULTIVARIABLE control systems, *MATCHING theory, *TRACKING control systems, *MIMO systems
Abstract

This article extends two recent contributions in the field of quantitative feedback theory to the multivariable case. They concern the model matching and the measured disturbance rejection problems. The model matching problem is a tracking control problem with specifications given as acceptable deviations from an ideal response. The measured disturbance rejection problem balances feedback and feedforward actions to reject disturbances. Both perspectives present advantages over classical quantitative feedback theory techniques in certain situations. This paper develops the necessary tools to solve both control problems in the case of multi-input multi-output plants. In particular, it shows how to derive nonconservative controller bounds for each of the single-input single-output control problems in which the overall multivariable problem is divided. The result is a systematic controller design methodology for multi-input multi-output plants with structured uncertainty. The application of the technique to the well-known quadruple-tank process illustrates the benefits of the method. Copyright © 2016 John Wiley & Sons, Ltd. [ABSTRACT FROM AUTHOR]

Published
2017
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17. Ampliación del Benchmark de Diseño de Controladores para el Cabeceo de un Helicóptero

Author

García-Sanz, Mario, Elso, Jorge, García-Sanz, Mario, and Elso, Jorge

Abstract

[EN] This paper complements the one appeared in RIAI Vol. 3, Num. 2, pp 111-116, 2006, about the control of the pitch angle of a laboratory helicopter. It presents a more detailed model of the system that will allow the designers to obtain advanced controllers. In addition, the evaluation function of the benchmark is modified to weight the control objectives in a balanced way. The extended benchmark is proposed as the Mathworks Prize to the best design for the benchmark “Control engineering 2007", for which a new deadline is established., [ES] El presente documento complementa al aparecido en RIAI Vol. 3, Num. 2, pp 111-116, 2006, sobre el control del ángulo de cabeceo de un helicóptero de laboratorio. Ofrece un modelo más detallado del sistema que permitirá obtener controladores avanzados. Además, la función de evaluación del benchmark es modificada para ponderar equilibradamente los objetivos de control. El benchmark ampliado se propone como Premio Mathworks al mejor diseño para el banco de pruebas "Ingeniería de control" 2007, para el que se abre un nuevo plazo de presentación de trabajos.

Published
2009

18. Beyond the Classical Performance Limitations Controlling Uncertain MIMO Systems: UAV Applications

Author

UNIVERSIDAD PUBLICA DE NAVARRA PAMPLONA (SPAIN) DEPT DE AUTOMATICA Y COMPUTACION, Garcia-Sanz, Mario, Equinoa, Irene, Elso, Jorge, UNIVERSIDAD PUBLICA DE NAVARRA PAMPLONA (SPAIN) DEPT DE AUTOMATICA Y COMPUTACION, Garcia-Sanz, Mario, Equinoa, Irene, and Elso, Jorge

Abstract

This paper summarizes a new methodology to design sequential non-diagonal QFT controllers for multi-input multi-output MIMO systems with uncertainty, which is a central issue in UAV control systems. It also demonstrates the feasibility of that methodology to control the position and attitude of a 6x6 MIMO spacecraft with large flexible appendages. The last part of the paper introduces a new practical methodology to design robust controllers that work under a switching mechanism, going beyond the classical linear limitations and giving a solution for the well-known robustness- performance trade-off., Presented at the NATO/RTO Systems Concepts and Integration Panel Lecture Series SCI-195 on Advanced Autonomous Formation Control and Trajectory Management Techniques for Multiple Micro UAV Applications held in Glasgow, United Kingdom on 19-21 May 2008. For related briefing charts, see ADA508605 and ADA508607. See also ADM002223, RTO-EN-SCI-195. The original document contains color images.

Published
2008

24. A quantitative feedback solution to the multivariable tracking error problem.

Author

Elso, Jorge, Gil‐Martinez, Montserrat, and Garcia‐Sanz, Mario

Subjects
*MIMO systems, *ROBUST control, *QUANTITATIVE feedback theory, *MULTIVARIABLE control systems, *SCHWARTZ distributions
Abstract

SUMMARY This paper introduces a novel solution for the multi-input multi-output (MIMO) quantitative feedback theory control design problem with tracking error specifications. Looking for a minimum controller overdesign, the technique finds new controller quantitative feedback theory bounds based on necessary and sufficient conditions for the existence of suitable associated prefilter matrix elements. It improves previous approaches to the subject and includes (i) the possibility of a free selection of the nominal plant, (ii) a less conservative application of the Schwartz inequality to decisively reduce the potential controller overdesign, (iii) a methodology to design independently the elements of the prefilter matrix, and (iv) a scope of application to both sequential and nonsequential MIMO controller design methods. The benefits of the new control design technique are illustrated by means of two examples. The first one, a standard 2 × 2 MIMO problem, is provided for comparison purposes with previous approaches. The second example, included as a major control challenge, deals with a well-known demanding distillation column benchmark problem. Copyright © 2013 John Wiley & Sons, Ltd. [ABSTRACT FROM AUTHOR]

Published
2014
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25. Nonconservative QFT bounds for tracking error specifications.

Author

Elso, Jorge, Gil-Martínez, Montserrat, and Garcia-Sanz, Mario

Abstract

SUMMARY An alternative to the traditional QFT tracking problem, in which upper and lower tolerances are imposed on the magnitude of the tracking transfer function, is to define the robust specification as a boundary on the deviation of such function from a predefined model. However, previous research exploring this approach reveals a certain overdesign and dependence on the choice of the nominal plant. This paper establishes a necessary condition on the controller from tracking error specifications. With this condition, the controller bounds introduce no overdesign, and the resulting two-degrees-of-freedom design is independent of the choice of the nominal plant, similar to the traditional approach. Copyright © 2011 John Wiley & Sons, Ltd. [ABSTRACT FROM AUTHOR]

Published
2012
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