Ciencias Exactas y Ciencias de la Salud
Permanent URI for this collectionhttps://hdl.handle.net/11285/551039
Pertenecen a esta colección Tesis y Trabajos de grado de las Maestrías correspondientes a las Escuelas de Ingeniería y Ciencias así como a Medicina y Ciencias de la Salud.
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- Robust fault-tolerant control in offshore wind turbines for actuator and sensor faults with advanced sliding mode controllers(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2024-06-14) Nieves Arellano, Victor Hugo; Garza Castañon, Luis Eduardo; emipsanchez; Castañeda Cuevas, Hernán; Escuela de Ingeniería y Ciencias; Campus Monterrey; Minchala Ávila, Luis IsmaelClean energies as a source of power generation have grown in recent years as a solution for climate change. One of the most notable power sources is the use of wind turbines, especially those installed offshore, since their driving force is abundant, inexhaustible, and affordable, and they do not generate any emissions when operating. However, faults on different parts of the turbines are common and of particular importance in the hydraulic pitch system since they occur due to air in the system or stuck sensors, causing downtime and reducing the reliability of the system. These interruptions can result not only in high maintenance and repair costs but also in reduced renewable energy production, affecting the reliability and economic viability of wind energy as an alternative to fossil fuels. To address these challenges, it is crucial to develop robust and fault-tolerant control systems that maintain optimal operation of offshore wind turbines even under adverse conditions, thus ensuring their effective contribution to the transition towards a more sustainable and clean energy matrix. This thesis work addresses the challenge of ensuring robust and fault-tolerant control in offshore wind turbines, specifically in the context simultaneous and multiple failures in the blade control system. Two robust con- trollers based on sliding modes were developed: one using a PID+ST technique and the other employing a PID+ASM. These controllers were extensively compared with a baseline PI con- troller to evaluate their performance under faulty conditions. The research focused on a 5MW wind turbine, employing a simulation approach using tools such as FAST, MATLAB, and Simulink. Detailed analyses were conducted to assess the ability of the proposed controllers to maintain system performance and stability in the presence of blade control system fail- ures. The results demonstrated that both robust controllers showed significant improvements in terms of constant power generation and maintaining constant generator speed. However, it was observed that the controller based on adaptive sliding modes outperformed Super Twist-ing in terms of overall performance. This finding suggests that the adaptive approach offers better responsiveness and adaptability to variable and complex conditions in marine environ- ments. This study contributes to the advancement in the design and development of robust and fault-tolerant control systems for offshore wind turbines, with significant implications for improving the reliability and operational efficiency of such systems in critical and challenging environments.
- Observer-based controller for unmanned aerial vehicles in reforestation applications(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2024-05-28) Muñoz Sepúlveda, Gustavo Alberto; Lozoya, Rafael Camilo; emimmayorquin; Castañeda, Herman; School of Engineering and Sciences; Campus Monterrey; Abaunza, HernánThis study presents a breakthrough in unmanned aerial vehicle (UAV) technology, showcas- ing the efficacy of a custom-designed controller and observer in the context of reforestation initiatives. Through meticulous experimentation and analysis, the study demonstrates the ob- server’s adeptness in mitigating external disturbances, thereby enhancing the precision and stability of UAV operations. This technological advancement not only holds promise for diverse practical applications but also holds profound implications for environmental con- servation efforts, particularly reforestation. Reforestation plays a pivotal role in mitigating climate change, preserving biodiversity, and safeguarding ecosystems. By leveraging UAV technology, this study propels forward the efficacy and efficiency of reforestation endeavors, laying the groundwork for future innovations in UAV-based interventions. The findings affirm the viability of the proposed controller and observer framework, highlighting its potential to revolutionize environmental monitoring, conservation, and sustainable resource management practices. This abstract encapsulates the significance of integrating cutting-edge technology with environmental conservation efforts, underscoring the pivotal role of UAVs in fostering a more sustainable future.
- Development and automation of a scaled manufacturing cell based on regulation control(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2023-06-20) Contreras Baeza, Alonso; VAZQUEZ TOPETE, CARLOS RENATO; 166163; Vázquez Topete, Carlos Renato; emipsanchez; Ramírez Treviño, Antonio; Navarro Gutiérrez, Manuel; School of Engineering and Sciences; Campus MonterreyThis thesis is an approach focused on industrial automation for complex manufacturing systems, which generally involves a set of devices, such as sensors and actuators in charge of executing certain tasks commanded by one or more Programmable Logic Controllers (PLCs). It is known that, as more devices and new technologies are integrated, such systems are more complex to control. Said automation systems can be represented by the use of formal methods, like occurrence of events, or better called as discrete event systems (DES). Regulation Control is a proposed approach to model and control discrete event systems based on Interpreted Petri Nets, which are a graphical and mathematical modeling graph that can help to represent and analyze such discrete event systems. In order to test the functionality of this Regulation Control approach, in this thesis is proposed to design, manufacture, assemble, integrate, communicate and control 3 workstations from a scaled manufacturing cell. It is expected that by implementing Regulation Control methodologies, PLCs can control the workstations by interpreting the Interpreted Petri Nets from the software RC-Petri, which is communicated through Modbus and a simple signal identification program, without the need of creating an extensive program. In turn, it is intended to test the deadlock-freeness and its practical implementability assuring a safe operation of each workstation using a General Functional Testing.
- Reinforcement learning for an attitude control algorithm for racing quadcopters(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2022-06-15) Nakasone Nakamurakari, Shun Mauricio; BUSTAMANTE BELLO, MARTIN ROGELIO; 58810; Bustamante Bello, Martín Rogelio; puemcuervo; Navarro Durán, David; School of Engineering and Sciences; Campus Ciudad de México; Galuzzi Aguilera, RenatoFrom its first conception to its wide commercial distribution, Unmanned Aerial Vehicle (UAV)’s have always presented an interesting control problem as their dynamics are not as simple to model and present a non-linear behavior. These vehicles have improved as the technology in these devices has been developed reaching commercial and leisure use in everyday life. Out of the many applications for these vehicles, one that has been rising in popularity is drone racing. As technology improves, racing quadcopters have also improved reaching capabilities never seen before in flying vehicles. Though hardware and performance have improved throughout the drone racing industry, something that has been lacking, in a way, is better and more robust control algorithms. In this thesis, a new control strategy based on Reinforcment Learning (RL) is presented in order to achieve better performance in attitude control for racing quadcopters. For this process, two different plants were developed to fulfill, a) the training process needs with a simplified dynamics model and b) a higher fidelity Multibody model to validate the resulting controller. By using Proximal Policy Optimization (PPO), the agent is trained via a reward function and interaction with the environment. This dissertation presents a different approach on how to determine a reward function such that the agent trained learns in a more effective and faster way. The control algorithm obtained from the training process is simulated and tested against the most common attitude control algorithm used in drone races (Proportional Integral Derivative (PID) control), as well as its ability to reject noise in the state signals and external disturbances from the environment. Results from agents trained with and without these disturbances are also presented. The resulting control policies were comparable to the PID controller and even outperformed this control strategy in noise rejection and robustness to external disturbances.
- Diseño de un emulador de baterías basado en un convertidor de potencia DC-DC(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2022-05-30) Guerrero Ortega, Jose Alfonso; Escobar Valderrama, Gerardo; 25941; Escobar Valderrama, Gerardo; puemcuervo; Soriano Rangel, Carlos Abraham; Escuela de Ingenieria y Ciencias; Campus Monterrey; Valdez Reséndiz, Jesús EliasEl almacenamiento de energía por baterías es de gran importancia para el desarrollo de proyectos de energías renovables y vehículos eléctricos. Por esta razón, la tecnología de baterías ha ido creciendo en los últimos años. El objetivo de este trabajo es desarrollar un sistema basado en un convertidor de potencia de DC-DC que sea capaz de replicar el comportamiento del voltaje de una batería al aplicarle una corriente determinada. Primero se debe definir el modelo matemático de la batería a analizar y simular el proceso de descarga de esta celda. Posteriormente se analiza que tipo de convertidor de potencia se va a utilizar. Se necesita un convertidor bidireccional para que pueda operar con corriente en ambos sentidos y de esta forma simular los procesos de carga y descarga de una batería. Se busca que la señal de voltaje a la salida del convertidor sea suave y con poco ruido, por lo que un convertidor multifase es la mejor opción para conseguir este resultado. Después de definir el convertidor que se va a utilizar, se procede a diseñar un algoritmo de control que sea capaz de recibir una señal de referencia, en este caso el voltaje de la batería a emular, y lograr que el convertidor pueda emular esta señal de voltaje. Se propone un control PID en donde se miden la corriente y la tensión en el capacitor de salida del convertidor y de esta forma retroalimentar al modelo del convertidor para obtener el voltaje de la batería deseada a la salida del convertidor. Las simulaciones del sistema implementado se realizaron en el programa Matlab-Simulink y se obtuvieron las distintas respuestas del convertidor al aplicar distintas señales de corriente.
- Dual bio-printing system for cell deposition of hydrogels using a piston-based controlled nozzle(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2022) Castillo Madrigal, Victor; Chairez Oria, Jorge Isaac; mtyahinojosa, emipsanchez; García González, Alejandro; Escuela de Ingeniería y Ciencias; Campus Guadalajara; Perfecto, YocanxóchitlIn recent years, cell culture has increasingly utilized various 3D scaffolds and hydrogels to promote advanced additive manufacturing within cell culture. Additionally, various types of cell lines have been employed, with mesenchymal stem cells (MSCs) and fibroblasts being among the most commonly used. The aim of this project is to design an automated dual bioprinting system for cell culture. This system will deposit both hydrogels and cells sequentially, creating a foundation for biological tissue.Therefore, reducing the probability of cell culture contamination and decreasing human interaction. To achieve the goal, the project was first designed following specific criteria specifications. This was facilitated by previous cell culture training, which helped in better understanding the necessities of the project.After that, the next step involved simulating the device using CAD software (Solidworks) to create a 3D representation of the system's prototype. This prototype consists of three linear actuators (X-Y-Z axis) and two extruders for each deposited material.Then, the fully virtual device is exported to Matlab Simulink in order to simulate a control process with a PD controller in each actuator and extruder using a sine signal as a reference. Finally the crafting of the prototype was achieved operating tools from the metal crafting laboratory, and experimental processes were started. The study evaluated the feasibility of developing a 3D bioprinting machine. The experiment proved that it is possible to replicate the behavior from the simulated space into a real experiment, using a dual bioprinting system for depositing cells with controlled processes. The error from the control process was below 1% in the virtual enviroment meanwhile in reality the error mantain around 3%. As future work is still to validate the system performing biotic tests with a hydrogel made of alginate and as crosslinker calcium chloride. This system can be further applied in automatized cell culture system, bioprinting on no linear surfaces or even as part of a bioreactor system.
- Algoritmos de control con compensación de armónicos y balance de capacitores en el DC-Link para un inversor asimétrico tipo T de cinco niveles(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2021-06-10) Sepúlveda Galván, Diego; Escobar Valderrama, Gerardo; 25941; Escobar Valderrama, Gerardo; emipsanchez/puemcuervo; Guillén Aparicio, Daniel; Escuela de Ingeniería y Ciencias; Campus Monterrey; Vázquez Guzmán, GerardoEste trabajo presenta un estudio de varios algoritmos de control basados en el modelo matemático para un inversor multinivel monofásico sin transformador conectado a la red. La topología seleccionada se le conoce como inversor asimétrico tipo T de cinco niveles "Asym-T-5L". Esta basado en un puente H, y un interruptor bidireccional que divide el DC-link, generando una salida de voltaje multinivel. El objetivo principal del trabajo consiste en la obtención de algoritmos de control necesarios para la interconexión del inversor a la red eléctrica, y hacer posible la inyección de potencia activa aun cuando la red presente distorsión armónica. Además se agrega un lazo de balance, para mantener los voltajes de los capacitores en el DC-Link balanceados. Para ello, se obtiene el modelo matemático del sistema y se desarrollan las ecuaciones las cuales describen el comportamiento del mismo. Posteriormente, se proponen 3 algoritmos de control, el primer control se basa a partir de las ecuaciones obtenidas en el modelo matemático, donde se propone un lazo de seguimiento de corriente, el cual esta en fase con el voltaje de la red, y además cuenta con un banco de filtros resonantes para compensar armónicos presentes en la red. Los dos controles siguientes se proponen modificando la corriente de referencia, así como el lazo de balance y su posición en el control. La evaluación numérica se realizó por medio de simulaciones por computadora, se utilizó el programa ``MATLAB-Simulink". Lo anterior para comprobar el funcionamiento de los algoritmos de control propuestos. Los controles se programan en tiempo continuo, pero como su implementación se lleva a cabo normalmente en un dispositivo DSP, que opera a cierta frecuencia de muestreo, se describe como se lleva a cabo la programación de los controles en tiempo discreto. La señal de salida de los algoritmos de control se alimentan a un algoritmo de modulación el cual no es parte de la tesis, pero se utiliza para comprobar el funcionamiento de los controles. Esta modulación genera los pulsos de disparo de los interruptores del inversor, a partir de la señal de salida de los algoritmos de control. A la salida del inversor se obtiene un voltaje escalonado de cinco niveles, el cual es filtrado por una bobina para filtrar los pulsos de alta frecuencia de voltaje y generar una corriente sinusoidal a la salida, con el fin de inyectar potencia activa a la red con la menor distorsión armónica posible. Los resultados obtenidos mediante este trabajo permitieron comparar el desempeño de los algoritmos de control propuestos con y sin los lazos de compensación de armónicos, y de balance en los voltajes de los capacitores en el DC-Link. Los resultados se evaluaron a distintas potencias de referencia, y con capacitores iguales y diferentes en el DC-Link.
- Model predictive control for dynamics in autonomous cars(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2021-05-29) Valdivieso Soto, Andrew; BUSTAMANTE BELLO, MARTIN ROGELIO; 58810; Bustamante Bello, Martín Rogelio; puelquio/mscuervo; Izquirdo Reyes, Javier; School of Engineering and Sciences; Campus Ciudad de México; Galluzzi Aguilera, RenatoCar accidents are quite common in several countries, most of these accidents are due to human error, these cover a wide range, from hitting a pole to hitting a pedestrian and this can lead to fatal accidents as well, also the high time in traffic is due to the lack of attention or expertise on the part of the driver. To reduce these accidents and this time lost in traffic, the investigation of autonomous vehicles is chosen, this thesis is focused on the control system for lateral, longitudinal, and yaw angle position using a predictive control model. This study analyzes the performance of the model predictive control (MPC) against PID by controlling the steering and acceleration of a vehicle, it was used Matlab to create the waypoints in the driving scenario and to make the simulations in linear MPC and adaptive MPC blocks, it was analyzed the performance in each control to see how well the position of the vehicle follows the reference line for a double change lane maneuver and compare the results against a PID to see which one performs better. The parameters used were measured from a golf cart. These results suggest that the MPC has a better performance when the tuning is done correctly also the data obtained from the simulation showed that speed was significant to lateral position and yaw angle when lane changes were made. We conclude that Model Predictive Control has better performance against PID also the MPC can be adjusted to work as we wanted it had a lot of maneuverability and is quite flexible.
- Secuenciamiento y control óptimo de reactores multiproducto bajo condiciones de incertidumbre en el modelo matemático(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2018-05-15) Lozano Guevara, Azarael Alejandra; Flores Tlacuahuac, Antonio; Santibañez Aguilar, José Ezequiel; Fuentes Cortés, Luis FabiánLas industrias con procesos multiproducto suelen generar productos que no cumplen con los requerimientos del mercado, debido a los cambios que se experimentan entre productos y al suponer que los valores del proceso no contienen errores. A través de la formulación presentada en este trabajo, se pretende mostrar una manera eficiente de resolver problemas de optimización que integren secuenciamiento y control de la producción en presencia de incertidumbre en el modelo matemático, la cual es evaluada con el uso de escenarios propuestos para el rango de valores que puede tomar el parámetro incierto; cada escenario está asociado con un factor de peso fraccional. La función objetivo está en términos económicos, y se busca maximizar el ingreso económico, simultáneamente reduciendo la generación de producto fuera de especificación a través de una buena selección de secuenciamiento entre productos. Se plantea un sistema de ecuaciones MIDO (Mixed-Integer Dynamic Optimization) debido al uso de ecuaciones diferenciales para describir el modelo matemático del reactor, después a través de una técnica de discretización en puntos de colocación dentro de elementos finitos, el sistema se vuelve un MINLP (Mixed-Integer No Lineal Problem), que puede ser resuelto con GAMS. Después se agrega un Control Predictivo de Modelo (MPC) para obtener las variables de control con respuestas de tipo pulso, finalmente se evalúa el sistema al aplicar las acciones de control al modelo en estado determinístico suponiendo los peores escenarios, en este caso, los extremos del rango de valores del parámetro incierto, y obteniendo el error porcentual entre las variables de estado y los valores deseados.
- Advanced control strategies for small wind turbine MPPT and stress reduction(2017-12-05) Garcia Vera, Marco Antonio; Probst Oleszewski, Oliver Matthias; Favela Contreras, Antonio; Vargas Martínez, AdrianaThis thesis demonstrates the functionality of a single-input single-output adaptive predictive control(APC) strategy , focused on power tracking and stress reduction. A modified recursive least squares algorithm was designed to improve the adaptive mechanism and eliminate poor sensitivity malfunctions and a estimator wind up problem. The real implementation of the modification shows a high improvement in the adaptive mechanism’s reliability and the certainty of its estimations. An objective function that combines stress and power was designed and tested. Results indicate that the function achieves an important stress reduction with a slight decrement on power, therefore, validating the design. The performance of the APC and a proportional, integral and derivate (PID) controller following the objetive function under different conditions was analyzed and compared. The system was tested under a constant and a variable wind input with different configurations i.e. a wind series with gust or no presence and with a high or low turbulence with possible wind mean speed values of 6 m/s and 8 m/s.Experimental results show the APC’s tracking error in power, stress and voltage is significantly lower than the one obtained using the PID controller. The variable wind speed ws achieved using a LabVIEW application that sends information to an Arduino Due microcontroller that executes the control algorithms.