ACES  Control Avançat de Sistemes d'Energia
http://hdl.handle.net/2117/114
Fri, 09 Dec 2016 11:46:35 GMT
20161209T11:46:35Z
ACES  Control Avançat de Sistemes d'Energia
http://upcommons.upc.edu/bitstream/id/217/aces.gif
http://hdl.handle.net/2117/114

Modelbased analysis for the thermal management of opencathode proton exchange membrane fuel cell systems concerning efficiency and stability
http://hdl.handle.net/2117/97751
Modelbased analysis for the thermal management of opencathode proton exchange membrane fuel cell systems concerning efficiency and stability
Costa Castelló, Ramon; Strahl, Stephan
In this work we present a dynamic, controloriented, concentrated parameter model of an opencathode proton exchange membrane fuel cell system for the study of stability and efficiency improvement with respect to thermal management. The system model consists of two dynamic states which are the fuel cell temperature and the liquid water saturation in the cathode catalyst layer. The control action of the system is the inlet air velocity of the cathode air flow manifold, set by the cooling fan, and the system output is the stack voltage. From the model we derive the equilibrium points and eigenvalues within a set of operating conditions and subsequently discuss stability and the possibility of efficiency improvement. The model confirms the existence of a temperaturedependent maximum power in the moderate temperature region. The stability analysis shows that the maximum power line decomposes the phase plane in two parts, namely stable and unstable equilibrium points. The model is capable of predicting the temperature of a stable steadystate voltage maximum and the simulation results serve for the design of optimal thermal management strategies.
Mon, 05 Dec 2016 10:00:52 GMT
http://hdl.handle.net/2117/97751
20161205T10:00:52Z
Costa Castelló, Ramon
Strahl, Stephan
In this work we present a dynamic, controloriented, concentrated parameter model of an opencathode proton exchange membrane fuel cell system for the study of stability and efficiency improvement with respect to thermal management. The system model consists of two dynamic states which are the fuel cell temperature and the liquid water saturation in the cathode catalyst layer. The control action of the system is the inlet air velocity of the cathode air flow manifold, set by the cooling fan, and the system output is the stack voltage. From the model we derive the equilibrium points and eigenvalues within a set of operating conditions and subsequently discuss stability and the possibility of efficiency improvement. The model confirms the existence of a temperaturedependent maximum power in the moderate temperature region. The stability analysis shows that the maximum power line decomposes the phase plane in two parts, namely stable and unstable equilibrium points. The model is capable of predicting the temperature of a stable steadystate voltage maximum and the simulation results serve for the design of optimal thermal management strategies.

On teaching modelbased fault diagnosis in engineering curricula
http://hdl.handle.net/2117/97749
On teaching modelbased fault diagnosis in engineering curricula
Costa Castelló, Ramon; Puig Cayuela, Vicenç; Blesa Izquierdo, Joaquim
This article presents an example of how a faultdiagnosis course has been included in an engineering curricula in a motivating way, in particular, in the automatic control and robotic master's degree program at UPC. This article also shows how a PBL methodology has been used in the lab sessions to introduce students to modelbased fault diagnosis. With this methodology, a realworld problem is used to increase students' interest and at the same time help them to acquire and apply new knowledge in a problemsolving context. Observerand parityequationsbased methods for fault detection and structured residuals for fault isolation are introduced to the students from a practical point of view by lab exercises. The course also motivates the interest in fault diagnosis as a first step toward the design of a faulttolerant control system. Assessment results and student surveys carried out before and after the application of the PBL methodology confirm the increase of interest and fulfillment of the SLOs.
© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works
Mon, 05 Dec 2016 09:43:23 GMT
http://hdl.handle.net/2117/97749
20161205T09:43:23Z
Costa Castelló, Ramon
Puig Cayuela, Vicenç
Blesa Izquierdo, Joaquim
This article presents an example of how a faultdiagnosis course has been included in an engineering curricula in a motivating way, in particular, in the automatic control and robotic master's degree program at UPC. This article also shows how a PBL methodology has been used in the lab sessions to introduce students to modelbased fault diagnosis. With this methodology, a realworld problem is used to increase students' interest and at the same time help them to acquire and apply new knowledge in a problemsolving context. Observerand parityequationsbased methods for fault detection and structured residuals for fault isolation are introduced to the students from a practical point of view by lab exercises. The course also motivates the interest in fault diagnosis as a first step toward the design of a faulttolerant control system. Assessment results and student surveys carried out before and after the application of the PBL methodology confirm the increase of interest and fulfillment of the SLOs.

An interactivitybased methodology to support control education. How to teach and learn using simple interactive tools.
http://hdl.handle.net/2117/97748
An interactivitybased methodology to support control education. How to teach and learn using simple interactive tools.
Guzmán Sánchez, José Luis; Costa Castelló, Ramon; Dormido Bencomo, Sebastián; Berenguel, Miguel
Modern engineering projects are multidisciplinary and involve the integration of diverse elements. Within this context, automatic control plays a crucial role. Automatic control is an area of knowledge with significant mathematical content, including differential equations, linear algebra, differential geometry, and/or complex variable among others. Consequently, in many cases, automatic control is difficult for most students to grasp, especially in those cases where students have only an introductory control course in their engineering curriculum. Thus, teachers look for ways to introduce and make automatic control attractive for the students. From the very beginning, graphical representation has been used as support in automatic control teaching. Looking back to the pioneering books in automatic control, it can be seen that there are plenty of schematics and figures. Graphical abstraction was also used to contribute to theoretical understanding. Most of the relevant automatic control concepts, such as systems interconnection, frequency response, stability analysis, time response, and/or root locus, have been displayed graphically. This type of representation has been considered for years as an excellent way to introduce automatic control concepts.
© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works
Mon, 05 Dec 2016 09:30:10 GMT
http://hdl.handle.net/2117/97748
20161205T09:30:10Z
Guzmán Sánchez, José Luis
Costa Castelló, Ramon
Dormido Bencomo, Sebastián
Berenguel, Miguel
Modern engineering projects are multidisciplinary and involve the integration of diverse elements. Within this context, automatic control plays a crucial role. Automatic control is an area of knowledge with significant mathematical content, including differential equations, linear algebra, differential geometry, and/or complex variable among others. Consequently, in many cases, automatic control is difficult for most students to grasp, especially in those cases where students have only an introductory control course in their engineering curriculum. Thus, teachers look for ways to introduce and make automatic control attractive for the students. From the very beginning, graphical representation has been used as support in automatic control teaching. Looking back to the pioneering books in automatic control, it can be seen that there are plenty of schematics and figures. Graphical abstraction was also used to contribute to theoretical understanding. Most of the relevant automatic control concepts, such as systems interconnection, frequency response, stability analysis, time response, and/or root locus, have been displayed graphically. This type of representation has been considered for years as an excellent way to introduce automatic control concepts.

Economic MPC for the Energy Management of Hybrid Vehicles including Fuel Cells and Supercapacitors.
http://hdl.handle.net/2117/97747
Economic MPC for the Energy Management of Hybrid Vehicles including Fuel Cells and Supercapacitors.
Puig Cayuela, Vicenç; Costa Castelló, Ramon; Sampietro, Jose Luis
This paper addresses the energy management of hybrid vehicles using an economicallyoriented model predictive control (EMPC) approach. A control modelling methodology is proposed based on considering the power flows that can be applied to the management of any hybrid vehicle configuration. Then, the proposed EMPC approach is formulated and the control objectives are formulated in terms of a multiobjective cost function. The proposed EMPC is illustrated in a hybrid vehicle that has a PEM fuel cell, a supercapacitor, a battery and a regenerative brake.
Mon, 05 Dec 2016 09:21:03 GMT
http://hdl.handle.net/2117/97747
20161205T09:21:03Z
Puig Cayuela, Vicenç
Costa Castelló, Ramon
Sampietro, Jose Luis
This paper addresses the energy management of hybrid vehicles using an economicallyoriented model predictive control (EMPC) approach. A control modelling methodology is proposed based on considering the power flows that can be applied to the management of any hybrid vehicle configuration. Then, the proposed EMPC approach is formulated and the control objectives are formulated in terms of a multiobjective cost function. The proposed EMPC is illustrated in a hybrid vehicle that has a PEM fuel cell, a supercapacitor, a battery and a regenerative brake.

Influence of the controller design on the accuracy of a forward dynamic simulation of human gait
http://hdl.handle.net/2117/97085
Influence of the controller design on the accuracy of a forward dynamic simulation of human gait
Pàmies Vila, Rosa; Pätkau, Olga; Dòria Cerezo, Arnau; Font Llagunes, Josep Maria
The analysis of a captured motion can be addressed by means of forward or inverse dynamics approaches. For this purpose, a 12 segment 2D model with 14 degrees of freedom is developed and both methods are implemented using multibody dynamics techniques. The inverse dynamic analysis uses the experimentally captured motion to calculate the joint torques produced by the musculoskeletal system during the movement. This information is then used as input data for a forward dynamic analysis without any control design. This approach is able to reach the desired pattern within half cycle. In order to achieve the simulation of the complete gait cycle two different control strategies are implemented to stabilize all degrees of freedom: a proportional derivative (PD) control and a computed torque control (CTC). The selection of the control parameters is presented in this work: a kinematic perturbation is used for tuning PD gains, and pole placement techniques are used in order to determine the CTC parameters. A performance evaluation of the two controllers is done in order to quantify the accuracy of the simulated motion and the control torques needed when using one or the other control approach to track a known human walking pattern.
Wed, 23 Nov 2016 10:08:37 GMT
http://hdl.handle.net/2117/97085
20161123T10:08:37Z
Pàmies Vila, Rosa
Pätkau, Olga
Dòria Cerezo, Arnau
Font Llagunes, Josep Maria
The analysis of a captured motion can be addressed by means of forward or inverse dynamics approaches. For this purpose, a 12 segment 2D model with 14 degrees of freedom is developed and both methods are implemented using multibody dynamics techniques. The inverse dynamic analysis uses the experimentally captured motion to calculate the joint torques produced by the musculoskeletal system during the movement. This information is then used as input data for a forward dynamic analysis without any control design. This approach is able to reach the desired pattern within half cycle. In order to achieve the simulation of the complete gait cycle two different control strategies are implemented to stabilize all degrees of freedom: a proportional derivative (PD) control and a computed torque control (CTC). The selection of the control parameters is presented in this work: a kinematic perturbation is used for tuning PD gains, and pole placement techniques are used in order to determine the CTC parameters. A performance evaluation of the two controllers is done in order to quantify the accuracy of the simulated motion and the control torques needed when using one or the other control approach to track a known human walking pattern.

Hands on laboratory for classical nonlinear control systems : the deadzone case.
http://hdl.handle.net/2117/91056
Hands on laboratory for classical nonlinear control systems : the deadzone case.
Lampon Diestre, Cristina; Costa Castelló, Ramon; Dormido Bencomo, Sebastián
Although many control systems are influenced by static nonlinearities, most current handson laboratories will not show this type of behavior. An analog board module, along with the classic setup plants, would provide a series of nonlinearities, whose effect could be studied and comprehended by students. This paper describes the mentioned analog board module, focusing on the deadzone nonlinearity.
Tue, 25 Oct 2016 10:20:13 GMT
http://hdl.handle.net/2117/91056
20161025T10:20:13Z
Lampon Diestre, Cristina
Costa Castelló, Ramon
Dormido Bencomo, Sebastián
Although many control systems are influenced by static nonlinearities, most current handson laboratories will not show this type of behavior. An analog board module, along with the classic setup plants, would provide a series of nonlinearities, whose effect could be studied and comprehended by students. This paper describes the mentioned analog board module, focusing on the deadzone nonlinearity.

Models and procedures for electric energy distribution planning. A review
http://hdl.handle.net/2117/90846
Models and procedures for electric energy distribution planning. A review
Sempértegui, Rodrigo; Bautista Valhondo, Joaquín; Griñó Cubero, Robert; Pereira Gude, Jordi
Distribution system planning is a key component to accomplish the service in a fast growing demand market, both from a technical point of view and from the economic costs management. In the near future, electric companies will need faster and cheaper planning tools to evaluate different scenarios and their consequences for the rest of the system and provide their clients whit safe reliable and economic energy. The objective of this paper is to review different articles about this subject trying to continue the previous work from Gonen and RamírezRosado in 1986 (Gönen,1986).
Tue, 18 Oct 2016 11:40:24 GMT
http://hdl.handle.net/2117/90846
20161018T11:40:24Z
Sempértegui, Rodrigo
Bautista Valhondo, Joaquín
Griñó Cubero, Robert
Pereira Gude, Jordi
Distribution system planning is a key component to accomplish the service in a fast growing demand market, both from a technical point of view and from the economic costs management. In the near future, electric companies will need faster and cheaper planning tools to evaluate different scenarios and their consequences for the rest of the system and provide their clients whit safe reliable and economic energy. The objective of this paper is to review different articles about this subject trying to continue the previous work from Gonen and RamírezRosado in 1986 (Gönen,1986).

Averaged dynamics of a coupledinductor boost converter under sliding mode control using a piecewise linear complementarity model
http://hdl.handle.net/2117/90749
Averaged dynamics of a coupledinductor boost converter under sliding mode control using a piecewise linear complementarity model
Carrero Candelas, Niliana Andreina; Batlle Arnau, Carles; Fossas Colet, Enric
An averaged model of a coupledinductor boost converter using the piecewise complementarity model of the converter under sliding motions is obtained. The model takes into account the idealized voltage–current characteristic of passive switches (diodes) present in the converter. Because of its lower complexity, the averaged model is more suitable for control design purposes when compared with the linear complementarity systems (LCS) model of the converter. The dynamic performance of the LCS model and the averaged models of the converter are validated through computer simulations using Matlab.
Thu, 13 Oct 2016 13:52:49 GMT
http://hdl.handle.net/2117/90749
20161013T13:52:49Z
Carrero Candelas, Niliana Andreina
Batlle Arnau, Carles
Fossas Colet, Enric
An averaged model of a coupledinductor boost converter using the piecewise complementarity model of the converter under sliding motions is obtained. The model takes into account the idealized voltage–current characteristic of passive switches (diodes) present in the converter. Because of its lower complexity, the averaged model is more suitable for control design purposes when compared with the linear complementarity systems (LCS) model of the converter. The dynamic performance of the LCS model and the averaged models of the converter are validated through computer simulations using Matlab.

Design of controllers for electrical power systems using a complex root locus method
http://hdl.handle.net/2117/90440
Design of controllers for electrical power systems using a complex root locus method
Dòria Cerezo, Arnau; Bodson, Marc
A large class of threephase electrical power systems possess symmetry conditions that make it possible to describe their behavior using singleinput singleoutput transfer functions with complex coefficients. In such cases, an extended root locus method can be used to design control laws, even though the actual systems are multiinput multioutput. In this paper, the symmetric conditions for a large class of power systems are analyzed. Then, the root locus method is revisited for systems with complex coeffcients and used for the analysis and control design of power systems. To demonstrate the benefits of the approach, this paper includes two examples: 1) a doubly fed induction machine and 2) a threephase LCL inverter.
© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Tue, 04 Oct 2016 11:06:11 GMT
http://hdl.handle.net/2117/90440
20161004T11:06:11Z
Dòria Cerezo, Arnau
Bodson, Marc
A large class of threephase electrical power systems possess symmetry conditions that make it possible to describe their behavior using singleinput singleoutput transfer functions with complex coefficients. In such cases, an extended root locus method can be used to design control laws, even though the actual systems are multiinput multioutput. In this paper, the symmetric conditions for a large class of power systems are analyzed. Then, the root locus method is revisited for systems with complex coeffcients and used for the analysis and control design of power systems. To demonstrate the benefits of the approach, this paper includes two examples: 1) a doubly fed induction machine and 2) a threephase LCL inverter.

Sliding mode control of LCL fullbridge rectifiers
http://hdl.handle.net/2117/90439
Sliding mode control of LCL fullbridge rectifiers
Dòria Cerezo, Arnau; Biel Solé, Domingo; Fossas Colet, Enric
In control theory, sliding mode control, or SMC, is a nonlinear control method that alters the dynamics of a nonlinear system by application of a discontinuous control signal that forces the system to "slide" along a crosssection of the system's normal behavior. This book describes recent advances in the theory, properties, methods and applications of SMC. The book is organised into four parts. The first part is devoted to the design of higherorder slidingmode controllers, with specific designs presented in the context of disturbance rejection by means of observation and identification. The second part offers a set of tools for establishing different dynamic properties of systems with discontinuous righthand sides. Time discretization is addressed in the third part. Firstorder sliding modes are discretized using an implicit scheme  higherorder slidingmode differentiators, typically used in outputfeedback schemes, are discretized in such a way that the optimal accuracy of their continuoustime counterparts is restored. The last part is dedicated to applications. In the context of energy conversion, slidingmode control is applied to variablespeed wind turbines, fuel cell coupled to a power converter, rugged DC series motors and rectifiers with unity power factor, and electropneumatic actuator. Finally, an eventtriggered slidingmode scheme is proposed for networked control systems subject to packet loss, jitter and delayed transmissions.
Tue, 04 Oct 2016 10:29:07 GMT
http://hdl.handle.net/2117/90439
20161004T10:29:07Z
Dòria Cerezo, Arnau
Biel Solé, Domingo
Fossas Colet, Enric
In control theory, sliding mode control, or SMC, is a nonlinear control method that alters the dynamics of a nonlinear system by application of a discontinuous control signal that forces the system to "slide" along a crosssection of the system's normal behavior. This book describes recent advances in the theory, properties, methods and applications of SMC. The book is organised into four parts. The first part is devoted to the design of higherorder slidingmode controllers, with specific designs presented in the context of disturbance rejection by means of observation and identification. The second part offers a set of tools for establishing different dynamic properties of systems with discontinuous righthand sides. Time discretization is addressed in the third part. Firstorder sliding modes are discretized using an implicit scheme  higherorder slidingmode differentiators, typically used in outputfeedback schemes, are discretized in such a way that the optimal accuracy of their continuoustime counterparts is restored. The last part is dedicated to applications. In the context of energy conversion, slidingmode control is applied to variablespeed wind turbines, fuel cell coupled to a power converter, rugged DC series motors and rectifiers with unity power factor, and electropneumatic actuator. Finally, an eventtriggered slidingmode scheme is proposed for networked control systems subject to packet loss, jitter and delayed transmissions.