A solution of the vibration attention problem on a flexible structure from a dynamic vibration absorption perspective is experimentally and numerically studied in this article. Linear and nonlinear dynamic vibration absorbers are properly implemented on a primary structure of n degrees of freedom through a modal decomposition analysis and using the tuning condition when the primary system has one single degree of freedom. A time-domain algebraic identification scheme for on-line modal parameter estimation of flexible structures is presented. A fast frequency estimation of harmonic excitation force is also obtained. A Hilbert transform analysis of the frequency response function for the case of nonlinear dynamic vibration absorption is introduced. In this way, influence of this particular passive nonlinear control device on system dynamic response can be determined. The proposed approach is validated on an harmonically perturbed building-like structure, which is discretized in a finite number of degrees of freedom. The flexible structure is subjected to resonant operational conditions, and coupled to a pendulum vibration absorber configured as a tuned mass damper as well as an autoparametric system.

This work describes the modeling, control and development of a low cost Micro Autonomous Underwater Vehicle (μ-AUV), named AR2D2. The main objective of this work is to make the vehicle to detect and follow an object with defined color by means of the readings of a depth sensor and the information provided by an artificial vision system. A nonlinear PD (Proportional-Derivative) controller is implemented on the vehicle in order to stabilize the heave and surge movements. A formal stability proof of the closed-loop system using Lyapunov’s theory is given. Furthermore, the performance of the μ-AUV is validated through numerical simulations in MatLab and real-time experiments.

Resumen. En este artículo se muestran los resultados experimentales de la integración sinérgica con: un sistema mecánico, un microcontrolador y una interface con el software EMC2 para aplicaciones de máquinas de control numérico (CNC). La contribución que se muestra en el presente trabajo, es el resultado experimental del diseño y programación de un controlador PI difuso de ganancias programables para el posicionamiento lineal de un sistema mecatrónico. La estrategia de diseño del controlador difuso es de 2-entradas y 2salidas, el error y la derivada del error y las ganancias proporcional e integral, respectivamente. Se definieron 5 funciones de pertenencia del tipo gaussiana para fusificar el error y su derivada; se utiliza el conectivo AND en la premisa de las reglas difusas, para inferir el grado de disparo de cada regla difusa se codificó el operador producto (T-norm), el método del centroide es el mecanismo de defusificación. La estructura de la base de reglas son del tipoTakagi-Sugeno con los consecuentes de orden cero. Los resultados experimentales del control de posición en lazo cerrado, indican la viabilidad y efectividad de esta variante del controlador PI con ganancias programables para posicionamiento lineal de este tipo de servomecanismos. Este trabajo presenta los resultados experimentales comparativos, usando la regla clásica de sintonización de Ziegler-Nichols y el Controlador PI difuso de ganancias programables, para un tipo de sistema de posicionamiento, que es ampliamente utilizado en aplicaciones industriales. Palabras clave:Controlador PI difuso, control de posición, máquinas herramientas.Abstract. In this paper we shows the experimental results using a microcontroller and hardware integration with the EMC2 software, using the Fuzzy Gain Scheduling PI Controller in a mechatronic prototype. The structure of the fuzzy

In this paper, we present a mathematical model and control strategy to regulate the yaw of a horizontal axis wind turbine. In order to obtain the dynamic equations of the yaw motion, the mathematical model is developed using the Euler–Lagrange formulation and considers the wind turbine as a manipulator robot with three degrees of freedom (DOF). A fuzzy proportional‐integral‐derivative (PID) controller is proposed to manipulate the yaw angle for power regulation. In addition, we have developed a low cost experimental platform to implement the designed controller to obtain experimental results for the dynamic behavior of the closed‐loop system.

Most power quality problems for electrical grids connected to Doubly-Fed Induction Generators (DFIGs) include flicker, variations of the RMS voltage profile, and injected harmonics because of switching in power converters. These converters have different topologies with the back-to-back (B2B) topology being the most exploited in high-powered three-phase systems. Therefore, in this article a model of a DFIG connected to the B2B power converter is proposed to which different switching techniques are implemented for interharmonic propagation studies. The switching techniques that are implemented include the Sinusoidal PWM (SPWM), the third harmonic injection PWM (THIPWM), and the space vector PWM (SVPWM), to reduce the Total Harmonic Distortion (THD) index of voltage and current in both windings of the machine. MATLAB-Simulink® software is used for modeling and simulating the B2B power converter and the switching techniques. The proposed model is validated with an experimental prototype that includes a 3-kW DFIG, a 10 HP motor, a gear-box with a transmission ratio of 4.5: 1, a B2B power converter, and a three-phase transformer connecting the system to the electrical grid. Finally, it is shown that the results obtained from the experimental tests corroborate the correct operation of the proposed model.