Comportamento dinâmico não linear e controle de um sistema biela-manivela não ideal
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2017-09-28
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Universidade Estadual Paulista (Unesp)
Resumo
A aproximação ideal e linear de modelos matemáticos apesar de ser a mais utilizada pela simplicidade não se torna a única forma de representação dos problemas e soluções na engenharia quando se aplicam técnicas computacionais e cálculos numéricos. Nesse sentido, para o controle das respostas dos sistemas dinâmicos a análise das fontes não ideais como solução viável de engenharia tem sido pesquisada em várias áreas. Nessa tese estuda-se a modelagem da equação do movimento de um veículo de pequeno porte para o transporte urbano em pequenos percursos, por meio de motores híbridos biomecânico e a ar comprimido com comportamentos não lineares e não ideais, se excitando e recebendo excitação do movimento e da interação entre as fontes motoras. Esse tipo de dinâmica veicular híbrida tem sido investigada por possibilitar melhorias no rendimento energético de veículos, tornando-se essa uma técnica que minimiza o consumo de combustíveis fósseis. Dessa forma a energia elétrica se mostra uma das principais fontes motora híbrida, combinando-se a fonte elétrica a veículos de grande e médio porte com os motores de combustão, incluindo-se os veículos de pequeno porte tal como a bicicleta combinado à fonte biomecânica. Nesse contexto de utilização de energia limpa e renovável a aplicação de motores a ar comprimido possibilita características adequadas ao uso em pequenos veículos automotores, tais como, bicicleta e motocicletas. Nesse trabalho se pesquisa a aplicação de modelo não linear com motores biomecânico e a ar comprimido como fontes não ideais para o controle pelo método SDRE (State Dependent Riccati Equation) aplicado ao movimento de uma bicicleta híbrida. O controle SDRE subótimo realimentado proposto para o veículo bicicleta de pequeno porte híbrida tem como objetivo o controle ativo da velocidade a 20 km/h pelas fontes de energia não ideais, biomecânica e a ar comprimido. Esse controle ativo SDRE a 20 km/h do veículo bicicleta com motores híbridos não ideais, biomecânico e a ar comprimido, através das simulações numéricas do modelo proporcionou erro máximo de 1,2 %, tanto para o plano como em subidas até 10º. Sendo que o veículo bicicleta de pequeno porte no plano usando motor a ar comprimido de 165 W e motor biomecânico de 100 W com frequência máxima do ciclista a 55 rpm atinge a velocidade de 20 km/h com o controle e sem o controle híbrido com o motor biomecânico chega-se a 17,7 km/h. Esse controle SDRE ativo proposto se mostrou viável para o controle da velocidade, desde que os ganhos variem em função da inclinação do piso e de rampa de entrada do motor a ar comprimido a 80% da velocidade desejada, para não saturar o sinal físico. Esse sistema veicular híbrido bicicleta com fontes não ideais por motores biomecânico e ar comprimido, controlados ativamente pela velocidade proporcionou interações entre as fontes não ideais adequadas ao controle ativo pelo motor a ar comprimido. Portanto, o controle SDRE para a bicicleta em planos e subidas se mostra adequada para pequenos deslocamentos, usando-se energias limpas e renováveis no transporte urbano sustentável e não poluente.
The ideal and linear approximation of mathematical models despite being the most used for simplicity does not become the only way to represent problems and solutions in engineering when applying computational techniques and numerical calculations. In this sense, for the control of the responses of the dynamic systems, the analysis of non-ideal sources as a viable engineering solution has been researched in several areas. In this thesis we study the modeling of the equation of the movement of a small vehicle for the urban transport in small routes, by means of biomechanical hybrid motors and to compressed air with non-ideal and non-linear behaviors, getting excited and receiving excitation of the movement and the interaction between motor sources. This type of hybrid vehicular dynamics has been investigated by enabling improvements in the energy efficiency of vehicles, making this a technique that minimizes the consumption of fossil fuels. In this way electric power is one of the main sources of hybrid power, combining the electric source to large and medium-sized vehicles with combustion engines, including small vehicles such as the bicycle combined with the biomechanical source. In this context of use of clean and renewable energy the application of compressed air motors allows characteristics suitable for use in small motor vehicles, such as bicycles and motorcycles. In this work, the application of nonlinear model with biomechanical motors and compressed air as sources not ideal for the control by the State Dependent Riccati Equation (SDRE) method applied to the movement of a hybrid bicycle is investigated. The proposed sub-optimized SDRE control for the hybrid small-bike vehicle aims to actively control the speed at 20 km / h by nonideal energy sources, biomechanics and compressed air. This active control SDRE at 20 km / h of the bicycle vehicle with non-ideal hybrids, biomechanical and compressed air, through the numerical simulations of the model provided a maximum error of 1.2% for both the plane and ascent up to 10º. Being that the vehicle small bicycle in the plane using 165 W compressed air motor and 100 W biomechanical motor with maximum frequency of the rider at 55 rpm reaches the speed of 20 km / h with the control and without the hybrid control with the biomechanical engine reaches 17.7 km / h. This proposed active SDRE control proved to be feasible for speed control, provided that the gains vary as a function of the slope of the floor and of the motor input ramp to compressed air at 80% of the desired speed, so as not to saturate the physical signal. This bicycle hybrid vehicle system with non-ideal sources for biomechanical and compressed air motors actively controlled by speed provided interactions between non-ideal sources suitable for active control by the compressed air motor. Therefore, the SDRE control for the bicycle in planes and climbs is suitable for small displacements, using clean and renewable energy in sustainable and non-polluting urban transport.
The ideal and linear approximation of mathematical models despite being the most used for simplicity does not become the only way to represent problems and solutions in engineering when applying computational techniques and numerical calculations. In this sense, for the control of the responses of the dynamic systems, the analysis of non-ideal sources as a viable engineering solution has been researched in several areas. In this thesis we study the modeling of the equation of the movement of a small vehicle for the urban transport in small routes, by means of biomechanical hybrid motors and to compressed air with non-ideal and non-linear behaviors, getting excited and receiving excitation of the movement and the interaction between motor sources. This type of hybrid vehicular dynamics has been investigated by enabling improvements in the energy efficiency of vehicles, making this a technique that minimizes the consumption of fossil fuels. In this way electric power is one of the main sources of hybrid power, combining the electric source to large and medium-sized vehicles with combustion engines, including small vehicles such as the bicycle combined with the biomechanical source. In this context of use of clean and renewable energy the application of compressed air motors allows characteristics suitable for use in small motor vehicles, such as bicycles and motorcycles. In this work, the application of nonlinear model with biomechanical motors and compressed air as sources not ideal for the control by the State Dependent Riccati Equation (SDRE) method applied to the movement of a hybrid bicycle is investigated. The proposed sub-optimized SDRE control for the hybrid small-bike vehicle aims to actively control the speed at 20 km / h by nonideal energy sources, biomechanics and compressed air. This active control SDRE at 20 km / h of the bicycle vehicle with non-ideal hybrids, biomechanical and compressed air, through the numerical simulations of the model provided a maximum error of 1.2% for both the plane and ascent up to 10º. Being that the vehicle small bicycle in the plane using 165 W compressed air motor and 100 W biomechanical motor with maximum frequency of the rider at 55 rpm reaches the speed of 20 km / h with the control and without the hybrid control with the biomechanical engine reaches 17.7 km / h. This proposed active SDRE control proved to be feasible for speed control, provided that the gains vary as a function of the slope of the floor and of the motor input ramp to compressed air at 80% of the desired speed, so as not to saturate the physical signal. This bicycle hybrid vehicle system with non-ideal sources for biomechanical and compressed air motors actively controlled by speed provided interactions between non-ideal sources suitable for active control by the compressed air motor. Therefore, the SDRE control for the bicycle in planes and climbs is suitable for small displacements, using clean and renewable energy in sustainable and non-polluting urban transport.
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Palavras-chave
Dinâmica não linear, Sistema não ideal, Biela-manivela, Controle SDRE, Nonlinear dynamics, Non-ideal system, Crank-connecting-rod, SDRE control