Ingeniería Mecatrónica (Mag.)

Permanent URI for this collectionhttp://98.81.228.127/handle/20.500.12404/1750

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2017 - 20192

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search.filters.applied.f.advisor: search.filters.advisor.Tafur Sotelo, Julio CésarSubject: search.filters.subject.Sensores

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    Navegación y orientación de una pequeña embarcación
    (Pontificia Universidad Católica del Perú, 2019-12-03) Coaquira Paredes, Luis Santos; Tafur Sotelo, Julio César
    Actualmente el monitoreo y toma de datos en embalses, lagunas y presas se realizan con embarcaciones de capacidad de carga de 4 personas como mínimo, esto supone costos por movilización de embarcación, personal y equipos, porque estos están ubicados en el interior del Perú. A esto si le agregamos el riesgo que corre el personal al ingresar a estas lagunas y presas que por ser lugares alejados, no existe equipos de salvataje y no existe personal con experiencia marina. Es por ello que el desarrollo de pequeñas embarcaciones autónomas controladas es una necesidad que necesita ser cubierta de acuerdo a los tiempos modernos que necesitamos de estar actualizados con el avance de la ciencia. Es por ello que la presente tesis consistió en la construcción de un modelo experimental de un vehículo autónomo superficial (ASV) pensado para navegar en lagunas, presas y en cualquier tipo de aguas calmas y sirva de plataforma para llevar equipos y sensores de medición acuática. Este modelo experimental tendrá la capacidad de seguir una trayectoria definida previamente por el usuario y realizar la navegación de la ruta definida. La dirección de la embarcación se realizara por un timón, el posicionamiento se realizara por GPS y la propulsión se realizara por medio de un motor eléctrico y el control se realizara mediante un microcontrolador Atmel contenida en una tarjeta de desarrollo denominada ArduPilot.
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    Optimal control for a prototype of an active magnetic bearing system
    (Pontificia Universidad Católica del Perú, 2017-05-24) Aragón Ayala, Danielo Eduardo; Tafur Sotelo, Julio César; Calderón Chavarri, Jesús Alan
    First applications of the electromagnetic suspension principle have been in experimental physics, and suggestions to use this principle for suspending transportation vehicles for high-speed trains go back to 1937. There are various ways of designing magnetic suspensions for a contact free support, the magnetic bearing is just one of them [BCK+09]. Most bearings are used in applications involving rotation. Nowadays, the use of contact bearings solves problems in the consumer products, industrial machinery, or transportation equipment (cars, trucks, bicycles, etc). Bearings allow the transmition of power from a motor to moving parts of a rotating machine [M+92]. For a variety of rotating machines, it would be advantageous to replace the mechanical bearings for magnetic bearings, which rely on magnetic elds to perform the same functions of levitation, centering, and thrust control of the rotating parts as those performed by a mechanical bearing. An advantage of the magnetic bearings (controlled or not) against purely mechanical is that magnetic bearings are contactless [BHP12]. As a consequence these properties allow novel constructions, high speeds with the possibility of active vibration control, operation with no mechanical wear, less maintenance and therefore lower costs. On the other hand, the complexity of the active (controlled) and passive (not controlled) magnetic bearings requires more knowledge from mechanics, electronics and control [LJKA06]. The passive magnetic bearing (PMB) presents low power loss because of the absence of current, lack of active control ability and low damping sti ness [FM01, SH08]. On the other hand, active magnetic bearing (AMB) has better control ability and high sti ness, whereas it su ers from high power loss due to the biased current [JJYX09]. Scientists of the 1930s began investigating active systems using electromagnets for high-speed ultracentrifuges. However, not controlled magnetic bearings are physically unstable and controlled systems only provide proper sti ness and damping through sophisticated controllers and algorithms. This is precisely why, until the last decade, magnetic bearings did not become a practical alternative to rolling element bearings. Today, magnetic bearing technology has become viable because of advances in microprocessing controllers that allow for con dent and robust active control [CJM04]. Magnetic bearings operate contactlessly and are therefore free of lubricant and wear. They are largely immune to heat, cold and aggressive substances and are operational in vacuum. Because of their low energy losses they are suited for applications with high rotation speeds. The forces act through an air gap, which allows magnetic suspension through hermetic encapsulations [Bet00].