Eduardo Perondi - Academia.edu (original) (raw)

Papers by Eduardo Perondi

International Journal of Fluid Power, 2014

ABSTRACT This paper presents a new mathematical model for the Aeromovel transport system, which i... more ABSTRACT This paper presents a new mathematical model for the Aeromovel transport system, which is a non-conventional Automated People Mover (APM) based on pneumatics. The vehicle runs over rails installed on an elevated guide, being propelled by air that is pressurised by means of an external power source (a blower) installed on the ground. The proposed lumped-parameter model is intended as an auxiliary tool for the development of this technology, especially in what concerns its trajectory control algorithms. The dynamics of the pressures in the chambers of the actuation pipe are modelled with basis on energy and continuity assumptions, and important phenomena, such as air compressibility, leakages, and steady-state head losses, are taken into account. The model is validated by the comparison between results of simulations and direct measurements performed in a real-scale prototype constructed in Porto Alegre, Brazil.

Sba Controle Automacao Sociedade Brasileira De Automatica, Jun 1, 2004

ABSTRACT This work deals with the control of pneumatic positioning systems and propose a cascade ... more ABSTRACT This work deals with the control of pneumatic positioning systems and propose a cascade strategy that alow us to overcome several obstacles to the trajectory tracking in pneumatic systems. The exponential convergence of the closed loop trajectory tracking errors in the ideal case is demonstrated using Lyapunov's method. The robustness properties of the closed loop system are also presented. An experimental implementation attests the effectiveness of this strategy.

In this paper the problem of pneumatic positioning system in presence of friction is addressed. T... more In this paper the problem of pneumatic positioning system in presence of friction is addressed. The standard controllers deficiencies when applied to a servopneumatic drive were verified. The main detected problems consist of gains tuning difficulties, robustness lack to payload variations and great sensibility to the friction effects. To overcome the problems of the robustness lack and gains tuning difficulties it was designed and implemented a variable structure controller. Besides, to deal with the friction effects, a compensation scheme was implemented based on a nonlinear friction force states observer. The given results were considered promising, with precision of ±0,2 mm for positioning problems and of ±2,5 mm for path tracking tasks.

Sba: Controle & Automação Sociedade Brasileira de Automatica, 2004

ABSTRACT This work deals with the control of pneumatic positioning systems and propose a cascade ... more ABSTRACT This work deals with the control of pneumatic positioning systems and propose a cascade strategy that alow us to overcome several obstacles to the trajectory tracking in pneumatic systems. The exponential convergence of the closed loop trajectory tracking errors in the ideal case is demonstrated using Lyapunov's method. The robustness properties of the closed loop system are also presented. An experimental implementation attests the effectiveness of this strategy.

Proceedings of the 23rd ABCM International Congress of Mechanical Engineering, 2015

Sensors, 2016

This paper proposes a design methodology for linear actuators, considering thermal and electromag... more This paper proposes a design methodology for linear actuators, considering thermal and electromagnetic coupling with geometrical and temperature constraints, that maximizes force density and minimizes force ripple. The method allows defining an actuator for given specifications in a step-by-step way so that requirements are met and the temperature within the device is maintained under or equal to its maximum allowed for continuous operation. According to the proposed method, the electromagnetic and thermal models are built with quasi-static parametric finite element models. The methodology was successfully applied to the design of a linear cylindrical actuator with a dual quasi-Halbach array of permanent magnets and a moving-coil. The actuator can produce an axial force of 120 N and a stroke of 80 mm. The paper also presents a comparative analysis between results obtained considering only an electromagnetic model and the thermal-electromagnetic coupled model. This comparison shows that the final designs for both cases differ significantly, especially regarding its active volume and its electrical and magnetic loading. Although in this paper the methodology was employed to design a specific actuator, its structure can be used to design a wide range of linear devices if the parametric models are adjusted for each particular actuator.

Proceedings of the 23rd ABCM International Congress of Mechanical Engineering, 2015

21St International Congress of Mechanical Engineering, Oct 1, 2011

Automated People Movers (APM) are systems for passenger transport with fully automated operation ... more Automated People Movers (APM) are systems for passenger transport with fully automated operation and high frequency service. For this study we have used the system named Aeromovel installed in Porto Alegre, Brazil. Aeromovel is a non-conventional Automatic People Mover whose operation principle is based on pneumatics. This paper proposes the use, in a complementary way, of two analysis techniques, simulation and formal verification, in order to guarantee the desired behavior for an APM propulsion system composed by a centrifugal fan and ten (on-off and proportional) pneumatic valves driven by pneumatic pistons. This approach is based on the use of timed automata and UPPAAL modelchecker. The more focused aspect is the modeling of the propulsion system associated at the distributed control system. Some simulation and formal verification results are presented, considering desired behavior properties in order to improve the system's dependability.

Neural Computing and Applications, 2015

Latin American Journal of Solids and Structures, 2015

Automated People Movers (APM) are systems for passenger transport with fully automated operation ... more Automated People Movers (APM) are systems for passenger transport with fully automated operation and high frequency service. For this study, we proposed the adaptation of the standard IEC 61850 (design to be used in electric power systems based in intelligent electronic devices) to allow its application to an APM system named Aeromovel installed in Porto Alegre, Brazil. Aeromovel is a nonconventional Automatic People Mover whose operation principle is based on pneumatics. This paper proposes the use of two analysis techniques, Simulation and Formal Verification, in order to guarantee the desired behaviour for an APM propulsion system composed by a centrifugal fan and ten (on-off and proportional) pneumatic valves driven by pneumatic pistons. This approach is based on the use of timed automata and UPPAAL software.

2012 IEEE 51st IEEE Conference on Decision and Control (CDC), 2012

ABSTRACT This work presents a novel continuous approximation of the LuGre model, with the aim of ... more ABSTRACT This work presents a novel continuous approximation of the LuGre model, with the aim of improving its applicability in the control of a class of systems that include fluid-driven servo positioners. The main attractive of the proposed approximation is the preservation of the properties of boundedness and passivity that are inherent to the original LuGre model, a feature that is not guaranteed in the approximate models that are usually encountered in the specialized literature. The most relevant properties of the proposed approximation are demonstrated analytically, and its applicability is illustrated both analytically and experimentally in the case of a pneumatic servo positioner.

International Journal of Fluid Power, 2014

ABSTRACT This paper presents a new mathematical model for the Aeromovel transport system, which i... more ABSTRACT This paper presents a new mathematical model for the Aeromovel transport system, which is a non-conventional Automated People Mover (APM) based on pneumatics. The vehicle runs over rails installed on an elevated guide, being propelled by air that is pressurised by means of an external power source (a blower) installed on the ground. The proposed lumped-parameter model is intended as an auxiliary tool for the development of this technology, especially in what concerns its trajectory control algorithms. The dynamics of the pressures in the chambers of the actuation pipe are modelled with basis on energy and continuity assumptions, and important phenomena, such as air compressibility, leakages, and steady-state head losses, are taken into account. The model is validated by the comparison between results of simulations and direct measurements performed in a real-scale prototype constructed in Porto Alegre, Brazil.

Journal of the Brazilian Society of Mechanical Sciences and Engineering, 2006

This paper proposes a cascade controller with friction compensation based on the LuGre model. Thi... more This paper proposes a cascade controller with friction compensation based on the LuGre model. This control is applied to a pneumatic positioning system. The cascade methodology consists of dividing the pneumatic positioning system model into two subsystems: a mechanical subsystem and a pneumatic subsystem. This division allows the introduction of friction compensation at force level in the pneumatic positioning system. Using Lyapunov´s direct method, the convergence of the tracking errors is shown under the assumption that the system parameters are known. Experimental results illustrate the main characteristics of the proposed controller.

Automated People Movers (APM) are systems for passenger transport with fully automated operation ... more Automated People Movers (APM) are systems for passenger transport with fully automated operation and high frequency service. Trains controllers are traditionally centralized and based on wired circuits, although they generally have serious difficulties in the installation and maintenance. As there is increased demand on the system, there are advantages in choosing an open architecture, with a simple communication system and distributed. These concepts are largely addressed in the development of IEC 61850. In this study we proposed the adaptation of the standard IEC 61850, design to be used in electric power systems to be applied in an APM system named Aeromovel installed in Porto Alegre, Brazil. Aeromovel is a nonconventional Automatic People Mover whose operation principle is based on pneumatics. A model, based on timed automata formalism, is proposed for IEC 61850 communications requirements and respective simulation results are presented.

This work deals with the development of a feedback controller for an active suspension system to ... more This work deals with the development of a feedback controller for an active suspension system to be a pplied in a high performance elevator. The elevator has a double-deck cabin and will be used in a 200 (m) cou rse guide in a skyscraper of almost 500 (m). The elevator's stead y state velocity is 40 km/h. The development of

SAE Technical Paper Series, 2005

The energetic efficiency of automotive vehicles can be increased through the use of regenerative ... more The energetic efficiency of automotive vehicles can be increased through the use of regenerative brake system. This paper introduces a mathematical model of an ABS (anti-lock braking system) pneumatic regenerative brake. In regenerative brakes the energetic efficiency of ...

Advanced Materials Research, 2014

SAE Technical Paper Series, 2005

International Journal of Fluid Power, 2014

ABSTRACT This paper presents a new mathematical model for the Aeromovel transport system, which i... more ABSTRACT This paper presents a new mathematical model for the Aeromovel transport system, which is a non-conventional Automated People Mover (APM) based on pneumatics. The vehicle runs over rails installed on an elevated guide, being propelled by air that is pressurised by means of an external power source (a blower) installed on the ground. The proposed lumped-parameter model is intended as an auxiliary tool for the development of this technology, especially in what concerns its trajectory control algorithms. The dynamics of the pressures in the chambers of the actuation pipe are modelled with basis on energy and continuity assumptions, and important phenomena, such as air compressibility, leakages, and steady-state head losses, are taken into account. The model is validated by the comparison between results of simulations and direct measurements performed in a real-scale prototype constructed in Porto Alegre, Brazil.

Sba Controle Automacao Sociedade Brasileira De Automatica, Jun 1, 2004

ABSTRACT This work deals with the control of pneumatic positioning systems and propose a cascade ... more ABSTRACT This work deals with the control of pneumatic positioning systems and propose a cascade strategy that alow us to overcome several obstacles to the trajectory tracking in pneumatic systems. The exponential convergence of the closed loop trajectory tracking errors in the ideal case is demonstrated using Lyapunov's method. The robustness properties of the closed loop system are also presented. An experimental implementation attests the effectiveness of this strategy.

In this paper the problem of pneumatic positioning system in presence of friction is addressed. T... more In this paper the problem of pneumatic positioning system in presence of friction is addressed. The standard controllers deficiencies when applied to a servopneumatic drive were verified. The main detected problems consist of gains tuning difficulties, robustness lack to payload variations and great sensibility to the friction effects. To overcome the problems of the robustness lack and gains tuning difficulties it was designed and implemented a variable structure controller. Besides, to deal with the friction effects, a compensation scheme was implemented based on a nonlinear friction force states observer. The given results were considered promising, with precision of ±0,2 mm for positioning problems and of ±2,5 mm for path tracking tasks.

Sba: Controle & Automação Sociedade Brasileira de Automatica, 2004

ABSTRACT This work deals with the control of pneumatic positioning systems and propose a cascade ... more ABSTRACT This work deals with the control of pneumatic positioning systems and propose a cascade strategy that alow us to overcome several obstacles to the trajectory tracking in pneumatic systems. The exponential convergence of the closed loop trajectory tracking errors in the ideal case is demonstrated using Lyapunov's method. The robustness properties of the closed loop system are also presented. An experimental implementation attests the effectiveness of this strategy.

Proceedings of the 23rd ABCM International Congress of Mechanical Engineering, 2015

Sensors, 2016

This paper proposes a design methodology for linear actuators, considering thermal and electromag... more This paper proposes a design methodology for linear actuators, considering thermal and electromagnetic coupling with geometrical and temperature constraints, that maximizes force density and minimizes force ripple. The method allows defining an actuator for given specifications in a step-by-step way so that requirements are met and the temperature within the device is maintained under or equal to its maximum allowed for continuous operation. According to the proposed method, the electromagnetic and thermal models are built with quasi-static parametric finite element models. The methodology was successfully applied to the design of a linear cylindrical actuator with a dual quasi-Halbach array of permanent magnets and a moving-coil. The actuator can produce an axial force of 120 N and a stroke of 80 mm. The paper also presents a comparative analysis between results obtained considering only an electromagnetic model and the thermal-electromagnetic coupled model. This comparison shows that the final designs for both cases differ significantly, especially regarding its active volume and its electrical and magnetic loading. Although in this paper the methodology was employed to design a specific actuator, its structure can be used to design a wide range of linear devices if the parametric models are adjusted for each particular actuator.

Proceedings of the 23rd ABCM International Congress of Mechanical Engineering, 2015

21St International Congress of Mechanical Engineering, Oct 1, 2011

Automated People Movers (APM) are systems for passenger transport with fully automated operation ... more Automated People Movers (APM) are systems for passenger transport with fully automated operation and high frequency service. For this study we have used the system named Aeromovel installed in Porto Alegre, Brazil. Aeromovel is a non-conventional Automatic People Mover whose operation principle is based on pneumatics. This paper proposes the use, in a complementary way, of two analysis techniques, simulation and formal verification, in order to guarantee the desired behavior for an APM propulsion system composed by a centrifugal fan and ten (on-off and proportional) pneumatic valves driven by pneumatic pistons. This approach is based on the use of timed automata and UPPAAL modelchecker. The more focused aspect is the modeling of the propulsion system associated at the distributed control system. Some simulation and formal verification results are presented, considering desired behavior properties in order to improve the system's dependability.

Neural Computing and Applications, 2015

Latin American Journal of Solids and Structures, 2015

Automated People Movers (APM) are systems for passenger transport with fully automated operation ... more Automated People Movers (APM) are systems for passenger transport with fully automated operation and high frequency service. For this study, we proposed the adaptation of the standard IEC 61850 (design to be used in electric power systems based in intelligent electronic devices) to allow its application to an APM system named Aeromovel installed in Porto Alegre, Brazil. Aeromovel is a nonconventional Automatic People Mover whose operation principle is based on pneumatics. This paper proposes the use of two analysis techniques, Simulation and Formal Verification, in order to guarantee the desired behaviour for an APM propulsion system composed by a centrifugal fan and ten (on-off and proportional) pneumatic valves driven by pneumatic pistons. This approach is based on the use of timed automata and UPPAAL software.

2012 IEEE 51st IEEE Conference on Decision and Control (CDC), 2012

ABSTRACT This work presents a novel continuous approximation of the LuGre model, with the aim of ... more ABSTRACT This work presents a novel continuous approximation of the LuGre model, with the aim of improving its applicability in the control of a class of systems that include fluid-driven servo positioners. The main attractive of the proposed approximation is the preservation of the properties of boundedness and passivity that are inherent to the original LuGre model, a feature that is not guaranteed in the approximate models that are usually encountered in the specialized literature. The most relevant properties of the proposed approximation are demonstrated analytically, and its applicability is illustrated both analytically and experimentally in the case of a pneumatic servo positioner.

International Journal of Fluid Power, 2014

ABSTRACT This paper presents a new mathematical model for the Aeromovel transport system, which i... more ABSTRACT This paper presents a new mathematical model for the Aeromovel transport system, which is a non-conventional Automated People Mover (APM) based on pneumatics. The vehicle runs over rails installed on an elevated guide, being propelled by air that is pressurised by means of an external power source (a blower) installed on the ground. The proposed lumped-parameter model is intended as an auxiliary tool for the development of this technology, especially in what concerns its trajectory control algorithms. The dynamics of the pressures in the chambers of the actuation pipe are modelled with basis on energy and continuity assumptions, and important phenomena, such as air compressibility, leakages, and steady-state head losses, are taken into account. The model is validated by the comparison between results of simulations and direct measurements performed in a real-scale prototype constructed in Porto Alegre, Brazil.

Journal of the Brazilian Society of Mechanical Sciences and Engineering, 2006

This paper proposes a cascade controller with friction compensation based on the LuGre model. Thi... more This paper proposes a cascade controller with friction compensation based on the LuGre model. This control is applied to a pneumatic positioning system. The cascade methodology consists of dividing the pneumatic positioning system model into two subsystems: a mechanical subsystem and a pneumatic subsystem. This division allows the introduction of friction compensation at force level in the pneumatic positioning system. Using Lyapunov´s direct method, the convergence of the tracking errors is shown under the assumption that the system parameters are known. Experimental results illustrate the main characteristics of the proposed controller.

Automated People Movers (APM) are systems for passenger transport with fully automated operation ... more Automated People Movers (APM) are systems for passenger transport with fully automated operation and high frequency service. Trains controllers are traditionally centralized and based on wired circuits, although they generally have serious difficulties in the installation and maintenance. As there is increased demand on the system, there are advantages in choosing an open architecture, with a simple communication system and distributed. These concepts are largely addressed in the development of IEC 61850. In this study we proposed the adaptation of the standard IEC 61850, design to be used in electric power systems to be applied in an APM system named Aeromovel installed in Porto Alegre, Brazil. Aeromovel is a nonconventional Automatic People Mover whose operation principle is based on pneumatics. A model, based on timed automata formalism, is proposed for IEC 61850 communications requirements and respective simulation results are presented.

This work deals with the development of a feedback controller for an active suspension system to ... more This work deals with the development of a feedback controller for an active suspension system to be a pplied in a high performance elevator. The elevator has a double-deck cabin and will be used in a 200 (m) cou rse guide in a skyscraper of almost 500 (m). The elevator's stead y state velocity is 40 km/h. The development of

SAE Technical Paper Series, 2005

The energetic efficiency of automotive vehicles can be increased through the use of regenerative ... more The energetic efficiency of automotive vehicles can be increased through the use of regenerative brake system. This paper introduces a mathematical model of an ABS (anti-lock braking system) pneumatic regenerative brake. In regenerative brakes the energetic efficiency of ...

Advanced Materials Research, 2014

SAE Technical Paper Series, 2005