Maestría en Ingeniería de Control Industrial

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https://hdl.handle.net/20.500.12313/2397

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    Diseño, implementación y validación de un algoritmo de geolocalización de alta precisión para un vehículo de navegación terrestre tipo Rover de la Universidad de Ibagué
    (Universidad de Ibagué., 2018) Bolívar Marín, Fabián; Barrero Mendoza, Oscar
    This thesis shows the design, implementation and validation of two high precision geolocation algorithms for a land vehicle of the University of Ibagué. This rover is designed to be used in projects related to precision agriculture, a line of research in which the D + TEC group is currently working. The document illustrates two alternatives that were developed to achieve the implementation of a position and orientation estimator for the aforementioned rover. The first alternative consisted of the design of a two-stage algorithm that integrates a Kalman filter assembled with an adaptive Kalman filter in the first stage and allows merging the data obtained from an Inercial Measurement Unit housed in a navigation card Navio2 with encoder data installed on the axes of the rover wheels. The output of this stage feeds the second stage of the algorithm, developed through a Kalman filter integrating the data of a GPS and magnetometer installed also in the rover. The second alternative that was also implemented was a two-stage algorithm that integrated an extended Kalman filter with an adaptive one in the first stage and a conventional Kalman filter in the second stage merging the same data from the sensors mentioned in the first alternative. Finally, the results obtained are shown and a detailed analysis of what is found in each designed algorithm is made.
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    Modelización, simulación y control de un reactor tubular de alta presión
    (Universidad de Ibagué., 2010) Muñoz Hernández, Helmer; Muñoz Hernández, Luis Alfonso
    The complex world of polymerization has become an important topic for research due mainly to the great investments it demands and the difficulty in operation of the huge plants that exist to produce polymers. Many papers have been written about this, most of them focusing on the reactor performance and its stability. In the present work a model and simulation for the high pressure polyethylene tubular reactor has been made, but taking into account not only the performance of the reactor by separate but also its interaction with the whole mass balance, in such a way that an integrated model is obtained to study various operating conditions and their effect on exit monomer conversion, peak temperature and number and weight degree of polymerization. At the end, a multivariable control strategy has been implemented (LQR by using Kalman filter) to be compared with PID control (decoupled dynamic PID). It is important to remark the use of MATLAB/SIMULINK software, to model and simulate the complete process. The aim of this study is to make a suitable model for control purposes, in order to try, in the future, different schemes since the point of view of control. The idea is to try new approaches of control strategies like neural model based predictive control which may appear to be promising, due to the complexity of the system. The mass balance involves 13 CSTRs, but more of them can be added to the model. Also, the reactor is simulated using a set of 10 highly nonlinear stiff differential equations, but of course, more equations can be added. In this way, this is a good exercise in the sense that the integrated model (mass balance-reactor), takes into account the complete set of variables intervining in the process.
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    Modelización y control de un sistema neumático usando control inteligente
    (Universidad de Ibagué - Coruniversitaria, Universidad de Gante, Universidad de Lovaina, 2006) Vera Mendez, Flaminio; Gutiérrez, Ana Isabel; Muñoz, Aldemar