Controle adaptativo aplicado a um sistema de bombeamento de água visando a redução das perdas de energia elétrica e água

Abstract

This thesis aims at the design of an Adaptive controller for the modeling and real-time control of a water pumping system through the simultaneous use of control valves and frequency converter is used for the drive of a pump motor set, aiming to reduce the consumption of water and electricity. We developed a prototype of the water pumping system composed of two branches, aiming to model and identify the motor-pump set Parametrically as well as design and implement adaptive auto adjustable Generalized Minimum variance controllers (GMV). The controller operates in the determination of engine speed and the aperture angle of the control valve. The methodology consisted of a theoretical and experimental study considering the branches operate so disengaged. A study was carried out in order to define the structure of the model for the experimental bench-numbers of Poles, zeros and delays. Once known and validated the model structure, was retrieved from the mathematical model trial countertop representative whose parameters are estimated in real time by the method of recursive least squares (RLS), on the basis of entries imposed on the frequency converter and valves, as well as extensions output whereas the system is engaged. Adaptive controllers (GMV) auto adjustable have been designed and implemented for the control of pressure in extensions using the calculation of control law the parameters identified every instant of sampling, considering them as two systems MIMO (multiple-input multipleoutput). The results are presented to the operating system as uncoupled and coupled, under the action of the controller designed for various reference values.