scientific tesis otro ejemplo

7/30/2019 Scientific Tesis Otro Ejemplo

1/15

THE THESIS IN SCIENTIFIC WORKPLACE 2.5(Updated JANUARY 18, 1998)

Setting up your system

Install Scientific Workplace 2.5, locally on your C: drive

Upload the following files

clemmst.sty, clemp12.sty, clemphd.sty, clemphd2.sty, doublespace.sty, signoff.sty

tp.sty, and thesis.lat

Put all .sty (style) files in c:\swp25\tex\macros\tci

Put the thesis.lat file in c:\swp25\styles\thesis

Open Scientific Workplace. To select the style file for your thesis byClick on

Select, Document type :

On the bottom right corner of the dialog box, select (NOT 2e)

The last 2 Thesis styles should readClemson University Thesis

Master document (thesis.tex)

It is advisable to have a master document, where all the chapters of your thesis are

subdocuments. Keep your thesis in a directory F:\THESIS.

In SWP25, select ,,, and enable ,

In File Manager (winfile.exe)select a .tex file, then select from the top menu bar

A sample file for the thesis is given below. Your file thesis.tex should look very similar to

this.

%% This document created by Scientific Word (R) Version 2.0%% Starting shell: book

\documentstyle[amssymb,12pt,thmsa]{clemphd}

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\input tcilatex\renewcommand{\theremark}{\arabic{remark}:}\begin{document}

\signoff


2/15

\setcounter{page}{1}

\titlepage

\TeXButton{Abstract}{\input{abstract.tex}}

\TeXButton{Vita}{\input{vita.tex}}

\TeXButton{Ackno}{\input{acknow.tex}}

\contents

\listfigures

\mainbody

\QSubDoc{Include intro}{\input{intro.tex}}

\QSubDoc{Include chapter1}{\input{chapter1.tex}}



\TeXButton{Conclusions}{\input{conclude.tex}}

\appen\appendix

\QSubDoc{Include append}{\input{append.tex}}

\singlespace\QSubDoc{Include bib}{\input{bib.tex}}\endsinglespace

\end{document}

You may also want to connect to\\barney\eceguys on say your G: drive.

Change directories to ece\sdonepu\usr\thesis for a compeleted thesis.

This will give you a good reference point when compiling your thesis.


3/15

Creating the subdocuments (chapter1.tex)

The first 2 lines of all your subdocuments should start as shown below

Assuming your thesis is called thesis.tex

%TCIDATA{LaTeXparent=0,0,thesis.tex}\chapter{TITLE OF THIS CHAPTER}

Normally, files created in SW have a \end{document} as the last line of the file. This

MUST BE REMOVED.

Creating the Bibliography and Appendix

These files are also subdocuments. Since most of us cut and paste published papers into

our thesis, just cut out the bibliography and appendices from the original paper

documents, and paste it into new files (bib.tex) for bibliography and (append.tex) for the

appendices

Title Page and the Page where the Committee signs

A sample of the title page and the page where the committee signs is attached. Edit the

name and title of the thesis. Do NOT make any changes to the font, alignment, format etc.

Table of Contents and List of Figures

The table of contents and the list of figures are created by SW but due to a difference in

formatting, you will need to type the same stuff into MS Word. Sample documents are

attached at the end of this document. You have to edit these documents. Do NOT makeany changes in font, alignment, format etc.

Note that, in these pages, you should replace thesis with dissertation, andMaster of

Science with Philosophy of Doctorate, if you are a Ph.D. candidate. Ph.D. candidates

should also have one more line for committee member signatures, in the approval page.

Table of Contents and List of Figures

1) Table of ContentsThe major problem with the tables is the extra pages of the lists and tables. To overcome

this problem, \toccont command is defined for Table of Contents inclemphd.sty file

(its exact location is \swp25\tex\macros\tci\clemphd.sty), which defines the

Clemson University thesis style. Based on this definition, I defined two more commands

for List of Figures\Tables (see below for these commands).

\toccont


4/15

command can be employed to handle the extra pages in the Table of Contents. Put that

command just before the entry (chapter, section, or subsection) which is at the beginning

of each extra page in the Table of Contents. \toccont writes the following in the

beginning of extra pages:

Table of Contents (Continued)

Page

Note that, this command does not have problems as \lofcont. For these problems, see

List of Figures/Tables below. Therefore, you don't need to remove \toccont from

your documents unlike \lofcont.

PROBLEMS (toc)

There are several problems regarding Table of Contents (some of them are also applicableto List of Figures/Tables):

Chapter/section names: If your chapter name is too long, it is separated at some point by

the program (Scientific Workplace (SW)).

i) However, this separation is not appropriate for Graduate School formatting.Lines of chapter names cannot exceed 4.5 inches. {Similar limit exists for

other entries of Table of Contents and Captions of Figures and Tables (You

should have at least 4 dots after the entry and before the page number.)} SW

separates the lines longer than 4.5 inches. To prevent this, put a linebreak

where you want to separate in the chapter name (see the example below).

ii) The problem is not completely solved. SW puts the second line of the chaptername just under the first line (as in this paragraph). Graduate School wants the

second line to start from the margin for sections. To solve this, put some

blank space to the second line of chapter (see the example).

Consider the following example:

2. BOUNDARY CONTROL OF A CANTILEVEVERED FLEXIBLE

BEAM WITH FREE END POINT-MASS DYNAMICS .................... 10

Introduction ......................................................................................... 10

The code for the above portion of Table of Contents is:

\setcounter{secnumdepth}{2}


5/15

\chapter{BOUNDARY\ CONTROL\ OF\ A\ CANTILEVERED\ FLEXIBLE\\*\hspace*{1.0em}BEAM\ WITH FREE\ END POINT-MASS DYNAMICS}

\setcounter{secnumdepth}{-1}

\section*{\protect\underline{Introduction}}\addcontentsline{toc}{section}{Introduction}

Explanations to the above code:

\\* breaks the line, * prevents it from starting a new page.

\hspace*{1.0em} creates the extra space in the beginning of the second line.If you

don't have this commandthen your entry will appear as follows in the Table of Contents:

3. BOUNDARY CONTROL OF A CANTILEVEVERED FLEXIBLE

BEAM WITH FREE END POINT-MASS DYNAMICS ........................... 10

Introduction ......................................................................................... 10

Let us say that the first page of the Table of Contents ends with the above chapter

heading. Therefore, you should have \toccont command in your document. Above

LaTeX code should read the following:

\setcounter{secnumdepth}{2}

\chapter{BOUNDARY\ CONTROL\ OF\ A\ CANTILEVERED\ FLEXIBLE

\\*\hspace*{1.0em}BEAM\ WITH FREE\ END POINT-MASS DYNAMICS}

\toccont\setcounter{secnumdepth}{-1}\section*{\protect\underline{Introduction}}\addcontentsline{toc}{section}{Introduction}

The second \setcounter command above prevents the numbering of the sections in

the chapter. First one invokes the numbering (otherwise SW gives the number 0 (zero) for

each chapter). The second one suppresses the numbering of the sections. The differencefrom using the starred versions of\section, \subsection, etc. is that SW does put

the names of the sections, subsections, etc. into Table of Contents without the numbers.

Again Graduate School requires unnumbered entries except chapters.

\addcontentsline : However, you should still use the \section* command for

sections, since the section names are underlined in the text (\section command puts

the underlined section name into the Table of Contents, no underlined entries in Table of


6/15

Contents). To put the section names into the Table of Contents, use the

\addcontentsline command (see above code for the usage). You can use this

command for chapters, subsections, etc. and List of Figures/Tables by providing

appropriate parameters (see a LaTeX help file for further information).

If you use \setcounter command as above, do not use starred versions of thecommands except \section command as explained above.

If you don't want to mess with \setcounter command just use \section*,

\subsection* etc. (except \chapter should have no *) and issue

\addcontentsline command for everything you want to be in the Table of Contents.

Be sure that you use the correct parameters for \addcontentsline.

Be sure that, there are enough ellipsis (dots) [Graduate School wants at least 4 dots

between them] between the page number and the entries of the Table of Contents. This

requirement is also valid for List of Figures/Tables.

Bibliography: I put my References in each chapter as a section. Therefore, my copy of

clemphd.sty file puts several bibliography entries as sections into the Table of Contents. If

you want them as a chapter (which is explained above in Creating Bibliography and

Appendix), then just go intoclemphd.sty file (my version of it) and change it back to the

original. It is marked by the comments

%[begin] Huseyin Canbolat%Huseyin Canbolat [end].

Appendices: In my dissertation, the equation numbers were not automatically right forappendices. Therefore, I should have used the following commands

\renewcommand{\theequation}{A.\arabic{equation}}\setcounter{equation}{0}

Above code produces equation numbers in the form of (A.#). If you want (A-#), then

change A. with A- above. If you have more than one appendix and if the equation numbers

aren't produced automatically as you want, then use the above code, by replacing A by an

appropriate letter (B for Appendix B, C for Appendix C etc.). If equation numbers comes

out to be fine, then you don't need to use the above code.

2) List of Figures/Tables

The commands \lofcont and \lotcont are defined by me (Hseyin Canbolat).

Therefore, you cannot find them in all copies ofclemphd.styfile. If you want touse them, obtain a copy ofclemphd.styfile that contains them. You can checkyour copy as follows: Open it in a text editing software (I used Wordpad). Then

find Huseyin Canbolat in the file. If you can find my name, it has the definitionsof these commands. I put the comments


7/15

%[begin] Huseyin Canbolat%Huseyin Canbolat [end]

wherever I changed anything in my copy ofclemphd.styfile. Everything

between these comments are changed or added by me.Unfortunately, these commands are not free of problems. You should removethese commands from your files after you print the correctly formatted versionsof List of Figures/Tables. Otherwise, your manuscript will be printed incorrect.

\lofcont(\lotcont)

command can be employed to handle the extra pages in the List of Figures (Tables). Put

that command just before the figure (table) whose caption is the first entry in the extra

pages of List of Figures (Tables). \lofcont writes the following in the beginning of

extra pages of List of Figures:

List of Figures (Continued)

Figure Page

\lotcont writes the following in the beginning of extra pages in List of Tables:

List of Tables (Continued)

Table Page

PROBLEMS (lofcont)

The problem for \lofcont command is that it creates a blank page which is numbered

same as the previous page. Therefore, just take that blank page out.

If you havefigures inserted inside the text or more than one figure in a page, \lofcont

prints the rest of the page to a new page numbered same as the previous page in which

\lofcont is inserted. In these cases, do use this command to produce the correct List

of Figures pages, and then remove this command from the documents and preview again.

PROBLEMS (lotcont)

The problem for \lotcont command is similar to \lofcont command, that is, it

creates a new page which has the same number as the previous page in which this

command is inserted. This new page has the rest of the contents of the previous page.

Since it prints the rest of the page to a new page numbered same as the previous page, it

still produces the correct List of Tables (although it alters the pages in the mainbody). Do


8/15

use this command for the correct List of Tables pages, and then remove it from the

documents and preview again.

Or do the following:

The Table of Contents and the List of Figures are created by SW but due to a difference

in formatting, you will need to type the same stuff into MS Word. Sample documents are

attached at the end of this document. You have to edit these documents. Do NOT make

any changes in font, alignment, format etc.

END(Update December 11, 1997 by Hseyin Canbolat)


9/15

May 2, 1997

To the Graduate School:

This thesis entitled New Control Strategies for Mechatronic Systems and written

by Siddharth Pravin Nagarkatti is presented to the Graduate School of Clemson

University. I recommend that it be accepted in partial fulfillment of the requirements for

the degree of Master of Science with a major in Electrical Engineering.

Thesis Advisor

We have reviewed this thesis

and recommend its acceptance:

Accepted for the Graduate School:


10/15

NEW CONTROL STRATEGIES

FOR MECHATRONICS SYSTEMS

A Thesis

Presented to

the Graduate School of

Clemson University

In Partial Fulfillment

of the Requirements for the Degree

Master of Science

Electrical Engineering

by

Siddharth Pravin Nagarkatti

May 1997


11/15

TABLE OF CONTENTS

Page

TITLE PAGE ........................................................................................................ i

ABSTRACT ......................................................................................................... ii

VITA .................................................................................................................... iv

ACKNOWLEDGMENTS ...................................................................................... v

LIST OF FIGURES .............................................................................................. ix

CHAPTER

1. INTRODUCTION ..................................................................................... 1

1.1 Thesis Organization ............................................................................. 1

1.2 Boundary Control of a Flexible Cable with Actuator Dynamics ............ 1

1.3 Minimization of Energy Consumed by a Brushless DC (BLDC) Motor. 4

1.4 A Partial State Feedback Controller for an SRM-RLED Robot ............ 7

4. BOUNDARY CONTROL OF A FLEXIBLE CABLE WITH ACTUATOR

DYNAMICS ............................................................................................. 10

2.1 Mathematical Model ........................................................................... 10

2.2 Control Formulation............................................................................ 13

2.1.1 Exact Model Knowledge Control Law ...................................... 13

2.1.2 Adaptive Control Law .............................................................. 17

2.3 Extensions .......................................................................................... 21

2.4 Experimental Results .......................................................................... 24

3. MINIMIZATION OF ENERGY CONSUMED BY THE BRUSHLESS DC

MOTOR DURING POSITION TRACKING APPLICATIONS ................... 28

3.1 Electromechanical Model .................................................................... 29

3.2 Exact Model Knowledge Controller .................................................... 31

3.2.1 Control Objective....................................................................... 31

3.2.2 Control Law .............................................................................. 32

3.2.3 Composite Stability Result ......................................................... 33

3.3 Energy Consumption Minimization ..................................................... 34


12/15


Page

3.4 Simulation Results .............................................................................. 38

4. EXPERIMENTAL VALIDATION OF A PARTIAL STATE FEEDBACK

CONTROLLER FOR SRM-RLED ROBOT MANIPULATORS 41

4.1 System Model ..................................................................................... 41

4.1.1 Rigid-Link Robot Model............................................................ 42

4.1.2 Switched Reluctance Motor Model............................................ 44

4.2 Observer-Controller Formulation ........................................................ 46

4.2.1 Control Objective....................................................................... 46

4.2.2 Link Velocity Observer.............................................................. 47

4.2.3 Voltage Input Control Law........................................................ 48

4.2.3.1 Desired Torque Signal ....................................................... 494.2.3.2 Desired Current Signal (Commutation Strategy)................. 49

4.2.3.3 Voltage Input..................................................................... 51

4.3 Stability Result ................................................................................... 52

4.4 Experimental Setup and Results .......................................................... 54

4.4.1 Description of Experimental Setup............................................. 54

4.4.2 Description of Experimental Results........................................... 57

5. CONCLUSIONS ....................................................................................... 61

APPENDICES ...................................................................................................... 64

A. Boundary Control of a Flexible Cable with Actuator Dynamics .................. 64

B. Minimization of Energy Consumed by a Brushless DC (BLDC) Motor ....... 67

B.1 Error System Development.................................................................. 67

B.1.1 Voltage Control Input Design ................................................... 68

B.1.2 Composite Stability Analysis ..................................................... 70

B.2 Auxiliary Terms................................................................................... 71

B.3 Derivative of *dbI ................................................................................. 71

C. Partial State Feedback Controller for SRM-RLED Robot Manipulators ..... 81

D. The Mechatronics Workstation .................................................................. 86

D.1 The Hardware Interface Design ........................................................... 86


13/15


Page

D.2 Operations Manual ............................................................................. 87

D.2.1 Initializing the system ............................................................... 87D.2.2 The Graphical User Interface (GUI) .......................................... 88

D.2.3 Torque Mode ........................................................................... 89

D.2.4 Voltage Mode........................................................................... 89

D.2.5 Troubleshooting Linear Amplifiers ........................................... 90

D.2.6 Hardware Troubleshooting ...................................................... 91

D.3.3 Software Debugging ................................................................ 91

E. C Programs.............................................................................................. 95

E.1 The Flexible Cable Experiment ............................................................ 95

E.2 The SRM-RLED Robhot Experiment .................................................. 102

BIBLIOGRAPHY ................................................................................................. 128


14/15

LIST OF FIGURES

Figure Page

A.1 Schematic Diagram of the Experimental Setup ........................................... 65

A.2 Experimental Results Exact Model Knowledge Controller ....................... 65

A.3 Experimental Results Adaptive Controller ............................................... 66

B.1 Root-locus plot showing two real roots and a complex conjugate pair ........ 73

B.2 The first plot shows energy consumed for a range of values around )(* tIdb .

The second plot is a window over the first plot and the sold line representsThe energy due to )(* tIdb ............................................................................. 74

B.3 Desired Position Trajectory ........................................................................ 75

B.4 Position Tracking Error ............................................................................. 76

B.5 Comparison of energy consumed for the two cases : )(tIdb = )(* tIdb (solid

line) and )(tIdb = 0 (dashed line) ................................................................. 77

B.6 Desired Velocity Trajectory ....................................................................... 78

B.7 Velocity Tracking Error ............................................................................. 79

B.8 Comparison of energy consumed for the two cases : )(tIdb = )(* tIdb (solid

line) and )(tIdb

= 0 (dashed line) ................................................................. 80

C.1 Schematic diagram of the experimental setup for voltage mode control ..... 81

C.2 Desired link position trajectories ................................................................ 82

C.3 Full-order controller: link position tracking errors ...................................... 82

C.4 Full-order controller: motor phase currents ................................................. 83

C.5 Full-order controller: motor phase voltages................................................. 83


15/15

List of Figures (Continued)

Figure Page

C.6 HGCFB controller: link position tracking errors ......................................... 84

C.7 HGCFB controller: motor phase currents ................................................... 84

C.8 HGCFB controller: motor phase voltages ................................................... 85

C.9 Torque input controller: link position tracking errors .................................. 85

D.1 Schematic of Experimental Setup in Torque Mode ...................................... 93

D.2 Schematic of Experimental Setup in Voltage Mode ..................................... 94

scientific tesis otro ejemplo

Documents