ANNALS OF THE UNIVERSITY OF PETROŞANI

Transcription

1 ISSN ANNALS OF THE UNIVERSITY OF PETROŞANI ELECTRICAL ENGINEERING VOL. 18 (XLV) UNIVERSITAS PUBLISHING HOUSE PETROŞANI - ROMANIA 2016

2 Annal of the Univeity of Petoani, Electical Engineeing, 18 (2016) EDITOR OF PUBLICATION Pof. Ioan-Lucian BOLUNDUŢ Ph.D, ISSN ADVISORY BOARD Pof. Alexandu BITOLEANU, Ph.D. - Univeity of Caiova, Romania; Pof. D. Stanilaw CIERPISZ Sileian Univeity of Technology, Poland; Pof. Tibeiu COLOŞI, Ph.D., - Membe of the Academy of Technical Science of Romania, Peident of Cluj Banch; Pof. D Pedag DAŠIĆ - High Technological Technical School, Kuevac, Sebia and Montenego; D. Eng. Nicolae DAN - Deault Sytem Simulia Cop., Povedence, USA; Aoc. Pof. Daniel DUBOIS, Ph.D. - Univeity of Liège, Belgium; Eng. Emilian GHICIOI, Ph.D. - INCD INSEMEX Petoani, Romania; Pof. Emeit Micea EREMIA, Ph.D. Membe of the Academy of Technical Science of Romania; Pof. D. Vladimi KEBO -Technical Univeity of Otava, Cehia; Pof. D. Vladimi Boiovich KLEPIKOV National Technical Univeity of Khakov, Ukaine; Aoc. Pof. d. Enö KOVÁCS - Univeity of Mokolc, Hungay; Pof. Gheoghe MANOLEA, Ph.D. - Univeity of Caiova, Romania; Pof. Radu MUNTEANU, Ph.D. Membe of the Academy of Technical Science of Romania, Vice Peident; Aoc. Pof. Dan NEGRUT, Ph.D. -Univeity of Wiconin, Madion, USA; Acad. Pof. D. Gennadiy PIVNYAK National Mining Unineity Dnepopetovk, Ukaine; Pof. Emil POP, Ph.D - Univeity of Petoşani, Romania; Pof. Flaviu Dan ŞURIANU, Ph.D. Politehnica Univeity of Timişoaa, Romania; Pof. Willibald SZABO, Ph.D. Tanilvania Univeity of Başov, Romania; Pof. Alexandu VASILIEVICI, Ph.D. Politehnica Univeity of Timişoaa, Romania. EDITORIAL BOARD Edito-in-chief: Pof. Suana ARAD, Ph.D., Univeity of Petoşani Pof. Ion FOTĂU, Ph.D., Univeity of Petoşani Aociate Edito: Aoc. Pof. Nicolae PĂTRĂŞCOIU, Ph.D., Univeity of Petoşani Aoc. Pof. Liliana Bana SAMOILĂ, Ph.D., Univeity of Petoşani Aoc. Pof. Ilie UŢU, Ph.D., Univeity of Petoşani, Univeity of Petoşani Aoc. Pof. Olimpiu STOICUŢA, Ph.D., Univeity of Petoşani Edito Secetay: Lectue Dago PASCULESCU, Ph.D., Univeity of Petoşani Lectue Floin Gabiel POPESCU, Ph.D., Univeity of Petoşani Editoial office adde: Ec. Radu Ioan, Univeity of Petoşani, 20 Univeity Steet, Petoşani, Romania, Phone: (40) 254/ ; ; ; ; Fax: (40) 254/ ; , Contact peon: Suana ARAD, uanaaad@yahoo.com Thi publication i pead in 28 countie.

3 CONTENTS 1. Olimpiu Stoicuţa, The utilization of the S-Function block in imulation of the mathematical model of induction moto with ion lo Maia Daniela Stochiţoiu, About the powe geneating plant demand a enegy management featue Maiu Daniel Macu, Titu Niculecu, Floin-Gabiel Popecu, Răzvan Sluaiuc, Biaxial oientation of the PV panel fo highe enegy conveion Olimpiu Stoicuţa, The utilization of the S-Function block in imulation of the LUENBERGER oto flux obeve fo induction moto Alexanda Eliabeta Löincz, Maiu Cucăilă, Chale Rotand Mvongo Mvodo, Vehicle communication ytem uing matphone Nicolae Pătăşcoiu, Comin Ru, Study on the ue of aduino boad to monito powe conumption Bana Liliana Samoila, Letitia Suana Aad, Stochitoiu Maia Daniela, Vitual intument fo imulating a DC geneato behaviou Comin Ru, Nicolae Pătăşcoiu, Technical and legal apect on the ue of done Stelian Valentin Caavela, Antonio Caavela, Citofo Caavela, Fuzzy feed_back contol fo inveted pendulum...79

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5 Annal of the Univeity of Petoani, Electical Engineeing, 18 (2016) THE UTILIZATION OF THE S-FUNCTION BLOCK IN SIMULATION OF THE MATHEMATICAL MODEL OF INDUCTION MOTOR WITH IRON LOSS OLIMPIU STOICUTA 1 Abtact: In thi pape i peented the pocedue of uing Matlab-Simulink S- Function block fo imulating the mathematical mode of the induction moto with the quiel-cage oto, in which the ion loe ae not negligible. Keywod: induction moto, mathematical model, imulation, ion loe. 1. INTRODUCTION Mathematical modeling of the induction moto i an impotant poblem fo the accuacy of thi opeation, depending on the dynamic pefomance of the contol ytem. The mot commonly ued mathematical model of the induction moto, in contol ytem, ae thoe that take in account the following aumption [1]: the moto i not atuated, the pemeability of the ion pat i infinite; the ion loe ae negligible; the moto peent pefect ymmety electical, magnetic and contuctive; the powe upply ytem mut be thee-phae, inuoidal and ymmetic; the ai-gap i conideed to be unifom; the magnetic field fom the ai-gap i conideed to have a inuoidal pace vaiation; the oto and tato winding ae eplaced with equivalent concentated winding; the oto winding vaiable and paamete ae epoted to the tato; the quiel-cage winding type i eplaced with an equivalent thee-phae winding, with the ame numbe of whil and the ame epatition facto a the tato winding; 1 Aociate Pofeo, Eng., PhD, Univeity of Petoani, Romania 5

6 OLIMPIU STOICUTA the pelicula effect and vaiation with tempeatue of the moto paamete ae not taken in conideation. In peent, the mot commonly ued mathematical model fo the induction moto, obtained conideing the aumption fom above, ae [1], [2]: the tato cuent-oto fluxe model. Thi model i defined by the following mathematical elation: d i a11 a13 j a14 z p i b11 u dt a31 a33 j z p 0 (1) d Hm Im i H m 2 Hm M 3 dt (2) whee i i d j i q ; d j q ; d j ; q u u j u ; j 1 ; d q 1 1 Lm Lm Lm 1 a11 ; a13 ; a14 ; a31 ; a33 ; T T L L T LL T T 2 1 L L Lm 3 z p Lm b11 ; T ; T ; 1 ; Hm 1 L R R L L 2 J L ; F 1 Hm ; H 2 m 3 J J. the tato cuent-oto cuent model. The equation that define thi model, ae: d i a11 j a12 z p a13 j a14 z p i b11 u dt i a 31 j a32 z p a33 j a34 z p i b 31 (3) d H m Imi i H m 2 H m M 3 dt (4) whee i id j iq ; i i d j i q ; i i d j i q ; u ud j uq ; j 1 ; 1 1 Lm Lm Lm Lm a11 ; a12 ; a13 ; a14 ; a31 ; a32 T L T L L T L a ; a34 ; b11 T L ; Lm L L b ; T 31 ; T ; L L R R 2 3 z p F 1 Lm Hm 1 Lm; Hm2 ; H m 3 ; 1. 2 J J J L L ; 6

7 THE UTILIZATION OF THE S-FUNCTION BLOCK IN SIMULATION OF THE MATHEMATICAL MODEL OF INDUCTION MOTOR WITH IRON LOSS the tato fluxe-oto fluxe model. The mathematical model i defined by the following equation: d a11 a13 1 u dt a31 a33 j z p 0 (5) d Hm Im H 1 m 2 Hm M 3 dt (6) whee d j q ; d j q ; d j ; q u u j u ; j 1 d q a 11 1 T ; Lm a 13 L T ; Lm a 31 L T ; 1 a 33 T ; L L T ; T ; R R H m1 3 z p Lm 2 J L L ; Hm2 2 F 1 Lm ; H m 3 ; 1 J J L L. the tato fluxe-tato cuent model. The mathematical elation that define thi model, ae: d 0 a13 1 u dt i a 31 j a32 z p a33 j z p i b 31 (7) d Hm Im i H m 2 Hm M 3 dt (8) whee i id j iq ; d j q ; d j ; q u u j u ; j 1 ; d q a 13 1 R ; a 31 L T ; 1 a 32 L ; a 33 T T ; b31 1 L ; H m1 2 3 z p F 1 L L Lm ; Hm2 ; H m 3 ; T ; T ; 1 2 J J J R R L L. The cuent tend in the imulation of the induction moto within Matlab- Simulink pogam i baed on the ue of the S-Function block. Thi facilitate the implementing of the mathematical model peviouly peented, in one gaphic block uable in Simulink, witten eithe in the Matlab o C language [1], [3]. Cuent eeach in the field of the vecto contol ytem fo the induction moto, ae baed on the mathematical model that take in account the ion loe. In thi ene, thi pape peent a mathematical model of the induction moto, in which the ion loe ae not neglected. Simulation of the induction moto taking in account 7

8 OLIMPIU STOICUTA the ion loe i being achieved in Matlab-Simulink uing an S-Function block. On the othe hand, to highlight the influence of ion loe, in thi aticle i done a compaative analyi by imulation, between the tato cuent oto fluxe model, and the mathematical model that take in account the ion loe of the induction moto. 2. THE MODEL OF INDUCTION MOTOR WITH IRON LOSS The equivalent cicuit of the induction moto that conide the ion loe i peented in Fig.1. The ion loe, a well a the loe that ae happening becaue of the eddy and hyteei cuent, ae modelled uing a eitance equivalent to the ion loe, placed paallel with the mutual inductivity [4]. Thi model i known unde de name of the paallel model of the induction moto with ion loe [5]. Fig.1. The equivalent cicuit of the induction moto with ion loe Uing the cicuit fom Fig.1, the following equation can be witten [6]: the equation of the tato voltage: d u R i j (9) dt equation of the oto voltage: d (10) dt 0 R i j equation of the tato fluxe: L i (11) m 8

9 THE UTILIZATION OF THE S-FUNCTION BLOCK IN SIMULATION OF THE MATHEMATICAL MODEL OF INDUCTION MOTOR WITH IRON LOSS equation of the oto fluxe: L i (12) m equation of the ai-gap fluxe: L i (13) m m m cuent equation: i i im i f (14) magnetic banch voltage equation: d u f Rf i f j m (15) m dt whee motion equation of the induction moto: d J Me F M dt (16) M i the electomagnetic toque of the induction moto: e 3 z p M e Im m (17) 2 L The equation of the induction moto peented above, ae genealized, being witten in a othogonal axi ytem d q, that otate with an angula peed. By cutomizing of the axi ytem, we obtain the following equation: fo 0, the geneal equation of induction machine in the tato efeence ytem; fo, the geneal equation of induction machine in the oto efeence ytem. The equation peented above, can be witten in the following matice fom: tato cuent-oto fluxe-ai-gap fluxe model. The mathematical equation that define thi model ae: i a11 j a13 a15 i b11 d 0 a33 j z p a33 0 u dt (18) a 0 m 51 a53 a55 j m 9

10 OLIMPIU STOICUTA d Hm Im H 1 m m 2 Hm M 3 dt (19) whee i id j iq ; d j q ; d j q j ; m dm qm R Rf Rf L u ud j uq ; j 1 ; a11 ; a13 ; a15 Rf L L L L L L m ; R R f L 1 3 z p 1 a33 ; a51 Rf ; a53 ; a55 Rf ; b11 ; Hm 1 L L 2 J ; L H m2 L m L F 1 ; H m 3 ; L L Lm ; L L Lm. J J L tato cuent-oto cuent-magnetizing cuent model. Thi model i defined by the following elation: i a11 j a13 a13 i b11 d i a 31 a 33 j z p a 31 z p a 36 i 0 u dt i m a51 a51 a51 j i m 0 (20) d H m Imi m i H m 2 H m M 3 dt (21) whee i i d j i q ; i i d j i q ; i i d j i q ; i m i dm j i qm ; u ud j uq ; R Rf R f R f R Rf Lm j 1 ; a11 ; a13 ; a31 ; a33 ; a36 ; L L a 51 m L L R f 1 3 z p F 1 ; b11 ; Hm 1 Lm; Hm2 ; H m 3. L 2 J J J L Equation (18) and (19), epectively (20) and (21), define the mot commonly ued mathematical model fo the induction moto, obtained unde the hypothei that the ion loe ae not negligible. 3. THE INDUCTION MOTOR SIMULATION The mathematical model fo the induction moto, which ae to be imulated at the ame time, ae: tato cuent oto fluxe model (defined by elation (1) and (2)), epectively, tato cuent oto fluxe ai-gap fluxe (defined by elation (18) and (19)). The imulation pogam ae ealized uing the geneal equation fo the induction moto, uing a tato efeence ytem ( 0 ). L 10

11 THE UTILIZATION OF THE S-FUNCTION BLOCK IN SIMULATION OF THE MATHEMATICAL MODEL OF INDUCTION MOTOR WITH IRON LOSS The pogam ued to imulate the two induction moto, i peented in Fig.2. The pogam peented in the Fig.2, i ceated in Matlab Simulink uing S-Function block. The diffeential equation ytem that define the mathematical model fo the induction moto, ae being olved uing the numeic method Domand Pince 7 (ode45), uing a elative and abolute eo 10. Fig.2. The imulation pogam in Matlab-Simulink fo the two induction moto 11

12 OLIMPIU STOICUTA The intenal tuctue of the two ubytem fom Fig.2, ae epeented in the following figue. Fig.3. Intenal tuctue of the ubytem Induction moto 1, which implement the tato cuent-oto fluxe mathematical model. Fig.4. Intenal tuctue of the ubytem Induction moto 2, which implement the tato cuent-oto fluxe-ai-gap fluxe mathematical model. 12

13 THE UTILIZATION OF THE S-FUNCTION BLOCK IN SIMULATION OF THE MATHEMATICAL MODEL OF INDUCTION MOTOR WITH IRON LOSS In Fig.3 and Fig.4, the S-Function block ae noted by IM_1, epectively IM_2. The Matlab pogam which ae attached to the S-Function block, ae peented in the following figue. Fig.5. IM_1 block code. The Matlab pogam, peented in Fig.5 and Fig.6, ae baed on the explained diffeential equation of the analyzed induction moto (fo each diffeential equation whoe coefficient and/o vaiable ae of complex type, thee ae extact both the equation fo the eal pat, and the equation that coepond to the imaginay pat). Thi way, the tato cuent oto fluxe mathematical model, i defined by 5 diffeential equation, and the tato cuent oto fluxe ai-gap fluxe mathematical model, i defined by 7 diffeential equation. The component u d and u q of the tato voltage (ee Fig.2), ae defined by the following elation: 2 ud U N in t 3 2 uq U N in t 3 2 (22) 13

14 OLIMPIU STOICUTA whee 2 f ; f i the tato voltage fequency, and U N i the nominal voltage of the induction moto. The elation (22) ae implemented within the imulation pogam, uing two inuoidal geneato, pecific to the Simulink toolbox. Fig.6. IM_2 block code. The electical and mechanical paamete of the induction moto (IM) ued to imulation, ae given in the Table 1. Table 1. Induction Moto Paamete [7] Name Value Name Value R Stato eitance 4.85 [Ω] F Fiction coefficient 0.008[N m /ad] R Roto eitance [Ω] P N Rated powe 1.5 [kw] R f Ion lo eitance 500 [Ω] n N Rated peed 1420 [pm] L Stato inductance [H] z p Numbe of pole pai 2 L Roto inductance [H] f N Rated fequency 50 [Hz] L m Mutual inductance [H] U N Rated voltage 220 /380 Y [V] J Moto inetia 0.031[kg m 2 ] M N Rated toque 10 [N m] The tandem imulation of the two mathematical model, elating to analyzed induction moto, i being made fo the diect on-line tating cae (DOL), in load, 14

15 THE UTILIZATION OF THE S-FUNCTION BLOCK IN SIMULATION OF THE MATHEMATICAL MODEL OF INDUCTION MOTOR WITH IRON LOSS having at the haft a eitive toque equal with the nominal toque of the induction machine. Within the imulation, the nominal voltage ha the value 380 V, and the fequency of the upply voltage fo the induction moto, ha the value f 50Hz. The imulated pogam fom Fig.2, wa compiled and an on a numeic ytem opeating Window 10-64b. The hadwae tuctue of the ytem i built aound an I7-4720HQ poceo (2.6GHz), with 8 GB of available RAM. The eult fom the imulation ae peented in the following figue. UN Fig. 7. The module of the oto flux phao Fig. 8. The module of the ai-gap flux phao 15

16 OLIMPIU STOICUTA Fig. 9. The module of the tato cuent phao Fig. 10. The module of the oto cuent phao Fig. 11. The module of the magnetizing cuent phao Fig. 12. The module of the ion lo cuent phao 16

17 THE UTILIZATION OF THE S-FUNCTION BLOCK IN SIMULATION OF THE MATHEMATICAL MODEL OF INDUCTION MOTOR WITH IRON LOSS Fig. 13. Speed of the induction moto Fig. 14. Electomagnetic toque of the induction moto Fig. 15. Loe in coppe and ion fo the induction moto Fom the peviouly peented gaphic, it can be obeved that the eult obtained afte the imulation of the conventional model of the induction moto, ae imila to the eult obtained baed on the mathematical model of the induction moto which take in account the ion loe. The mot ignificant diffeence appea in tationay egime (the module of the tato cuent phao cae ee Fig.9, and alo in 17

18 OLIMPIU STOICUTA the cae of the peed ee Fig. 13). The abolute diffeence between the othe vaiable, obtained by imulation, in tationay egime, have a value lowe than Fom Fig.7 and Fig.8, it can be obeved that in tationay egime, the module of the oto flux phao i appoximately equal to the module of the ai-gap flux phao. Fom Fig.9 - Fig.12, it i obeved that, both in tanitoy egime, and in the tationay egime, between the module of the cuent phao of the induction moto, the can be witten the following inequalitie: i i im i f (23) Fig.15 peent the coope and ion loe of the induction moto. The calculu elation of thee loe ae peented in the following: coope loe (the Joule-Lenz effect), in the tato of the induction moto 2 2 Cu n d q n 2 P k R i i k R i (24) coope loe (the Joule-Lenz effect), in the oto of the induction moto ion loe in the induction moto 2 2 Cu n d q n 2 P k R i i k R i (25) 2 2 Fe n f df qf n f P k R i i k R i (26) whee kn 32. Fom Fig.15, it can be obeved that the ion and coope loe, in tationay egime, atify the following inequalitie: Cu Fe Cu f 2 P P P (27) Fom Fig.15, it can be obeved that the total coope and ion loe, in tationay egime, within the induction moto, have an appoximate value of 0.6 [kw], which mean an appoximate value of 40% fom the nominal value of the induction moto. Taking account of the elation (14) and (23), we can make the following appoximation: im i i (28) Jutification fo the appoximative elation (28), i peented unde gaphical fom in the following figue. 18

19 THE UTILIZATION OF THE S-FUNCTION BLOCK IN SIMULATION OF THE MATHEMATICAL MODEL OF INDUCTION MOTOR WITH IRON LOSS Fig. 16. Magnetizing cuent appoximation on the d axi Fig. 17. Magnetizing cuent appoximation on the q axi The mathematical model of the induction moto, obtained with elation (28), i known in the pecial liteatue unde the name of the eie model of the induction moto with ion loe [9]. On the othe hand, fom the peented gaphic, it i obeved that the time fo the tanitoy poce i appoximate 0.45 []. Within the tanitoy poce, the module of the tato cuent phao eache a maximum of appoximate 27[A], whilt the module of the oto cuent phao eache a maximum value of appoximate 24[A] (ee Fig.9 and Fig.10). Thi i being eflected in the coope loe vaiation in time, fom the tato and the oto of the induction moto. Thi way, the coope loe fom the tato, have a maximum value of appoximate 5.3 [kw], while the coope loe fom the oto, have a maximum value of appoximate 3.3 [kw]. 19

20 OLIMPIU STOICUTA 4. CONCLUSIONS Uing the S-Function block in imulating of the induction moto, offe the advantage of implementing within a ingle file witten in Matlab o C, all of the nonlinea diffeential equation that define the mathematical model of the induction moto. Thi file i impoted in Simulink, with help of the S-Function block. The imulation pogam contained in thi pape ae peented in detail, offeing a vey helpful uppot fo the pecialit fom automatization field and electic engineeing field. REFERENCES [1]. Pana T., Stoicuta O., Stability of the Vecto Dive Sytem with Induction Moto, Mediamia Publihe, [2]. Boldea I., Naa S.A., Vecto Contol of AC Dive, CRC Pe, [3]. Ong C.H., Dynamic Simulation of Electic Machiney: uing Matlab- Simulink, Pentice Hall, [4]. Boldea I., Naa S.A., Unified Teatment of Coe Loe and Satuation in the Othogonal-Axi Model of Electic Machine, IEE Poceeding B, Electic Powe Application, Vol.134, No. 6, pp , [5]. Levi E., Impact of Ion Lo on Behavio of Vecto Contolled Induction Machine, IEEE Tanaction on Induty Application, vol.31, pp , [6]. Macu M., Samoila L. B., Popecu F.G., Powe Active Filte Baed on Synchonou Refeence Sytem Theoy, Poceeding of the 1t Intenational Confeence on Indutial and Manufactuing Technologie (INMAT '13), Vouliagmeni, Athen, Geece, May 14-16, 2013, pag , ISSN: , ISBN: [7]. Sung-Dong Wee, Myoung-Ho Shin, Dong-Seok Hyun, Stato-Flux- Oiented Contol of Induction Moto, IEEE Tanaction on Indutial Electonic, Vol.48, No.3, pp , [8]. Aia K., Eddine K.D., Vecto contol uing Seie Ion Lo Model of Induction Moto and Powe Lo Minimization, Wold Academy of Science, Engineeing and Technology, Vol.52, pp , [9]. Jung J., Nam K., A Vecto Contol Scheme fo EV Induction Moto with a Seie Ion Lo Model, IEEE Tanaction on Indutial Electonic, Vol.45, No.4, pp ,

21 Annal of the Univeity of Petoani, Electical Engineeing, 18 (2016) ABOUT THE POWER GENERATING PLANTS DEMANDS AS ENERGY MANAGEMENT FEATURE MARIA DANIELA STOCHITOIU 1 Abtact: Typically, aea of diffeent powe denitie alo equie diffeent netwok configuation. In thi context, the eliability of upply and the upply quality of the electic powe ditibution ytem hould be paid pecial attention. The moden ociety houldn t exit without a afety, clean and cetain electical enegy upply a well a an affodable pice. Keywod: powe geneating plant, electic powe ditibution ytem, climate change, enegy quality. 1. INTRODUCTION Climate change i an iue that ha been aiing concen fom diffeent nation and ha tiggeed action within them to become moe utainable. It ha been poven that beide aving money, enegy efficiency educe envionmental impact and ceate job. Fo thee eaon, it i in evey county bet inteet to head towad efficiency and educe enegy wate. The impovement of enegy efficiency i one of the mot cot-effective way to concuently impove the ecuity of upply, educe enegy-elated emiion, aue affodable enegy pice, and impove economic competitivene. Moe pecifically, it equie pomoting and enuing the ue of high quality, cot-effective enegy audit and enegy management ytem to all final cutome.[6] The electical enegy i one of the bae condition fo economical and ocial development fo education, health and all apect of human life. Fig.1 Integated poduction and ytem olution of electical ditibution 1 Aociate Pofeo, Eng., PhD, Univeity of Petoani, Romania 21

22 MARIA DANIELA STOCHITOIU In the lat twenty yea, thee wee majo change in the electical enegy develop ytem meantime the electical ocietie have elied thei tategie on the pedictable and table condition, the induty- which i till poweful egulated i fequently putting face to face with famewok of ule and climate eglementation in nowaday. Public electical upply web Stock enegy ytem Ditibutive ouce Cutome Fig. 2 The ditibuted upply intallation uing the tock enegy ytem A pecific paticulaitie of enegy ecto, it can mention: a high inetia due to inteval of time between deciion and implementation; along with tanpot tuctue i main contibuto to envionmental pollution and climate change; it need impotant financial invetment.[5] In Romania, the Enegy Regulatoy Authoity (ANRE) i eponible fo developing enegy efficiency policy. Regading enegy efficiency and pomoting the ue of enewable enegy ouce to end-ue, the following citeia wee mandatoy: Opeato with moe than 1,000 toe (41,868 GJ) conumption of enegy mut have a cetified enegy manage, declae conumption, pefom enegy audit and anwe an enegy analyi quetionnaie. Enegy ditibuto, ditibution ytem opeato and etail powe companie mut impove thei enegy efficiency while till poviding competitive pice. They mut alo complete enegy audit and meaue to impove efficiency to end ue, and contibute to mechanim o enegy efficiency fund. Town with 20,000 inhabitant mut implement enegy efficiency pogamme. Romania equie management to be involved with the yealy enegy efficiency pogamme to enue buy-in and implementation. Subequent enegy audit mut evaluate the implementation of the ecommendation of the peviou audit. 22

23 MODERN METHODS OF REACTIVE POWER COMPENSATION AND REDUCTION OF SUPERIOR CURRENT AND VOLTAGE HARMONICS 2. POWER GENERATING PLANTS DEMANDS Regading the planning concept fo powe upply, it i not only impeative to obeve tandad and egulation, it i alo impotant to dicu and claify economic and technical inteelation. To thi end electic equipment, uch a ditibution boad and tanfome, i elected and ated in uch a way that an optimum eult fo the powe ytem a whole i achieved athe than focuing individual component. All component mut be ufficiently ated to withtand nomal opeating condition a well a fault condition.[1] A a pat of enegy management, the voltage quality i vey impotant 1. The powe geneating plant that ae incopoated, uch a combined heat and powe tation (CHP), dieel geneato unit, ga tubine, wind powe tation, and ola ytem, hould be aigned function, uch a tandby powe upply, emegency powe upply, bae load coveage, capping of peak load. The epective function and the intallation ite of powe geneating plant (centally o ditibuted in elation to the main feed-in) have a ignificant effect on the MV netwok configuation and the equied powe ytem potection. 2. Depending on the deign, powe geneating plant can inceae the netwok hot-cicuit ating; thi can be taken into account when dimenioning the witchgea and equipment. 3. Powe geneating plant can have a negative effect on the powe ytem and powe quality. Example of thi ae voltage change, hamonic, and flicke. The citeion of electivity, i.e. the clea identification of the powe upply unit affected by the fault and it diconnection, i clealy linked to thee equiement. In ode to educe the effect of a ytem fault a much a poible, the potection mut take effect a quickly a poible. The baic idea behind powe ytem potection i the detection of a fault though the peence of abnomal electical tate, and then to detemine which point in the netwok hould be diconnected. The following ae chaacteitic fo thee fault: Ovecuent; Collape and diplacement of the voltage The potection function i baed on the detemination and evaluation of thee vaiable. Ovecuent and voltage change occu not only in the immediate vicinity of the fault location, but in wide aea of the netwok o thoughout the entie netwok. It i theefoe not enough to only meaue thee vaiable in ode to decide whethe a elay that epond to thee vaiable hould tip o not. Uually, additional election citeia mut be intoduced in ode to be able to decide about the egulation- compliant tipping opeation. Paticulaly impotant fo thee additional vaiable ae: Time; Enegy o cuent diection The wok involved in the equiement fo electivity mainly depend on the tuctue of the netwok to be potected, and i uually geate the moe complicated it 23

24 MARIA DANIELA STOCHITOIU i tuctued. Hamonic ae geneated by equipment with non-linea cuent-voltage chaacteitic uch a tanfome, ga-dichage lamp, and powe electonic device. It i impaied by fault in the powe upply on the one hand and ytem petubation caued by the connected appliance, plant, and equipment on the othe hand. EN decibe the following main chaacteitic of the upply voltage. Impotant hamonic geneato ae: Powe electonic device uch a convete dive, tatic UPS ytem, ectifie ytem, dimme; Fluoecent lamp; Powe upply unit fo the DC voltage upply of infomation and communication technology component; Moto with non-linea cuent-voltage chaacteitic; Convete in DC chage; Convete in photovoltaic ytem and wind powe tation. Hamonic caue, fo intance: Heating of thee-phae and altenating cuent moto; Fault tipping of cicuit-beake and miniatue cicuit- beake and malfunction of ipple contol eceive; Oveloading and detuction of capacito a a eult of themal oveloading; Oveheating of tanfome; Skin effect of cabling eulting in highe tempeatue load and a geate voltage dop; Malfunction of electonic device and contol unit a a eult of zeo-coing fault; Poblem with the compenation of eath fault. 3. CONCLUSIONS Powe geneating plant can have a negative effect on the powe ytem and powe quality. The baic challenge in planning i to find the optimum of invetment and opeating cot on the one hand and a ik etimation (fequency and effect of failue) on the othe hand Supply quality = voltage quality + availability + evice quality. REFERENCES [1]. Leca A.,.a. Managementul enegiei, Editua Agi, Bucueti [2]. Macu M.D., Pana, L., Popecu F.G., Sluaiuc R., Evaluation the loe powe and electical enegy on the bai of the elative load cuve, by efeence to the baic ize. SGEM2014/Confeence Poceeding, Vol. Enegy and clean technologie, ISBN , ISSN , pp, June, Albena, Bulgaia, [3]. Macu M. D., Popecu F., Samoila L. B., Modeling and Simuling Powe Active Filte Uing Method of Genealized Reactive Powe Theoy, Poceeding of IEEE Intenational Confeence on Compute Science and Automation Engineeing, vol. 2, June, 2011, Shanghai, China, pg , ISBN [4]. Stochitoiu M.D. The et development due to enegetic mix in the electical enegy poduction, Annal of electical engineeing, Univeity.of Petoani [5]. Stochitoiu M.D., Gube Citian The ditibuted upply and the impact above the electical web, Annal of electical engineeing, Univeity.of Petoani [6]. *** [7]. *** [8]. *** 24

25 Annal of the Univeity of Petoani, Electical Engineeing, 18 (2016) BIAXIAL ORIENTATION OF THE PV PANEL FOR HIGHER ENERGY CONVERSION MARIUS DANIEL MARCU 1, TITU NICULESCU 2, FLORIN-GABRIEL POPESCU 3, RAZVAN SLUSARIUC 4 Abtact: Due to inceaingly human need of enegy, new technologie and enegy ouce mut be ued to upply the demand of clean enegy in the context of envionmental iue. Renewable enegy ouce like ola enegy ha one of the mot potential and it i tudied hee. Peiod of moning and evening when the un' ay make an mall angle with the ola panel geneate a malle amount of enegy. Uing 2 actuato fo both axe of motion fo photovoltaic panel can follow the poition of the un fom unie to unet. Keywod: ola, photovoltaic, enegy, conveion, oientation. 1. SOLAR RADIATION DURING CLEAR SKY Photovoltaic pefomance meaning electicity geneation depend to a lage extent of the incident ola adiation on photovoltaic module poitioned with diffeent oientation, but mot data eceived fom weathe tation ae baed on the hoizontal uface. Thu, foecating ola adiation on inclined uface i cucial becaue a uual photovoltaic panel ae inclined to eceive maximum unlight yield a poible. Diect adiation, diffue iadiance and eflected iadiance ae the component of global adiation on inclined uface. R Tt R R R (1) bt dt t 1 PhD., Aociate Pofeo, Eng., Univeity of Petoani 2 PhD., Aociate Pofeo, Eng,. Univeity of Petoani 3 PhD., Lectue, Eng., Univeity of Petoani 4 PhD., Aitant Eng., Univeity of Petoani 25

26 MARIUS DANIEL MARCU, TITU NICULESCU, FLORIN-GABRIEL POPESCU, RAZVAN SLUSARIUC whee R Tt i equivalent adiation, R bt i the diect beam, R dt i the diffue iadiance R t i the eflected iadiance. Diect Sola Iadiance (R bt) Diect ola adiation on inclined plane i mathematically epeented a follow: R co (2) bt R b AOI Whee R b i the diect adiation on the hoizontal uface and θ i the angle of incidence between the nomal to the uface and the incoming ola diect beam [1],[3]. Diffue ola iadiance (R dt) The model of the diffue iadiance that aive at a ite on inclined ola ytem with equal intenity fom all diection a ky i conideed a iotopic i expeed a: 1 co R dt CR b (3) 2 Whee the C i the ky diffue facto: N 100 C in 360 (4) 365 Reflected Sola Iadiance (R t) The eflected ola adiation i given by: 1 co Rt Rb in C (5) 2 Whee ρ i the eflectance. The intenity of thi adiation depend lagely on the eflectivity of the uface at that location. The equivalent equation of ola adiation incident on a tilted photovoltaic ola panel wa ewitten uing peviou equation: co co R Tt E exp k in 1 co 1 co in C in C Az 2 2 (6) 26

27 BIAXIAL ORIENTATION OF THE PV PANEL FOR HIGHER ENERGY CONVERSION 2. ORIENTATION OF THE SOLAR PANEL TOWARDS THE SUN Biaxial oientation of the photovoltaic panel i equied to meet the goal of a pefomance inceae of ola enegy conveion into electicity. The oientation of the PV geneato o that the incidence of ola adiation beam i pependicula to the photovoltaic panel obviouly will lead to a powe geneation at full capacity fo a longe peiod of time than if it would have a fixed poition [3]. Fig. 1. Sun angle elative to the photovoltaic ytem ω - hou angle i the angula diplacement of local meidian fom eat to wet due to Eath' otation on it axi by 15 degee pe hou; δ declination angle i the angle between Eath-Sun line and plane along the equatoial cicle; γ ola height i the angle fomed by the Eath-Sun line and the hoizontal plane of that location; θ AOI the angle of incidence i the angle of unlight beam that come fom the un and the nomal to the uface; β inclination of the photovoltaic panel; ρ - i the eflection coefficient; n nomal to the photovoltaic panel plan. Peiod of moning and evening when the un' ay make an mall angle with the ola panel geneate a malle amount of enegy. Uing 2 actuato fo both axe of motion photovoltaic panel can follow the poition of the un fom unie to unet. Declination photovoltaic panel i aociated with ola altitude, which will change it poition evey 5 day. Tacking the un duing a day it i pefomed by the econd actuato that change the angle of once evey 5 minute. Simplifying and knowing that the un move at an houly peed of 15 / h, the pitch diunal angle, conducted by the equatoial oientation ytem, achieve on aveage a 1 angle of incidence that lat appox. 1 h / 15 = 60 min / 15 = 4 min / C. 27

28 MARIUS DANIEL MARCU, TITU NICULESCU, FLORIN-GABRIEL POPESCU, RAZVAN SLUSARIUC Thi peiod ha howeve momentay diffeent value, depending on the lope of vaiation of declination duing the yea, β declination i appoximately contant thoughout the day, leading to a eaonal vaiation of the β angle. The oientation of the photovoltaic panel duing the meauement wa made to outh whee the photovoltaic panel had fixed oientation with β with value of 30, 35 and 45 degee [4]. In the cae of biaxial oientation of the ola panel two actuato - one fo changing the β angle and one fo the uface modification of the panel with epect to the azimuth of the un - they wee opeated evey 5 minute coeponding to the poition of the un in ode to achieve an pependicula incidence to the beam coming fom the ola dic [5]. 3. MEASUREMENTS UPON THE SELECTED OPTIONS Meauement wee caied out fo fou cae epectively 30, 35, 45 degee and optimal oientation. 28

29 BIAXIAL ORIENTATION OF THE PV PANEL FOR HIGHER ENERGY CONVERSION Fig. 2. Geneated powe fo diffeent etup of the photovoltaic ytem Fo the fit meauement the photovoltaic panel wa poitioned at an β inclination of 30 degee, and it can be een that the peak daytime appea at about 12:35 and the ecoded value of the geneated powe i aound 26W. Thoughout the day, fo an inclination of 35 degee, the conveion efficiency inceae by appoximately 4% compaed to the declination 30 degee and the maximum intantaneou powe appoaching 28W. The gadual inceae in the fit hou afte unie o deceaing at the end of the day due to the ditance it tavee the light beam fom enteing the atmophee to ola cell. Conveion efficiency in thi cae elated to the declination of 45 i highe by 61%. Fig. 3. Schematic illutation of the ai ma, epeenting the elative ditance that light tavel though the atmophee AM = 1 coepond to the incident adiation and the adiation coming fom the hoizon can inceae the value to moe than 10. Thi facto ha the effect of "tempeing" of ola adiation in the fit and lat 1-2 hou of the day thu educing powe geneated by photovoltaic panel it i diectly popotional to the amount of ai ma. Value of powe geneated by photovoltaic panel wee filteed o a to obtain the aithmetic and they can be ued in a compaative chat fo a viual aement to make clea to them. 29

30 MARIUS DANIEL MARCU, TITU NICULESCU, FLORIN-GABRIEL POPESCU, RAZVAN SLUSARIUC Fig. 4. The value ecoded at diffeent inclination of ola panel duing the day 4. CONCLUSIONS In thi pape wee tudied eveal poitioning ytem, that wee et at 30, 35, 45 degee and the biaxial ytem and fom thi eeach eulted that geneated electicity with the fixed ytem at 45 degee facing outh i highe by 9% elative to the amount of enegy poduced by fixed ytem at 30 degee; the amount of electicity poduced by the ytem fixed at 35 degee outhen oientation i highe by 4% elative to the amount of enegy poduced by the fixed ytem at 30 degee and the biaxial oientation ytem geneated 61% moe enegy than the fit etup. REFERENCES [1]. Lui, C., Sivete, S., Modelling photovoltaic ytem uing PSpice, Chichete, John Wiley & Son Ltd., [2]. Macu, M., Popecu, F., Pană, L., Sluaiuc, I.R., Modeling and imulation of ola adiation, 3 d Intenational Confeence on Nanotechnology, Technology and Advanced Mateial ICNTAM, [3]. Naing, L.P., Etimation of ola powe geneating capacity, IEEE 11th Intenational Confeence on Pobabilitic Method Applied to Powe Sytem, pp , [4]. Rekioua, D., Matagne, E., Optimization of Photovoltaic Powe Sytem, Hadcove, XII, pp. 283, [5]. Samoila, B. L., Macu, M. D., Popecu, F. G. Equipment Deigned to Contol a Heating Hybid Sytem with Solid Fuel Boile and Sola Panel, Poceeding of the 1t Intenational Confeence on Envionmental Infomatic (ENINF '13) Kuala Lumpu, Malayia Apil 2-4, 2013, pp [6]. Stoicuta O., Pana T., Aymptotic tability tudy of induction moto enole vecto contol ytem with MRAS obeve, In poceeding of the Intenational Confeence on Automation, Quality and Teting, Robotic AQTR 2016, Cluj Napoca; Romania; pp. 1-6,

31 Annal of the Univeity of Petoani, Electical Engineeing, 18 (2016) THE UTILIZATION OF THE S-FUNCTION BLOCK IN SIMULATION OF THE LUENBERGER ROTOR FLUX OBSERVER FOR INDUCTION MOTORS OLIMPIU STOICUTA 1 Abtact: In thi pape i peented the pocedue of uing Matlab-Simulink S- Function block fo imulating the Luenbege obeve, which ha the ole of etimating the oto flux of an induction machine with quiel-cage oto. In ode to analyze the dynamic pefomance of the Luenbege etimato, both the effect of electic paamete vaiation and the effect of noie meauement ae highlighted. Keywod: induction moto, mathematical model, imulation, Luenbege obeve. 1. INTRODUCTION The dynamic pefomance of the diect vecto contol cheme with oientation afte the oto flux depend on the quality of oto flux etimation. The main oto flux obeve can be claified in thee categoie [6]: obeve deived fom the induction machine equation, in which dq component of the oto flux ae obtained fom the diffeential equation ytem which define the mathematical model of the induction machine; linea tate obeve, built on the geneal theoy of tate obeve ued in linea ytem; optimal obeve (Kalman filte), which ely on the pinciple of minimizing a cetain objective function, in ode to etimate optimally the ytem tate vecto. In the cla of linea tate obeve, both full ode obeve (in which all component of the induction machine tate vecto ae etimated), and educed ode obeve (in which jut a pat of the tate vecto component ae etimated) ae included. 1 Aociate Pofeo, Eng., PhD, Univeity of Petoani, Romania 31

32 OLIMPIU STOICUTA The mot widely known obeve gounded on the geneal theoy of linea tate etimato ae [6]: Luenbege obeve (full ode obeve); Gopinath obeve (educed ode obeve). The pupoe of thi aticle i to peent the numeical imulation of the Luenbege etimato uing S-function block in the Matlab imulation envionment. The imulation will how the dynamic pefomance of the Luenbege obeve in vaiou opeating mode of the induction machine. The paallel mathematical model wa ued fo the induction machine duing the imulation [6]. The tate vecto of thi model compie the dq component of the: tato cuent, oto flux and ai-gap flux. The paallel model of the induction machine ue an equivalent eitance placed in paallel with the mutual inductance fo modeling the ion loe, hyteei and eddy cuent loe [2]. 2. LUENBERGER OBSERVER The Luenbege obeve, whoe imulation i peented in thi aticle, i baed on the tato cuent-oto fluxe mathematical model of the induction machine. The block diagam of the ytem made of tatic fequency convete (CSF)-induction machine-luenbege obeve i peented in the following figue: Fig. 1. The block diagam of the aembly CSF-induction machine-luenbege obeve 32

33 THE UTILIZATION OF THE S-FUNCTION BLOCK IN SIMULATION OF THE LUENBERGER ROTOR FLUX OBSERVER FOR INDUCTION MOTORS The equation which define the Luenbege obeve i [3] dxˆ A xˆ B u L y C xˆ dt (1) whee xˆ iˆ iˆ ˆ ˆ ; u u u ; y i i ; a 11 d q d q T a11 0 a13 a14 z p b a11 a14 z p a 13 A 0 b 11 ; B ; a31 0 a33 z p 0 0 C ; 0 a31 z p a Lm Lm ; a13 ; a14 T T L L T LL 2 1 L L Lm b11 ; T ; T ; 1 L R R L L d q T ; a31. d L T q T m ; a33 1 ; T The Luenbege matix fom equation (1), i given by the following expeion: la11 la12 la12 la 11 L (2) la21 la22 la22 la21 The element of Luenbege matix, ae obtained though H. Kubota method, which enue a cetain popotionality between the eigenvalue of the etimato and the eigenvalue of the induction machine. The element of Luenbege matix, given by H. Kubota method ae [3]: 1 1 la11 k a11 a33 la12 z p k la22 la12 2 la a a 1 k la (3) whee 1/a14, and k i the popotionality facto between the eigenvalue of the etimato and the eigenvalue of the induction machine. 33

34 OLIMPIU STOICUTA 3. SIMULATION OF THE LUENBERGER OBSERVER Both the Luenbege obeve and the mathematical model of the induction moto ae imulated in Matlab-Simulink, uing S-function block. The Matlab code attached to the S-Function block of the induction machine, i baed on the equation which define the paallel model, tato cuent-oto fluxe-ai gap fluxe. The mathematical model of the induction machine, take the ion loe into account. Duing the imulation the effect intoduced by the tatic fequency convete ae alo highlighted. All 6 tanito fom the tatic fequency convete tuctue ae uppoed to have an ideal witching. The CSF i deigned with a DC intemediay tage. Within the PWM modulato, the caie i of iocele tiangle type having a fequency f c [khz]. The modulation technique i baed on a modified ubocillation method [4]. Thi way, ove the tato' efeence voltage i injected the 3d degee hamonic of the phae voltage, having amplitude of 1/6 of the fundamental efeence voltage. The Luenbege obeve i teted in open loop, o the etimated value of the tato cuent and oto fluxe ae not ued to contol the induction machine. In ode to get a detailed analyi of the obeve dynamic pefomance, the following tet ae ealized duing the imulation: C1: teting the dynamic pefomance of the obeve when the electic paamete of the induction moto ae the ame with the electic paamete ued in the implementation of the Luenbege etimato. Duing thi tet the meaued value of the tato voltage, tato cuent and oto peed ae not influenced by noie. C2: teting the dynamic pefomance of the obeve when the oto eitance i with 30% highe than the nominal value. The tet i done unde no noie influence. C3: teting the dynamic pefomance of the obeve when the tato eitance i with 30% highe than the nominal value. The tet i done unde no noie influence. C4: teting the dynamic pefomance of the obeve when the ion loe eitance i with 30% highe than the nominal value. The meauement noie i neglected duing thi tet. C5: teting the dynamic pefomance of the obeve in the ame condition which exit in the C1 tet, but the noie which affect the meauement poce of the tato cuent and voltage, i taken into account. To geneate meauement noie, wee ued andom numbe geneato with nomal ditibution. The peed of the induction machine i contolled duing thi imulation uing a cala contol ytem which employ open loop U/f=ct. contol method. The ytem made of CSF-induction moto-luenbege obeve i imulated fo a full load tat, when the load ha a eitive toque equal with the nominal toque of the induction machine. 34

35 THE UTILIZATION OF THE S-FUNCTION BLOCK IN SIMULATION OF THE LUENBERGER ROTOR FLUX OBSERVER FOR INDUCTION MOTORS Each imulation i done fo two fequencie of the tato voltage (f e* =20 Hz and f e* =50 Hz). The diffeential equation ytem on which i baed the ytem CSF - induction moto - Luenbege obeve wa olved uing Domand Pince (ode45) 7 numeical method, with a elative and abolute eo of 10. The Matlab pogam which imulate the ytem i peented in Fig.2. The pogam ue S-Function block. Fig. 2. The imulation pogam of the CSF-induction moto-luenbege obeve ytem The intenal tuctue of the Luenbege block i hown in Fig.3. Fig. 3. Luenbege Obeve intenal tuctue 35

36 OLIMPIU STOICUTA The S-Function block which implement the Luenbege etimato i denoted L1 in Fig.3. The following figue how the Matlab code aociated with thi block. Fig.4. L1 block code. The ai gap fluxe dq component ae etimated uing the following equation Lm Lm L whee e1 ; e2. L L ˆ e iˆ e ˆ ˆ e iˆ e ˆ dm 2 d 1 d qm 2 q 1 q (4) 36

37 THE UTILIZATION OF THE S-FUNCTION BLOCK IN SIMULATION OF THE LUENBERGER ROTOR FLUX OBSERVER FOR INDUCTION MOTORS Relation (4) ae at the heat of the pogam hown in Fig.3; they ae deived fom the flux equation of the induction moto (IM) mathematical model, model which not take into account the ion loe [6]. In thee equation the dq component ae given by: i i i i i i dm d d qm q q (5) The intenal tuctue of the imulation block which implement the tatic fequency convete with intemediay DC voltage cicuit i given in Fig.5. Fig. 5. The Matlab-Simulink of the tatic fequency convete (CSF) The equation which define CSF, ae: * uan Aa ua kn in 3e t * ubn Aa ub kn in3e t * ucn Aa uc kn in3e t (6) whee 1 Aa ; U dc u kn ; in3 3 in 4 in 3 e t e t e t * ua 2 2 in e t ; u ud uq ; e 2 fe. u 6 ; The intenal tuctue of the block which geneate the modulating voltage ( Geneation Thid Hamonic ), i hown in Fig.6. 37

38 OLIMPIU STOICUTA Fig. 6. Intenal tuctue of the block Geneation Thid Hamonic. The ignal ued to contol the tanito in the invete ae geneated by compaing the nomalized modulating voltage-which contain the thid ode hamonic- with a tiangle ignal voltage denoted u t (ee Fig.7). The fequency of the tiangle ignal i f c = 5 [khz]. Fig. 7. Time vaiation of the tiangle wavefom with a fequency of 1 [khz] The contol ignal ae obtained a follow: if uan ut then S1 1 ; the high tanito of phae a i open (in conduction); if uan ut then S1 0 ; the low tanito of phae a i open; if ubn ut then S2 1 ; the high tanito of phae b i open; if ubn ut then S2 0 ; the low tanito of phae b i open; if ucn ut then S3 1 ; the high tanito of phae c i open; if ucn ut then S3 0 ; the low tanito of phae c i open; 38

39 THE UTILIZATION OF THE S-FUNCTION BLOCK IN SIMULATION OF THE LUENBERGER ROTOR FLUX OBSERVER FOR INDUCTION MOTORS The block PWM Modulato, ued to geneate the contol pule accoding to the logic peented i given in Fig. 8. Fig. 8. Intenal tuctue of block PWM Modulato The tiangula ignal u t i geneated uing 3 Simulink block (ee Fig.9). Fig. 9. Caie block intenal tuctue The ample time popety of the block Digital Clock, i T 10 component of the input and output vecto contained in the Look-up table ae: input vecto: u 2 f f c c output vecto: 6. The (7) y (8) The phae voltage outputted by the invete ae given by the following equation, auming that all tanito ae ideal. Udc ua 2 S S S 3 Udc ub 2 S S S 3 Udc uc 2 S S S (9) 39

40 OLIMPIU STOICUTA The equation (9) wee ued to implement the block VSI-PWM which appea in Fig.5. The intenal tuctue of VSI-PWM block i hown in Fig.10. Fig. 10. Intenal tuctue of VSI-PWM block Duing the imulation, i aumed that the invete i fed with a voltage (U dc) equal with the aveage ectified voltage given by a thee-phae diode ectifie (6 diode). The U dc voltage expeion i given by whee RMS U LL U dc 3 2 RMS UL L (10) i the oot mean quae value of the ectifie input line-to-line voltage. The expeion which make the tanfomation fom thee-phae ytem to biphae ytem ae: u u u u u A u c whee a b c T d q 0 and (11) u u u u thee-phae tato voltage, epectively biphaic voltage, and T ae the tanpoed vecto of Ac matix i given by: A c (12) 40

41 THE UTILIZATION OF THE S-FUNCTION BLOCK IN SIMULATION OF THE LUENBERGER ROTOR FLUX OBSERVER FOR INDUCTION MOTORS Relation (11) and (12) define the Clake tanfom applied fo tato voltage. The open loop contol law U/f=ct., ued in thi aticle i: u (13) e whee 2 f i the angula fequency of the otating magnetic tato field; e 2 2 d q e i the modulu of the tato flux phao. The contol law given by (13), i deived fom the mathematical model tato fluxe-oto fluxe [6], following the next tep: the equation of the induction moto model ae witten in a efeence ytem which otate ynchonouly with the tato cuent phao, having an angula fequency of e ; the module of the tato voltage phao i expeed a a function of the tato fluxe phao module; in the expeion obtained in the peviou tep the tato eitance and the lip angula fequency ae neglected. In the open loop cala U/f=ct. contol method, the nominal value of the tato flux phao module i taken into account a follow: 2 U N 3 N (14) whee N 2 f f N; N 50 Hz i the nominal angula fequency of the tato voltage (induction machine upply voltage), and U N i the nominal voltage of the induction machine. The tato voltage impoed by the cala contol law U/f=ct., ae: N * * * ua u in e t * * * 2 ub u ine t 3 * * * 4 uc u ine t 3 (15) whee u * * ; 2 f. * * N e e e The electical and mechanical paamete of the induction machine (IM) ued to imulate the ytem CSF-IM-Luenbege obeve, ae given in the Table 1. 41

42 OLIMPIU STOICUTA Table 1. Induction Moto Paamete [1] Name Value Name Value R Stato eitance 4.85 [Ω] F Fiction coefficient 0.008[N m /ad] R Roto eitance [Ω] P N Rated powe 1.5 [kw] R f Ion lo eitance 500 [Ω] n N Rated peed 1420 [pm] L Stato inductance [H] z p Numbe of pole pai 2 L Roto inductance [H] f N Rated fequency 50 [Hz] L m Mutual inductance [H] U N Rated voltage 220 /380 Y [V] J Moto inetia 0.031[kg m 2 ] M N Rated toque 10 [N m] In imulation it i aumed that the ectifie input RMS voltage i equal with RMS the nominal voltage of the induction machineu U 380 V. Becaue the fit fequency which appea in the tato voltage pectum i the tiangula wavefom fequency, both the cuent and the tato voltage will be filteed with two pole Buttewoth filte, which have de cutoff fequency et 500 [Hz]. The cutoff fequency of the filte i coelated with the fequency of the tiangula ignal within the invete, in ode to have an optimal aliaing. In ode to demontate the dynamic pefomance of the Luenbege etimato in the peence of the noie which affect the poce of meauing the tato voltage and cuent, in imulation i ued a ingle andom numbe geneato having a nomal ditibution. The output of the andom numbe geneato i upeimpoed ove the cuent and voltage input within the Luenbege etimato (ee Fig. 2). The ampling time and the dipeion value ued to geneate the meauement 6 T 10 noie i:, epectively D 10. The imulated pogam fom Fig.2, wa compiled and an on a numeic ytem opeating Window 10-64b. The hadwae tuctue of the ytem i built aound an I7-4720HQ poceo (2.6GHz), with 8 GB of available RAM. The following figue how the eult of the imulation: L L N Fig. 11. The module of the etimated and actual tato cuent phao Cae 1 42

43 THE UTILIZATION OF THE S-FUNCTION BLOCK IN SIMULATION OF THE LUENBERGER ROTOR FLUX OBSERVER FOR INDUCTION MOTORS Fig. 12. The module of the etimated and actual tato cuent phao Cae 2 Fig. 13. The module of the etimated and actual tato cuent phao Cae 3 Fig. 14. The module of the etimated and actual tato cuent phao Cae 4 43

44 OLIMPIU STOICUTA Fig. 15. The module of the etimated and actual tato cuent phao Cae 5 Fom the peented plot, in all 5 cae the module of the tato cuent phao i etimated accodingly. The mot notable diffeence appea duing the tanient epone, in cae 2 and 3. It can be obeved that when the tato field ha a fequency of 20 [Hz], in teady tate thee i a mall eo between the actual tato cuent and the etimated tato cuent (ee Fig. 12). In the following diagam it i peented the vaiation with time of the oto flux phao module, in all 5 cae. Fig. 16. The module of the etimated and actual oto flux phao Cae 1 Fig. 17. The module of the etimated and actual oto flux phao Cae 2 44

45 THE UTILIZATION OF THE S-FUNCTION BLOCK IN SIMULATION OF THE LUENBERGER ROTOR FLUX OBSERVER FOR INDUCTION MOTORS Fig. 18. The module of the etimated and actual oto flux phao Cae 3 Fig. 19. The module of the etimated and actual oto flux phao Cae 4 It can be een fom Fig, 17 and Fig. 18 that thee i a cetain etimation eo of the module of the oto flux phao, both in the tanient tate and in the teady tate, eo which i noticeably highe when the impoed tato field fequency i 20 [Hz]. In thi cae, when the fequency of the tato field i 20 [Hz] the highet abolute eo in teady tate ae Wb 0.045, in cae 2, epectively Wb, in cae 3. Fig. 20. The module of the etimated and actual oto flux phao Cae 5 45

46 OLIMPIU STOICUTA Afte the imulation it can be een that the Luenbege etimato i enitive to the vaiation of the tato and oto eitance. Thi enitivity i inceaing inveely with the fequency of the otating tato field. On the othe hand, the imulation evealed that Luenbege obeve i emakably obut to the vaiation of the ion loe eitance and to noie. 4. CONCLUSIONS The main concluion which aie fom imulation eult of the Luenbege obeve uing S-Function block i that the etimato ha vey good pefomance, both i tanient tate and in teady tate. The imulation pogam ued to tet the Luenbege obeve ae peented in detail offeing a ueful uppot fo expet within automation and electical engineeing. REFERENCES [1]. Aia K., Eddine K.D., Vecto contol uing Seie Ion Lo Model of Induction Moto and Powe Lo Minimization, Wold Academy of Science, Engineeing and Technology, vol.52, pp , [2]. Boldea I., Naa S.A., Unified Teatment of Coe Loe and Satuation in the Othogonal-Axi Model of Electic Machine, IEE Poceeding B, Electic Powe Application, vol.134, No. 6, pp , [3]. Kubota H., Matue K., DSP-Baed Speed Adaptive Flux Obeve of Induction Moto, IEEE Tanaction on Induty Application, vol. 29, No. 2, pp , [4]. Levi E., Impact of Ion Lo on Behavio of Vecto Contolled Induction Machine, IEEE Tanaction on Induty Application, vol.31, pp , [5]. Pana, L., Popecu, F.G., Samoila L., Sluaiuc R., Analyi of themic tability in hot cicuit egime of electic ditibution netwok conducto. 6th Intenational Multidiciplinay Scientific Sympoium, SIMPRO 2014, Confeence Poceeding, ISSN , Page: , Octombie, Petoşani, [6]. Pana T., Stoicuta O., Stability of the Vecto Dive Sytem with Induction Moto, Mediamia Publihe, [7]. Uţu, I., Samoilă, L., Senzoi şi intumentaţie pentu iteme electomecanice, Editua Univeita, Petoşani, 2011, ISBN , pp [8]. Uţu, I., Electic dive fo winding machine opeated by a digital ignal poceo, Annal of Univeity of Petoani, Petoani, 2014, ISSN , pag

47 Annal of the Univeity of Petoani, Electical Engineeing, 18 (2016) VEHICLE COMMUNICATION SYSTEM USING SMARTPHONE ALEXANDRA ELISABETA LÖRINCZ 1, MARIUS CUCĂILĂ 2, CHARLES ROSTAND MVONGO MVODO 3 Abtact: With the development of technology, potocol have become moe ecue, vey eliable and give a quick tanfe data fo vehicle manufactue. Ove the yea, have been ued eveal communication potocol, each automobile manufactue developing o uing one of the five communication potocol. OBD2 ue the potocol of communication in the automotive induty to ceate a connection between ca and dive. Thi connection i defined by the tanmiion of infomation fom the ca by the dive, uing : Witnee panel, communication via OBD2. Keywod: Automotive, K-Line, CAN, ECU, USART, bluetooth. 1. INTRODUCTION Nowaday, thee can be conideed that a vehicle ha it own "life". It give infomation about the poblem that it encounte and wan if thee mino fault o poblem ae highly hazadou to the dive of the vehicle and it paenge. All thi communication with the dive i done though the luminou indicato on the ca dahboad which ae alo called WITNESSES PANEL. Some in-ca ytem can have fault, poblem, eo o beak, and thi witnee panel announce thee thing. The colo of the witnee panel eflect the eioune of the poblem appeaed at the vehicle [1]. 1 Ph.D. Student, Univeity of Petoani 2 Ph.D. Student, Univeity of Petoani 3 Ph.D. Student, Univeity of Petoani, Intitute of Agicultual Reeach fo Development, Yaounde, Cameoon 47

48 ALEXANDRA ELISABETA LÖRINCZ, CUCĂILĂ MARIUS, MVONGO MVODO CHARLES ROSTAND All thee code ent by ECU (Electonic Contol Unit) though an OBD2 (On Boad Diagnotic), announce the detected poblem in ode to be olved. Thi OBD2 ha 5 communication potocol to decypt the meage eceived fom the ECU [2]. Thee 5 potocol ae ued by vaiou vehicle manufactue. The mot common potocol ued today i the CAN (Contol Aea Netwok) potocol. The CAN potocol qualitie ae ecue communication, high peed and a big ditance Potocol SAE J1850 PWM (Pule Width Modulation) It i a potocol ued by Fod. It ha a tanfe peed of up to 41.6 kb / ec though two wie (twited), the 5V diffeential ignal. The 0 logic ignal ange i between 0-2.2V and the logical 1 ignal ange i between 2.8-5V. The data fame ha fom 0 to 8 byte a Figue 1. The meage ent conit of a maximum of 12 byte that include the CRC (Cyclic Redundancy Check) byte. Fig. 1. SAE J1850 PWM potocol [6] Advantage: peed of 41.6 kb/ec, highe than othe potocol Diadvantage: meage length i 12 byte, hote than othe potocol thee ae equied two wie fo communication (pin 2 and pin 10) - diffeential ignal Potocol SAE J1850 VPW (Vaiable Pule Width) Thi i a potocol ued by Geneal Moto, Chyle, Haley Davidon and Toyota. The tanfe peed i up to 10.4 kb / ec. Data tanmiion i done on a ingle thead and the maximum voltage i of 20V. The 0 logic ignal i in the ange 0-3.5V and the logic ignal 1 i in the ange V. Data fame length i fom 0 to 8 byte a Figue 2. 48

49 VEHICLE COMMUNICATION SYSTEM USING SMARTPHONE Fig. 2. SAE J1850 VPW potocol [4] Advantage: communication on a ingle wie (pin 2) maximum voltage of 20V, enuing high flexibility Diadvantage: peed 10.4 kb / ec, lowe than othe potocol meage length i 12 byte that include the CRC byte, hote than othe potocol 1.3. Potocol ISO (10.4 kb/ec) Thi i a potocol ued by Geneal Moto, Chyle, Haley Davidon and Toyota. The tanfe peed i up to 10.4 kb / ec. Data tanmiion i done on a ingle thead and the maximum voltage i of 20V. The 0 logic ignal i in the ange 0-3.5V and the logic ignal 1 i in the ange V. Data fame length i fom 0 to 8 byte [5]. In Figue 3, the meage that i ent to the ECU i 0x6A 0x68 0x01 0x00 0xC4 0xF1, that contain the heade byte "0x6A 0x68 0xF1", the byte 0x01 ignifying the mode (Mode 01 - how the cuent date), and the byte 0x00 ignifying the PID (Paamete ID) (PID uppoted). Fig. 3. ISO potocol [4] 49

50 ALEXANDRA ELISABETA LÖRINCZ, MARIUS CUCĂILĂ, CHARLES ROSTAND MVONGO MVODO The anwe eceived fom the ECU i peented in the following table: ex. Table 1. The anwe eceived fom the ECU B E 1 E in. ID A B C D E F ex. in. ID A B C D E F 0 PID uppoted: 01,03,04,05,06,07,0C, 0D, 0E, 0F, 11,14,1C 20. Advantage: communication on a ingle wie (pin 7) and on an optional wie (pin 15) meage i 260 byte and data i 255 byte Diadvantage: peed 10.4 kb / ec, lowe than othe potocol initialization 5 baud, diffeent fom the communication peed 1.4. Potocol ISO KWP 2000 (Keywod Potocol 2000) It i a potocol imila to ISO and ue pin 7 and optional pin 15 fo data tanmiion. Data tanfe peed i in the ange 1.2 to 10.4kb / ec and i bidiectional. The eceived meage can contain up to 255 byte in the data field. Fig. 4. ISO KWP2000 potocol [6] 50

51 VEHICLE COMMUNICATION SYSTEM USING SMARTPHONE Advantage: peed fom 1.2 up to 10.4 kb /, enuing flexibility in ynchonization communication on a ingle wie (pin 7) meage length of 255 byte Diadvantage: maxim peed of 10.4 kb / ec, lowe than othe potocol 1.5. Potocol ISO CAN (250 kb/ec o 500 kb/ec) (Contol Aea Netwok) Thi potocol i a poduct of Boch and i ued in the automotive induty but not only. The data tanfe peed i divided into two categoie: 250 kb / and 500 kb / ec. Thi potocol ue fo data tanfe the following pin: pin 6 (CAN High) and pin 14 (CAN low). The tanmiion i done by two twited wie that tanmit the diffeential ignal. Fig. 5. ISO CAN potocol [6] Advantage: two peed of 250 kb / and 500kb / ec mot moden communication potocol Diadvantage: high expene fo oftwae development undeiable inteaction moe pobable dange of incomplete technology fo the cutome 2. TELEPHONE COMMUNICATION TO ECU WITH STM32 The communication with the ECU can be done uing one of the five communication potocol mentioned above. Infomation uch a peed, intake manifold peue, tempeatue, etc. can be ead and fowad to anothe device. 51

52 ALEXANDRA ELISABETA LÖRINCZ, MARIUS CUCĂILĂ, CHARLES ROSTAND MVONGO MVODO Uing K-line potocol to ead thi infomation, it i neceay cicuit diagam of connection fo thi inteface potocol and STM32 micocontolle. The Figue 6 illutate the cicuit diagam ceated in OCAD Captue pogam. Fig. 6. Electonic Scheme Pat ued to ceate thi device ae: Reito (R1, R2, R3, R4, R5) with a value of 10KΩ. Connecto (CON3 = J1, J2) Amplifie NPN Tanito (Q1, Q2 = BC546) The powe upply i fom the vehicle battey (+ 12V DC). The Figue 7 illutate the cicuit boad ceated in OCAD Layout. Fig. 7. Electonic Boad Electonic boad ize i x mm and i a plu fo thi ytem. The mall ize help placing the device in naow place in the vehicle. On the left in Figue 1 ae the connecto ued in communication with the micocontolle that ue the eial inteface function USART (Univeal Synchonou / Aynchonou Receive / Tanmitte). On the ight ide of the Figue ae located the connecto fo communication with ECU (uing K-line potocol). Micocontolle ceate communication with the ECU uing a baud ate of 5 bit / ec fo initialization, and 10.4kb / ec fo data tanfe. 52

53 VEHICLE COMMUNICATION SYSTEM USING SMARTPHONE Specific infomation fo each meage ent i compoed of pecific tandad addee. In the following Figue 8 i an example of function that inteogate the ECU fo finding the peed value. Fig. 8. Function fo inteogate All the data eceived ae ent to a mobile phone uing bluetooth module. Mobile Application i one pecific, ceated in ode to intepet the data eceived and poting on the mobile phone diplay. STM32 micocontolle ued, convet data eceived fom the ECU and end a tandad eie ceated pecifically fo the phone application. Othe data that the micocontolle can end fom in-vehicle eno, which ae not bound by ECU ae tanmitted to the phone application (tempeatue inide the vehicle, the tempeatue outide the vehicle, etc.). Block diagam of the ytem i epeented in Figue 9: Fig. 9. Block Diagam 53

54 ALEXANDRA ELISABETA LÖRINCZ, MARIUS CUCĂILĂ, CHARLES ROSTAND MVONGO MVODO 3. CONCLUSIONS The communication potocol ued by OBD2 evolved in time and the mot moden potocol cuently ued i CAN. Compaed to othe potocol, the peed in CAN i vey high fo data tanfe and the cabling ha vey low cot. It can wok in poo condition (inteuption on wie, gounding o hot-cicuit to + 12V). The olde potocol have the advantage of time. Duing the yea they wee ued, they geneated a lot of pogamming expeience, they have been efined ove time and the oftwae ha become imple and highly undetandable fo pogamme. Communication with you own ca i an advantage. All thi can be done uing the ytem that tanmit eal-time data fom the ECU to the mobile phone. Data fom ECU and date fom eno located in the vehicle ae diplayed on the phone and infom the dive about to the vehicle condition. REFERENCES [1]. Dovleac R., Loincz A.E., Ionica A., Leba M. A buine and technical appoach on tatup applied on an automotive ytem, Intenational Jounal of Economic and Management Sytem, Vol.1/2016, pp , ISSN: , [2]. Dzhelekaki P. Initializing communication to vehicle OBDII ytem, [Online], Available at: [3]. Macu, M. D., Samoila, L. B., Popecu, F.G., Simulation Softwae fo Powe Electonic, Compute cience and Softwae Technique in 2011, Ed. Silhavy So, Czech Republic, pg , ISBN , 28 Ianuaie, [4]. Samoila, B. L., Popecu, F. G., Sluaiuc, R., Vitual intument ued in diect cuent cicuit leaning poce. Annal of Univeity of Petoani, Electical Engineeing, Vol. 15, pag.47-52, Petoşani, 2013, ISSN , Ed. Univeita. [5]. Intenational Standad ISO , fit edition [6]. 54

55 Annal of the Univeity of Petoani, Electical Engineeing, 18 (2016) STUDY ON THE USE OF ARDUINO BOARDS TO MONITOR POWER CONSUMPTION NICOLAE PĂTRĂŞCOIU 1, COSMIN RUS 2 Abtact: Thi pape detail how to build a imple enegy monito that can be ued to meaue how much electical enegy you ue in home place. It meaue cuent, but ue an aumed fixed value fo voltage and calculate appaent powe and how the date in one web page. Although not a accuate a a monito that meaue voltage a well a cuent, it i a method commonly ued in commecially available whole houe enegy monito fo eaon of implicity and cot. Thi pape then highlight elected appoache to monitoing and evaluation and the condition unde which each might be ueful, and how and by whom leon ae to be leaned. Attention i paid to key element of monitoing and evaluation uch a the development of indicato and the meauement of impact. In the light of the many failed enegy poject, thi pape cloe with ome uggetion of how monitoing and evaluation pocee and capacity may be impoved. Keywod: aduino, webeve, enegy, monitoing. 1. INTRODUCTION Eveyone wihe to ave enegy and money. Minimizing you monthly electicity bill i a good place to tat. What make it difficult, i that you bill only tell the total amount of electic enegy that wa conumed duing a long time window, typically one month. Hence, teting the effect of a change in behavio a an enegy conume i not pactical. A woking olution would be to fequently log the value fom you enegy mete to a notebook, and then daw a gaph to eveal the befoe-afte effect. But thing like thi need to be automated to become pactical. So we will ue a home PC, and build a meauement device that can be imply attached on top of the electicity mete [4]. 1 PhD. Aociate Pofeo Eng. Univeity of Petoani 2 Ph.D. Student, Univeity of Petoani 55

56 NICOLAE PĂTRĂŞCOIU, COSMIN RUS With inceaing fuel cot and electicity to lage conume it became neceay to optimize conumption. In mot poduction activitie, enegy conumption ha a ignificant impact on cot, o it i impeative to know the eal ituation of conumption and efficiency. Achieving thi equiement equie the collection of infomation on wate conumption, heat, natual ga, indutial wate, poce team, compeed ai, watewate o any othe pecific ize and pofile beneficiay involving enegy conumption of diffeent type. Uing thee ytem enue automatic data eading fom pecialized meauing equipment and meteing, data toage in databae, data poceing and thei tanfomation into infomation and diplaying the infomation obtained in the fom of epot [8]. Enegy conumption monitoing ytem povide a complete olution fo enegy management. Fo thi pupoe equie the ue of the mot moden meauement technology, communication and infomation poceing. Fo example, the electic field they mut be ued in exchange point of the poducing companie, tanmiion, electicity ditibution and commecial and indutial conume. 2. SPECIFICATIONS AND IMPLEMENTATION OF METERING SYSTEMS Meteing ytem povide infomation ued to teamline the opeation of the companie and impove enegy management, implementing the latet technologie in monitoing and enegy management in a ytem with an open achitectue. Thee povide the capability to monito and analyze the poduction, ditibution and conumption of enegy and to identify potential method to educe cot. Such a ytem mut meet the following equiement: to be able to monito hunded o thouand of analog electical quantitie (cuent, voltage, powe facto) and non (tempeatue, peue, velocitie, flow ate); analog value oiginating eithe fom eno o tanduce, eithe fom the local contol loop. to be able to tack ten o hunded of digital ize ( electic witche tate); fequency eadout input channel to be lage enough. It i conideed that the minimum pefomance that we have to povide a ytem fo monitoing enegy paamete ae ead at inteval of one econd and the maximum tate paamete of the poce eading within 5 econd. Fequency eading mut, of coue, coupled with dynamic paamete monitoed poce and hape chaacteitic of enegy ued. to toe the input value ove a faily lage[2]. to iue waning ignal opeato in an emegency o ovecoming peet limit in the poce, o if a fault in the monitoing ytem. 56

57 STUDY ON THE USE OF ARDUINO BOARDS TO MONITOR POWER CONSUMPTION to be able to wok, put in a uable fom fo opeato and diplay the monitoed value in a manne mot advantageou, eay to intepet (table of value, dawing, gaphic and thee-dimenional plane, hitogam etc.). In addition to thee geneal equiement may include othe uch a: allowing identification of the facility monitoed lo, damage o paaite conume; allow conumption analyi epaately fo each pat of the intallation monitoed (ection, impotant individual conume, etc.); enue electonic data eading; in cetain cicumtance it i neceay to povide imultaneou eading of all meauing point; the poibility of centalized dipatching diplay of meaued value; enue all conumption eading in one ytem comply with the equiement of an open ytem, o a to enable futhe development and expanion of the ytem. Continuou monitoing and evaluation of enegy efficiency (Monitoing and Tageting, M&T) i a tuctued ytem of management of enegy conumption within a ocioeconomic ytem. It aim to achieve contol and management of enegy conumption [1]. Monitoing enegy conumption i achieved uing a ytem of mete and othe meauing equipment. They ae intalled within an aea called "cente enegy management." The ue of enegy pefomance paamete ae detemined by the coelation between enegy conumption and othe quantitie which influence (the amount of poduct poduced within the pecified peiod). The eult of thi analyi i to detemine the law of limit value (o taget) fo conumption - an action called "tageting". Pefomance evaluation of enegy conumption i achieved though egula epot highlighting deviation fom taget value, geneally in the fom of financial gain o loe. Afte thi analyi hould be etablihed and eponibilitie fo enegy conumed egulaly, conducting analyze in ode to find method to impove the enegy pefomance of the poce and way of pactical application of thee method. It i neceay to ceate a feedback mechanim within the ocio-economic ytem by implementing a ytem to motivate taff o a to engage in action to find new way to inceae enegy efficiency [6]. Step to be taken to implement uch a ytem ae: 1. Conducting an audit to etimate it efficiency The pupoe of thi audit i to etablih the maximum amount that can be pent to achieve the ytem o that thee expene ae jutified. 57

58 NICOLAE PĂTRĂŞCOIU, COSMIN RUS 2. The data collection The main data to be collected by the monitoing ytem ae: - Conumption of enegy caie; - Poduction value; - The value of envionmental facto (tempeatue, etc.) - Othe auxiliay data. Data collection fequency i vaiable being pefeed automatic collection. Geneally not ecommended to collect data that can not be poceed. One mut alo conide that the fequency eading can influence the quality of analyi. 3. Data Analyi The fit tage of detemining objective value in tem of enegy conumption to etablih fo each cente enegy management quantitie haping the enegy value, and o that will be monitoed. Thee quantitie ae called vaiable[7]. The pupoe of the analyi tage i to etablih a new featue that give dependence on enegy conumption of vaiable value. Thee function can be imple phae (ie linea) o complex, depending on the pecific monitoed ytem. Data analyi can be pefomed manually (vey difficult when the numbe of vaiable i lage), uing peadheet o uing a pecialized oftwae fo opeating monitoing ytem. The latte olution i the implet but equie the exitence of pecialized peonnel. The opeational phae of collection continuouly monitoed quantitie and value of objective compaion of conumption. 4. Application of meaue to educe enegy conumption An M&T eek not only evaluating enegy pefomance in one unit, but alo the etablihment of a ytem fo the ue of thi infomation in ode to etablih concete meaue to educe enegy conumption. A monitoing ytem i alway a pecial cae, which mut confom to actual intallation of uveillance. To implement the beneficiay of the app, i baed on a monitoing ytem "tandad", which contain many coe module, hadwae and oftwae, and i pefomed onite concete equipment pecific fo each majo enegy conume [7]. Often the implementation of uch a ytem i achieved in tage, miletone date ae: a. Initially, thee ae a elatively mall numbe of monitoed paamete (e.g., analog input 2-300) fom the main machine, o which ha the geatet conumption. b. Baed on peliminay eult, the oftwae module ae edeigned to meet the equiement of effective monitoing poce. Alo, the gaphical ue inteface i adapted. c. It identifie poblem to be olved. d. It gadually expanding netwok of eno and tanduce to othe machine o poduction ection, the tuctue with uitable hadwae and application pogam. 58

59 STUDY ON THE USE OF ARDUINO BOARDS TO MONITOR POWER CONSUMPTION e. In the next phae, the ytem i developed accoding to the pecific need of the beneficiay, both quantitatively (inceaing the numbe of entie, to inpect all machiney) and in tem of functionality. 3. PRACTICAL IMPLEMENTATION Poject to undetake monitoing electical enegy conumption of a home via the Intenet, that upeviion powe conumption of the houe in which we live. It will meaue the cuent and voltage conumed intantaneouly and on a timefame that will be diplayed in a web page a a gaph. Mateial equied: - Aduino Nano o Aduino Mini - a cuent eno (pefeably 30 A). - a voltage eno that we will achieve powe tanfome and intallation, to epaate all the intallation of netwok galvanic 220v the houe to pevent damage caued by a hot cicuit. It i 12V and 1A. - a tabilized ouce of 5V and 1A. - an altenating cuent cicuit to ecove ead cuent eno (coil veion). The cicuit i actually a peciion ectifie with a gain of about 40. It convet the output of the negative peak of the cuent eno voltage of about V in a ange of about 0-50 A, the lineaity and accuacy of appoximately 0.1A. - memoy databae that can toe data ecoded on 4 week. and a netwok cad, Aduino W5100. Fig.1. The hadwae poject Pogamming i made in Aduino pogamming envionment. Codebae contain eveal file: 59

60 NICOLAE PĂTRĂŞCOIU, COSMIN RUS eveweb_enegy.ino databae.h debug_out.h geneal_ting_data.h page_pinte.h page_ting_data.h Actual loading of the ouce code and then compiled to un i via a module FTDI inteface - USB (type FT232R) with eet. Afte making intallation and loading of ouce code (ketch), the cuent eno i mounted on the houing phae wie o thead phae of a pize fo illutation. Netwok cad LED begin to pulate, a ign that it i tying to connect. You have to look in the etting fom Intenet oute IP whom eceived the device achieved. Open a bowe and the IP that the webpage. Now you can ead the intantaneou cuent and voltage powe netwok of the dwelling and active electical enegy diplayed depending on the time diplayed on the button at the bottom. Reet button delete the entie databae. Of coue, if the code i modified, it can make vaiou patten web page o Intenet can end vaiou othe meauement fom othe eno. Fig. 2. Data epeentation though a diagam on a web page 4. CONCLUSIONS Monitoing electicity conumption of a home i a good tat to achieve technical and functional infatuctue to enue the eduction of electicity conumption in ode to educe oveall cot. In othe new egading infatuctue majo enegy Romania ha adopted the tandad EN 16001: 2009, which pecifie the equiement fo etablihing, implementing, maintaining and impoving a ytem of enegy management fo continuou impovement in the ene of enegy ue utainable and moe efficient. Development and adoption of EN 16001: 2009 help timulate 60

61 STUDY ON THE USE OF ARDUINO BOARDS TO MONITOR POWER CONSUMPTION continuou impovement poce lead to moe efficient ue of enegy. Thi encouage oganization to implement a plan to monito and analyze enegy. Accoding to the pecification of EN 16001: 2009 management ytem Efficient enegy ue i due in pactice: the poibility of taking deciion to impove enegy efficiency, continuou impovement Annual and impoving pefomance in enegy conumption, a deepe analyi aea with potential fo enegy aving. Developing pedictive management by managing data and tatitic on the development fo long tem ecued with online monitoing ytem and data tanmiion to dipatche tation fo centalizing and toing them in a databae. The data can be ued fo tudie and poject of modenization and efficiency, enegy audit, fo compaion with data ubequently ecoded modenization pocee. An agument po - level management of public lighting and dometic lighting i the degee of comfot and afety in ue they offe a well-contolled and monitoed. It i eential that a tudy to implement a monitoing ytem fo public lighting in a city o in a houing etate to be done within an oganization competent and neutal, to emove temptation tade to ell the equipment in any fom. Infomation obtained though monitoing ae eential fo optimal meaue to impove powe quality and enegy efficiency. Fom meauement made in netwok tudied (electonic laboatoy) value wee obtained in addition to thoe pecified quality tandad on conumption. Fom thei analyi gave diection to educe cot while peeving o even impoving the quality of enegy. A egad public lighting to inceae powe facto, fo example, it need to eplace ome electonic electomagnetic ballat equipped with contol to educe lumen. An impotant component in monitoing the efficiency of public lighting, houehold o buine i the data. Thi allow optimization of the ytem within the limit et. The popoed olution enable monitoing and wiele data tanfe via a oute. Fo offline monitoing, data ae ecoded on the intenal memoy. High enegy aving achieved by implementing enegy efficiency gade gow the plant optimized with poitive influence on cot eduction. REFERENCES [1]. Aad, S., Samoila, L. Electicity geneation in coal-fied plant in Romania, Revita Minelo, n. 4/2014, pag. 8-15, ISSN-L , ISSN [2]. Leba M., Pop E., New Ditibution Popetie and Application in Digital Contol, Poceeding of the 7th WSEAS Intenational Confeence on SIGNAL PROCESSING, ROBOTICS and AUTOMATION (ISPRA '08), ISSN: , ISBN: , Univeity of Cambidge, UK, Febuay 20-22, [3]. Leba M., Pogamae in limbaj de aamblae. Aplicatii in ingineia itemelo, Editua Didactica i Pedagogica, Bucueti, [4]. Leba M., Contibutii pivind conduceea numeica ieahizata a itemelo de actionae cu moto aincon, Ph.D.Thei, Petoani, [5]. Leba M., Pop E., Badea A., Adaptive Softwae Oiented Automation fo Indutial Elevato, Poceeding of the 11th WSEAS Intenational Confeence on Automatic 61

62 NICOLAE PĂTRĂŞCOIU, COSMIN RUS Contol, Modeling and Simulation ACMOS 09, ISBN , ISSN , pp , Itanbul, Tukey, [6]. Macu, M.D., Popecu, F.G., Niculecu, T., Pana, L., Handa, A.D., Simulation of powe active filte uing intantaneou eactive powe theoy. Hamonic and Quality of Powe (ICHQP), 2014 IEEE 16th Intenational Confeence, Page(): , Buchaet, Romania, May [7]. Pătăşcoiu N., Tehnici de intumentaţie vituală, Editua Univeita, Petoşani, [8]. Pătăşcoiu N., Siteme de achiziţie şi pelucae a datelo, Editua didactică şi Pedagogică, [9]. Pop E., Leba M., Application of Ditibution Theoy in Digital Contol Sytem, Annal of Univeity of Petoani, Vol. 5, 2003, pp [10]. Pop E., Leba M., Simulation and Deign of Nonlinea Contolle baed on Ditibution Theoy, Poceeding of the 6th WSEAS Intenational Confeence on SYSTEM SCIENCE and SIMULATION in ENGINEERING, ISBN , ISSN , 2007, pp [11]. Pop E., Leba M., Micocontollee şi automate pogamabile, Editua Didactica i Pedagogica, Bucueti, [12]. Pop E., Bubatu R., Teoia itemelo educaţie pin e-leaning, Editua Univeita, Petoşani, [13]. Sochica, B., Poanta, A., Poiectaea şi dezvoltaea aplicaţiilo cu micocontole, Editua Univeita, Petoşani, [14]. Uţu, I., Păculecu, D., Powe Quality Study in Ode to Comply with Euopean Nom, Revita Calitatea, Supplement of Quality - Acce to Succe Jounal, Vol.18, S1, Januay 2017, ISSN , pag [15]. e/34 [16]. [17]. [18]. [19]. [20]. [21]. [22]. 62

63 Annal of the Univeity of Petoani, Electical Engineeing, 18 (2016) VIRTUAL INSTRUMENT FOR SIMULATING A DC GENERATOR BEHAVIOUR BRANA LILIANA SAMOILA 1, SUSANA LETITIA ARAD 2 STOCHITOIU MARIA DANIELA 3 Abtact: The pape deal with a LabView imulation we made fo tudying the opeation of a d.c. geneato with epaate excitation. Thi vitual intument i meant to allow tudying the behavio of uch geneato when the woking condition change. The vitual intument we achieved how the extenal chaacteitic fo diffeent value of eitance, excitation voltage and diving peed. Keywod: vitual intument, d.c. geneato, electical engineeing education. 1. INTRODUCTION Taditional hadwae intumentation i made up of digital o analogical pecific meauement device. Thee ytem ae limited in thei ue compaing to vitual intumentation ytem. Vitual Intumentation i the ue of cutomizable oftwae and modula meauement hadwae to ceate ue-defined meauement ytem, called Vitual Intument [9]. Compaing hadwae intumentation and vitual intumentation we can ee that oftwae i ued to eplace a lage amount of hadwae. Modeling and imulation ae meant to evaluate the eult of cetain action in a vitual envionment compaing to imila action pefomed in a eal envionment. New gaphical pogamming language ae moe and moe ued in modeling and imulation [2], uch a: SPICE, Electonic WokBench ae detined to electical and electonic cicuit; 1 PhD., Aociate Pofeo, Eng., Univeity of Petoani 2 PhD, Pofeo, Eng., Univeity of Petoani 3 PhD., Aociate Pofeo, Eng., Univeity of Petoani 63

64 BRANA LILIANA SAMOILA, SUSANA LETITIA ARAD, STOCHITOIU MARIA DANIELA - Woking Model i a imulato fo mechanical ytem; - LabVIEW (Laboatoy Vitual Intument Engineeing Wokbench); - MATLAB (MATix LABoatoy) i package of pogamme dedicated to calculation and gaphical epeentation. Simulink i a component of thi oftwae; - Modelica i an object oiented language ued in modeling phyical ytem; - Dymola (Dynamic Modeling Laboatoy) i an envionment ued in modeling and imulating complex ytem; - 20-SIM (Twente Sim) i ued fo modeling and dynamic imulation of complex ytem. LabView i a pogamming envionment conceived fo vitual intumentation. A Vitual intument VI - ha 2 component: - font panel the ue gaphical inteface, that i what the ue ee on the diplay; - block diagam the code of the pogam which define the functionality of the VI it ue opeato, function, etc; LabView ue the concept of modula pogamming, likewie the C, C++, and PASCAL pogamming envionment [1], [8]. LabVIEW i vey effective in inteactive imulation in education [5]. Uing vitual intument, tudent have the poibility of getting anwe of what if type to cetain change of input value. Ue may inteactively change the ignal and vitual intument chaacteitic and witne the appopiate epone. 2. CONSIDERATIONS ABOUT THE DC GENERATOR WITH SEPARATE EXCITATION Figue 1 how the electical diagam of a d. c. geneato with epaate excitation [3] [6]. The excitation winding i poweed by a epaate continuou voltage ouce. The equivalent diagam of the cicuit fomed by the oto winding of the geneato and the load, R S, i peented in Figue 2, whee: R i the electical eitance of the oto winding, p - buh - collecto contact eitance, E induced electomotive foce in the oto winding [6]. Applying the law of Ohm to the cicuit in Figue 2, we obtain the opeating equation fo thi type of geneato: U S R p E U S E I I (1) whee: U R (2) S I S 64

65 VIRTUAL INSTRUMENT FOR SIMULATING A DC GENERATOR BEHAVIOUR Fig. 1. Electical diagam of a d. c. geneato with epaate excitation. Fig. 2. Equivalent diagam of the d. c. geneato oto winding and load i: The cuent though the oto winding, which i the ame a though the load, I E R R (3) p S It eult that the value of the cuent though the oto winding depend on the load. The polaity of the voltage between 2 and 2 'depend on the ene of the oto otation and the ene of the excitation cuent [4]. The extenal chaacteitic (Figue 3) epeent the vaiation of the output voltage depending on the load cuent U = f (I) when the geneato peed and magnetizing cuent ae kept contant [6]. Fig. 3. Extenal chaacteitic of a d.c. geneato with epaate excitation 3. VIRTUAL INSTRUMENT FOR SIMULATING A DC GENERATOR WITH SEPARATE EXCITATION We have ceated a vitual intument (VI) that can imulate the wok of a d. c. geneato with independent excitation. The font panel of the application i hown in Figue. 4. The imilaity of the ymbol epeented fo the diffeent input o output value with the diplay of 65

66 BRANA LILIANA SAMOILA, SUSANA LETITIA ARAD, STOCHITOIU MARIA DANIELA indutial equipment (ouce, numeic field, tachomete, digital diplay, button and gaphic) can be noticed. The contol we ued ae: Hoizontal Pointe Slide - fo oto eitance; Hoizontal Pointe Slide - fo tating heotat; Hoizontal Pointe Slide - fo excitation heotat; Hoizontal Pointe Slide - fo load heotat; Knob - fo excitation voltage; Dial - fo peed; Numeical Indicato fo diplaying numeical value of input and output quantitie; Wavefom Gaph - Gaphic Indicato; Sting type indicato. Uing the elation between the chaacteitic value in the cicuit of a d.c. geneato with epaate excitation, peented in chapte 1, imulating the meauement of eal value [7], we developed the algoithm and the pogam. Fig. 4. The font panel of the vitual intument fo imulating a d.c. geneato with independent excitation In the block diagam, we ued: a FOR cycle; two Fomula Node; Bundle element fo obtaining dynamic ize; Fomula block to ente the gaphical function. The block diagam of the VI i hown in Figue 5. The vitual intument that we achieved allow imulating the extenal chaacteitic of the epaate excitation d. c. geneato. The eult of the imulation i hown in Figue 6. 66

67 VIRTUAL INSTRUMENT FOR SIMULATING A DC GENERATOR BEHAVIOUR Fig. 5. Block diagam of the VI fo imulating the extenal chaacteitic of a d. c. geneato with epaate excitation Fig. 6. The imulated extenal chaacteitic of a d.c. genaato with independent excitation The vitual intument allow viualizing the change in the extenal chaacteitic, due to the vaiation of the input value: - oto eitance; - tating eitance; - load eitance; - eitance in the excitation cicuit; - peed; - excitation voltage. 67

68 BRANA LILIANA SAMOILA, SUSANA LETITIA ARAD, STOCHITOIU MARIA DANIELA 4. CONCLUSIONS Leaning i a challenging intellectual poce and new technologie have temendou potential to make an immene diffeence with thei inteactive (computational) and multimedia featue. Fo a leane, the vitual-eality, if it i well deigned, may have many advantage ove the eality itelf Confuciu aid: I hea and I foget, I ee and I emembe, BUT, I do and I undetand! That i why kid love video game, like TV, but hate old-fahioned lectue. The LabVIEW ha an advantage to futhe enhance the imulation application due to it poweful featue and an appealing, eal-like font panel inteface. Thi vitual intument we made i ued in leaning and teaching activitie whee it tuned out to be vey helpful fo tudent aiming a bette undetanding of the d. c. geneato behavio unde diffeent condition given by heotat value. We made it imple, eay to ue and intuitive, being a moe flexible, altenative method to the pactice uing hadwae device in laboatoie. REFERENCES [1] Pătăşcoiu N., Achiziţie de date. Intumentaţie vituală, Didactic and Pedagogical Publihing Houe, Buchaet, Romania, [2] Dolga V., Golga L., Modelling, Simulation and Vitual Intumentation in Mechatonic, Annal of the Oadea Univeity. Facicle of Management and Technological Engineeing, Volume VI (XVI), PP , [3] Macu M.D., Popecu F.G., Convetoae tatice - lucăi de laboato, Editua Univeita, Petoşani, [4] Niculecu T., Macu M., Popecu F. G., Study of witching electic cicuit with DC hybid beake, one tage, EUROINVENT, Intenational Confeence on Innovative Reeach, Iai, 19th 20th of May 2016, Romania. [5] Kotic M., Inteactive Simulation with a LabVIEW Vitual Intument, NIWeek2000 Annual Intenational Confeence, National Intument, Autin, TX, [6] Tăbăcau T., Uţu I., Maşini electice şi acţionăi: culegee de pobleme, Univeita, [7] Uţu I., Samoilă L., Măuaea măimilo electice, Editua Univeita, [8] [9] 68

69 Annal of the Univeity of Petoani, Electical Engineeing, 18 (2016) TECHNICAL AND LEGAL ASPECTS ON THE USE OF DRONES COSMIN RUS 1, NICOLAE PĂTRĂŞCOIU 2 Abtact: Thi pape dicue initial application of done technology in the uveilance and collect data. In thi tudy, a mall-cale aeial done wa ued a a tool fo exploing potential benefit to collect data. A done i an aeial quadcopte that can be piloted emotely uing a mat phone, tablet device o a compute. Since the done i equipped with video camea, it can povide afety manage with fat acce to image a well a eal time video fom a ange of intee location. Autonomou navigation, vocal inteaction, higheolution camea, and collaboative ue-inteface envionment ae ome example of featue that can be ued. Thi application of the aeial done ha the potential to impove geneal afety but need to be taced a clea bode between Big Data and Big Bothe. Keywod: done, big data, big bothe. 1. INTRODUCTION Thi pape explain ome geneal pinciple of done egulation by national govenment and ak how both ai afety and pivacy will be haped by new technologie. It put foth the claim that taking popety ight in the ai eiouly i a way to allow innovation while potecting afety and pivacy. A fa back a 1944, when the Chicago Convention on Intenational Civil Aviation etablihed the Intenational Civil Aviation Oganization (ICAO), the intenational umbella body fo aviation egulato, authoitie wee conideing the implication of pilotle aicaft. Aticle 8 of the convention pohibited aicaft capable of being flown without a pilot fom tepaing ove the teitoy of contacting tate without pemiion and futhe obligated the fifty-two ignatoie (nealy all oveeign tate now adhee to the convention) to inue that the flight of uch aicaft without a pilot in egion open to civil aicaft hall be o contolled a to obviate dange to civil aicaft. [35] 1 Ph.D. Student, Univeity of Petoani 2 PhD. Aociate Pofeo Eng. Univeity of Petoani 69

70 COSMIN RUS, NICOLAE PĂTRĂŞCOIU Jut what it mean to obviate that dange i a quetion that national aviation egulato aound the wold ae wetling with. 2. DRONES - THE POSSIBLE HAZARDS The chief dange that unmanned aicaft poe to manned aicaft i accidental colliion. Thi i fo two eaon. The fit i the hee numbe of mall unmanned aicaft. Thee ae aleady moe mall done than exit geneal aviation aicaft, and that numbe will only gow. The ai will become moe cowded than eve befoe. The econd i the limited ituational awaene that done have. Though done can be flown with o-called Fit Peon View (FPV) camea that povide ome uch awaene, egulato believe (baed on a tack ecod of militay done with omewhat imila ytem) that FPV ytem do not povide awaene compaable to a pilot within an aicaft. At ome point in the futue, done may commonly have onboad ytem that algoithmically avoid colliion. The vat majoity of done do not have uch ytem at peent. In a centuy of manned aviation, a numbe of technique fo aipace management have been developed to pevent colliion. Thee might ound imila to a laypeon but in fact entail ditinct technical olution. The fit i to egegate aipace. If manned aicaft and unmanned aicaft fly at entiely diffeent altitude, then thee i no ik they can collide. At wot, unmanned aicaft could collide with one anothe, which would not involve lo of life [12]. Thi appoach mean excluding done fom the vicinity of aipot ued by manned aicaft and confining them to low altitude whee manned aicaft ae aleady pohibited fom flying. Howeve, becaue of exception like medevac helicopte, which mut fly at low altitude and mut have feedom to go almot anywhee at hot notice to complete thei miion total egegation i not poible. It i, howeve, the pinciple behind etiction, in many juidiction, that confine mall done to low altitude. Howeve, low-altitude flight implicate pivacy; low-flying done can moe eaily take pictue that infinge on pivacy and can ceate noie that i an intuion upon ecluion [13]. Thu, ome have popoed egegated band fo done flight between, ay, 500 and 700 feet ( m) above the gound that would be eeved fo unmanned aicaft. Simila band fo lage unmanned aicaft at highe altitude could egegate them fom manned aicaft. If aipace contol ytem wee being deigned fom catch, uch band would be a logical olution. Howeve, they ae not likely to be implemented in any juidiction becaue they un counte to the legacy of how aipace ha been egulated. The next mechanim fo peventing cahe i to maintain epaation between aicaft. Thi wok in contolled aipace, whee ai-taffic contolle keep tack of whee both manned and unmanned aicaft ae. It allow, fo example, Pedato done flown by the U.S. govenment to patol the U.S.-Mexico bode. It alo i what ha allowed the aipot in Kandaha, Afghanitan, to function. The aipot wa fo ome time the wold buiet ingle unway aipot, with moe than 800 takeoff and landing pe day civilian and militay, manned and unmanned, all mixed togethe. Ai-taffic contolle managed thi aipace by keeping a 70

71 TECHNICAL AND LEGAL ASPECTS ON THE USE OF DRONES minimum of 1,000 feet (300 m) of epaation between done and manned aicaft and 500 feet (150 m) between one done and anothe. Thee doe not exit, fo the moment, a ytem fo maintaining epaation between mall done. Fo uch a ytem to wok, contolle mut be able to both ee all elevant aicaft and diect them. Small done fly at lowe altitude, whee ada coveage i difficult; thee ae many moe of them, and becaue mall done have vey limited payload capacity, ytem that allow them to inteact with ai-taffic contol and othe aicaft mut be caefully deigned. NASA i developing a ytem that would act a a global uveillance ytem fo mall done at low altitude. A a backup in cae epaation meaue fail, paenge aicaft ae equied (thoughout the wold) to have a Taffic Colliion Avoidance Sytem (TCAS), which i an automated ytem in which tanponde on aicaft communicate with one anothe and alet pilot to the ik of colliion. In malle aicaft, a pilot eye can uffice the pilot i equied to be able to ee and avoid othe aicaft. Developing ytem fo done to ene and avoid othe aicaft i an active aea of eeach, a i detemining how to egulate uch new technologie. Some conume done aleady have limited autonomou ene-and-avoid technologie, uch a DJI Guidance ytem. The capabilitie of uch autonomou ytem ae changing apidly. It i difficult to ventue pediction about how they will impove. Sytem that wok at low peed won t do much good at high peed; ytem that wok well in contolled teting may not be eilient in the eal wold. Howeve, much may change quickly [14]. Lage done can cay ophiticated eno, camea and gimbal that give the pilot good ituational awaene (though not a good a that of a pilot in a manned aicaft). The FPV ytem that malle done have povide a imila, though moe limited capability. Such FPV ytem can be ued to ace aound obtacle at high peed. Thi doe not mean, howeve, that they povide the ot of peipheal awaene that a pilot in an aiplane cockpit ha. Latency with uch ytem i alo an iue. Many countie, paticulaly in the developing wold, till do not have explicit egulation govening done. Howeve, in the United State, Canada, Euope, Autalia, and elewhee, a boad conenu on how to egulate done ha emeged in the pat decade. The imilaitie among the vaiou egulatoy egime outnumbe the diffeence. That conenu i to allow moe flexibility fo malle done. Thee geneally can be flown at low altitude, fa fom aipot, fa fom cowd, and within the line of ight. Some countie, Fance, fo intance, pemit flight beyond the line of ight fo vey lightweight done. Thi i enible and likely to become moe common. The United State ha lagged behind the United Kingdom, Fance, Gemany, Autalia, Canada, and elewhee in the implementation of commecial done flight egulation, howeve, the popoed ule which the Fedeal Aviation Adminitation (FAA) [13]. In 1942 a chicken fame outide of Geenboo, Noth Caolina, ued the U.S. govenment. He aid the fequent, low oveflight of militay aicaft on the adjacent unway wa caing hi bid and damaging hi livelihood, and he wanted compenation. The cae made it all the way to the Supeme Cout in And one 71

72 COSMIN RUS, NICOLAE PĂTRĂŞCOIU eult of United State v. Cauby wa that the Cout et the limit of pivate aipace: If you own a houe, you popety ight extend 83 feet (25 m) up into the ai [22]. That a quaint, and thankfully ielevant, limit when it come to manned aicaft. The Fedeal Aviation Adminitation keep plane much highe than that, ave on appoach and take-off, and even then mot aipot equie a decent buffe aound them. But the 70-yea-old uling ha new impotance in the age of done. It emain the only clea fedeal tatement of law on how fa above the gound you popety end. And that ha aied concen among ome pivacy advocate, who quetion whethe anyone fom a peky neighbo to a police depatment to Amazon planned delivey evice hould be allowed to fly above pivate popety, potentially hooting video fom the level of the teetop [24]. Now a fedeal lawuit, which wa agued today in the D.C. Cicuit Cout of Appeal, i tying to foce the Fedeal Aviation Adminitation to et ule potecting citizen fom uch pivacy intuion. The action wa bought by the Electonic Pivacy Infomation Cente (EPIC); among othe point, EPIC want the FAA to make it eay fo citizen to find out whethe done flying ovehead have uveillance capabilitie. The goup alo want to potect the pivacy ight of done pilot, who have been equied to egite with the FAA ince Decembe. Thi in t the fit time that EPIC ha tied to compel the FAA to focu on done and pivacy, but the agency ague that it authoity i limited to making ue that done ae afe. Fo now, the quetion emain: If the FAA in t potecting you ight to pivacy fom done pying, who i?[24] 3. WORKING WITH DRONES - TECHNICAL ISSUES While dicuing multioto contuction and piloting, it will cetainly be ueful to have a way of communicating diffeent movement of the multioto. Fotunately, mathematician way back in the 1700 came up with a way of decibing the oientation of igid bodie in pace. The ytem they developed ue a et of thee angle to decibe, in thi cae, the oientation of the multioto aound the thee pacial dimenion. You have pobably head of thee angle befoe, they ae called oll, pitch, and yaw.[19] Fig.1. Angle of otation 72

73 TECHNICAL AND LEGAL ASPECTS ON THE USE OF DRONES The oll angle of the multioto decibe how the caft i tilted ide to ide. Rotation about the oll axi i like tilting you head towad one of you houlde. Rolling the multioto caue it to move ideway. The pitch angle of the multioto decibe how the caft i tilted fowad o backwad. Rotation about the pitch axi i like tilting you head in ode to look up o down. Pitching the multioto caue it to move fowad o backwad. The yaw angle of the multioto decibe it beaing, o, in othe wod, otation of the caft a it tay level to the gound. Rotation about the yaw axi i like when you hake you head to ay no. Thee i one final bit of teminology we will ue to dicu flying the multioto, and that i thottle. Thottle imply contol the altitude of the multioto.[19] Steeing While flying you multioto, it i vey impotant to undetand how the multioto move and how we contol it. At the oot of all the multioto movement i the otational peed of the moto. By adjuting the elative peed of the moto in jut the ight way, keeping in mind that the otational peed of the moto detemine how much lift each pop poduce, the flight contolle i able to caue the multioto to otate aound any of the diectional axe (oll, pitch, and yaw), o make the multioto gain o loe altitude.[19] Roll and Pitch To make the multioto otate about the oll o pitch axe, the flight contolle make the moto on one ide of the multioto pin fate than the moto on the othe ide. Thi mean that one ide of the multioto will have moe lift than the othe ide, cauing the multioto to tilt. So, fo example, to make a quadcopte oll ight (o otate about the oll axi clockwie), the flight contolle will make the two moto on the left ide of the multioto pin fate than the two moto on the ight ide. The left ide of the caft will then have moe lift than the ight ide, which caue the multioto to tilt. Similaly, to make a quadcopte pitch down (otate about the pitch axi clockwie) the flight contolle will make the two moto on the back of the caft pin fate than the two moto on the font. Thi make the caft tilt in the ame way that you head tilt when you look down. [19] Yaw Contolling the multioto otation about the yaw axi i a bit moe complex than contolling it otation about the oll o pitch axe. Fit, let dicu how we pevent otation about the yaw axi. When aembling and pogamming multioto, we et up the moto o that each moto pin in the oppoite diection than it neighbo. In othe wod, uing a quadcopte a an example again, tating fom the font-left moto and moving aound the multioto clockwie, the moto otational 73

74 COSMIN RUS, NICOLAE PĂTRĂŞCOIU diection altenate, CW, CCW, CW, CCW. We ue thi otational configuation to neutalize, o cancel out, each moto tendency to make the multioto otate. When a pop pin, fo example, clockwie, conevation of angula momentum mean that the body of the multioto will have a tendency to pin counteclockwie. Thi i due to Newton thid law of motion, fo evey action, thee i an equal and oppoite eaction. The body of the multioto will tend to pin in the diection oppoite the otational diection of the popelle. Fo example, helicopte have two oto. One big main oto eponible fo lifting the aicaft, and one mall oto on the tail that adjut how the helicopte pin. Imaging what would happen if in mid-flight, a helicopte tail oto fell off the aicaft while the big main oto kept pinning (thi by the way i omething we hope neve happen to any helicopte pilot). You can pobably imagine that the helicopte would tat pinning. Well thi otation would be caued by the otation of the popelle in the oppoite diection, accoding to the law of conevation of angula momentum.[19] Fig.2. Moto otation diection Binging it all togethe now, each of the quadcopte fou oto tend to make the multioto otate in the oppoite diection than thei pin. So by uing pai of oto pinning in oppoite diection, we ae able to cancel out thi effect and the multioto doe not pin about the yaw axi. So theefoe, when we actually want the multioto to otate about the yaw axi, the flight contolle will low down oppoite pai of moto elative to the othe pai. Thi mean the angula momentum of the two pai of pop will no longe be in balance and the caft otate. We can make the multioto otate in eithe diection by lowing down diffeent pai of moto.[19] Hoveing/Altitude Contol Now that we undetand how teeing the multioto wok, let quickly dicu a much imple maneuve, hoveing. To make the multioto hove, which mean the multioto tay at a contant altitude without otating in any diection, a 74

75 TECHNICAL AND LEGAL ASPECTS ON THE USE OF DRONES balance of foce i needed. The flight contolle will need to counteact the foce of gavity with the lift poduced by the oto. Thowing a bit of math into the pictue now, the foce of gavity acting on the multioto i equal to the ma of the multioto time gavitational acceleation (which, a fa a we ae concened, i a contant a long a we ae taying on Eath). The lift poduced by the multioto i equal to the um of the lift poduced by each of the oto. Theefoe, if the foce of gavity equal the foce of the lift poduced by the moto, the multioto will maintain a contant altitude. To acend o decend, theefoe, the flight contolle diupt thi balance. If the lift poduced by the multioto i geate than the foce of gavity, the caft will gain altitude. If the oppoite i tue, that i, if the lift poduced by the multioto i le than the foce of gavity acting on the multioto, then the multioto will fall. Movement Adjuting the elative peed of the moto, the flight contolle can make the multioto tilt. Well, the eaon we want to be able to tilt the multioto i that tilting the multioto caue it to move. By tilting the multioto in diffeent diection, it can be made to move fowad, backwad, left, o ight (neithe altitude contol no yaw contol involve tilting). Fo example, when the multioto pitche down (clockwie aound the pitch axi) it move fowad. The eaon the multioto move when it tilt i becaue while the multioto i tilting, ome of the lift poduced by the oto i diected hoizontally while nomally all of the lift i diected downwad. Thi ideway component of the lift puhe the multioto. Now, you might have ealized the poblem that happen when we acifice ome of the multioto downwad thut to move the caft hoizontally. Since le thut i diected downwad while the multioto i tilting, multioto tend to loe altitude while moving aound. Now ome flight contolle have a featue called altitude hold which mean that the flight contolle automatically adjut the moto peed in ode to make the caft maintain a contant altitude while moving. Unfotunately, the KK2.1 flight contolle ued in the tutoial on thi ite lack thi featue. Thi help keep cot down, but alo mean that the pilot mut manually adjut the thottle to maintain altitude while maneuveing. 4. PRIVACY LAWS Big data i a tem fo data et that ae o lage o complex that taditional data poceing application ae inadequate. Challenge include analyi, captue, data cuation, each, haing, toage, tanfe, viualization, queying, updating and infomation pivacy. The tem often efe imply to the ue of pedictive analytic, ue behavio analytic, o cetain othe advanced data analytic method that extact value fom data, and eldom to a paticula ize of data et. Accuacy in big data may lead to moe confident deciion making, and bette deciion can eult in geate 75

76 COSMIN RUS, NICOLAE PĂTRĂŞCOIU opeational efficiency, cot eduction and educed ik. Big bothe mean a peon o oganization execiing total contol ove people live. Pivacy concen can lead to hot tempe. Lat yea, a Kentucky man ue a hotgun to blat a done out of the ai above hi home. A New Jeey man did the ame thing in 2014, and a woman in Seattle called the police when he feaed a done wa peeping into he apatment. (The done belonged to a company conducting an achitectual uvey). And in Novembe, epeated night-time oveflight by a done pompted call to Albuqueque police complaining of tepaing, the police concluded that the flye wan t beaking any law. State law aleady on the book offe ome pivacy potection, epecially if a done i hooting photo o video. Ein E. Rhinehat, an attoney in Dayton, Ohio, who tudie the iue, ay that exiting nuiance and invaion-of-pivacy tatute would apply to done owne. If you could pove you wee being haaed by a done flying ove you houe, o even that one wa pying on you fom afa, you might have a cae againt the done opeato. But poof i difficult to obtain, he ay, and not eveyone agee on how to define haament. Some tate ae tying to tengthen thei potection. In Califonia, nevou celebitie may benefit fom a law igned by Goveno Jey Bown thi pat fall. The meat of the legilation ead, A peon i liable fo phyical invaion of pivacy when the peon knowingly ente onto the land o into the aipace above the land of anothe peon without pemiion in ode to captue any type of viual image, ound ecoding, o othe phyical impeion of the plaintiff. And a imila pivacy law in Wiconin make it illegal to photogaph a nude o patially nude peon uing a done. (Dozen of tate have paed o ae conideing done-elated law). Mot of thee tatute ae caefully woded to focu on captuing image, becaue the tate can t contol whee done ae allowed to fly that up to the FAA. Robet Kik, an attoney who advocate on the pat of companie that want to ue done fo uveying, think that pivacy law that ingle out done could be challenged in cout. The FAA ha taken the poition that any eg that deal with ai afety eide olely with the FAA, he ay. The touble i going to be wheneve omeone come afte a done opeato and we e moving into pivacy and tepa, aea that ae moe taditionally in the ealm of tate and local authoity. The uphot: Authoity i plit between the fedeal govenment and the tate. And no one cuently ha the authoity to boadly potect pivacy by peventing done fom flying ove people home. 5. CONCLUSIONS Someday oon, Amazon pomie, done will zip aound neighbohood, quickly and efficiently deliveing mall package. If they do, they ae vey likely to have the legal ight to fly ove you houe and the ame goe fo commecial land uveyo uing camea to pepae map. 76

77 TECHNICAL AND LEGAL ASPECTS ON THE USE OF DRONES When it come to the ue of done by law enfocement, the ituation i le clea-cut. The Supeme Cout ha uled that aeial uveillance by police foce i legal, whethe the ubject i on pivate o public popety. Thi came up in two cae in the 1980, when the Cout decided that the police hadn t needed a waant to take aeial photo of maijuana plant gowing in eidential backyad. Howeve, the advent of done technology ha made it much eaie and cheape fo police depatment to conduct uch uveillance. And tate have been gappling with the implication. Both Nevada and Viginia have paed legilation equiing the police to obtain a waant befoe uing a done fo uveillance. Howeve, Texa ha gone in the oppoite diection, aying that law enfocement agencie need only pobable caue. Thi i an iue that could end up being decided in fedeal cout. The EPIC lawuit i not the only effot to expand the FAA ole into the pivacy ealm. A law popoed by Maachuett Senato Ed Makey, the Done Aicaft Pivacy and Tanpaency Act, would equie the agency to enue baeline pivacy and tanpaency afeguad, which would apply to both pivate done opeato and law enfocement. The ACLU, which uppot the Makey bill, agued a fa back a 2011 that a lack of oveight could lead to exceive uveillance by law enfocement uing done. Yet ome legal analyt wan that the oppoite ituation alo poe dange: If egulation wee pooly witten, they could end up potecting govenment and commecial opeato of done, while eticting eveyone ele. Fo intance, ome tate ae conideing law that would pevent jounalit fom uing done to photogaph condition on big indutial fam, accoding to Magot Kaminki, a law pofeo at Ohio State. Kaminki uge patience on the fedeal level. Claity come at the cot of expeimentation, and ealy law i likely to be ove-eaching, he ay. Some etictive law could end up being tuck down in the cout. But by letting tate, countie, and town ty to get thi ight, Kaminki ague, we may end up with a eaonable undetanding of when and how done fit into ou daily live. And that include how done can be ued fo good, not jut a intuion. Thee aicaft ae aleady being ued fo eveything fom tunning film-making to each-and-ecue opeation to wate conevation wok on fam. Done can alo enhance afety by taking ove both uch mundane application a inpection of leaky oof, and high-pofile tak uch a monitoing natual diate ite. The challenge i to find the ight balance between the ight to the kie and the ight to pivacy. Big Data o Big Bothe? REFERENCES [1]. Babu C. Pătăşcoiu N., Roşulecu C., Uing vitual intumentation in ditibuted contol ytem, Poceeding of Intenational Multidiciplinay Sympoium "Univeitaia SIMPRO 2014", Petoşani, [2]. Pătăşcoiu N., Poanta A., Tomuş A., Sochica B., A oftwae olution fo mechanical change meauement though vitual intumentation, WSEAS Tanaction on Cicuit and Sytem, v.9 n.12, p , Decembe

78 COSMIN RUS, NICOLAE PĂTRĂŞCOIU [3]. Pop E., Leba M., Application of Ditibution Theoy in Digital Contol Sytem, Annal of Univeity of Petoani, Vol. 5, 2003, pp [4]. Pop E., Leba M., Simulation and Deign of Nonlinea Contolle baed on Ditibution Theoy, Poceeding of the 6th WSEAS Intenational Confeence on SYSTEM SCIENCE and SIMULATION in ENGINEERING, ISBN , ISSN , 2007, pp [5]. Pop E., Leba M., Micocontollee i automate pogamabile, Editua Didactica i Pedagogica, Bucueti, [6]. Pop E., Bubatu R., Teoia itemelo educaţie pin e-leaning, Editua Univeita, Petoşani, [7]. Leba M., Pop E., New Ditibution Popetie and Application in Digital Contol, Poceeding of the 7th WSEAS Intenational Confeence on SIGNAL PROCESSING, ROBOTICS and AUTOMATION (ISPRA '08), ISSN: , ISBN: , Univeity of Cambidge, UK, Febuay 20-22, [8]. Leba M., Pogamae in limbaj de aamblae. Aplicatii in ingineia itemelo, Editua Didactica i Pedagogica, Bucueti, [9]. Leba M., Contibutii pivind conduceea numeica ieahizata a itemelo de actionae cu moto aincon, Ph.D.Thei, Petoani, [10]. Leba M., Pop E., Badea A., Adaptive Softwae Oiented Automation fo Indutial Elevato, Poceeding of the 11th WSEAS Intenational Confeence on Automatic Contol, Modeling and Simulation ACMOS 09, ISBN , ISSN , pp , Itanbul, Tukey, [11]. Sochica, B., Poanta, A., Poiectaea şi dezvoltaea aplicaţiilo cu micocontole, Editua Univeita, Petoşani, [12]. Uţu, I., Samoilă, L., Senzoi şi intumentaţie pentu iteme electomecanice, Editua Univeita, Petoşani, 2011, ISBN , pp [13]. [14]. yahoopatne.tumbl.com/pot/ /done-pivacy-i-anyone-in-chage [15]. [16]. [17]. [18]. [19]. [20]. [21]. [22]. [23]. [24]. [25]. _done_in_contuction [26]. _Done_Technology_a_Safety_Inpection_Tool [27]. 78

79 Annal of the Univeity of Petoani, Electical Engineeing, 18 (2016) FUZZY FEED_BACK CONTROL FOR INVERTED PENDULUM STELIAN VALENTIN CASAVELA 1, ANTONIO CASAVELA 2, CRISTOFOR CASAVELA 3 Abtact: A fuzzy feed back ytem olve patially the inveted pendulum contol, but thi i deigned a a component in a Model Refeence Adaptive Fuzzy Contol (MRAFC). Alo, we pefomed modelation and imulation of a MRAFC, via the ue of thi fuzzy feed back ytem, inide the fuzzy diect and invee contolle. A fuzzy feed back ytem cheme i imulated fo pefoming an aymptotic tacking of a efeence ignal fo the inveted pendulum, ignal with quickly o lowly time-vaying paamete. Keywod: fuzzy, feed back, model efeence, adaptive fuzzy contol, contolle. 1. THE MATHEMATICAL MODELATION OF PENDULUM 1.1. The equilibium of foce Fig 1. Inveted pendulum in 3 bae poition 1 PhD., Aociate Pofeo, Eng., Univeity of Petoani 2 Ph.D. Student., Victo Babe Univeity of Medicine and Phamacy, Timioaa 3 Ph.D. Student., Victo Babe Univeity of Medicine and Phamacy, Timioaa 79

80 STELIAN VALENTIN CASAVELA, ANTONIO CASAVELA, CRISTOFOR CASAVELA x 0 and y 0 ae the coodinate of the cente of gavity of the pendulum. It length i 2*l. Diplacement, peed and acceleation: ' 0 ' p x 0 x p 1in ; x x co ; x x 1 co 1( ) in (1) ' 0 ' p 1 ' '' '' '' 0 p y 0 y p 1co ; y y in ; y y 1 in 1( ) co (2) 1 ' '' '' '' 0 p Let note with M, the ma of the tolley and with m, the ma of the pendulum. Foce on Ox axi ae the active foce: f, the inetial foce of the pendulum Fx, the inetial foce of the tolley: M x p'' and the foce due the coefficient of fiction between pendulum and tolley: b. ' ' 2 2 x '' p ' p f F Mx bx (3) '' '' ' 2 0 p F mx m[ x 1 ''co 1( ) in ] (4) x '' p f mx 1 2 '' ' in Mx bx '' 1 co m1 p p m (5) Let neglect the coefficient of fiction b, and alo b* x p', and we uppoe that the angle θ i limited at a little one and, o, in θ=0 and coθ=1;we obtain[2]: f x ' p '' '' M m x m1 (6) p f m1 '' M m '' f M mx / m The equilibium of the couple ' / (7) '' (8) Let u ee now the equilibium of the couple, fo motionle pendulum. p '' ' M0 0 J c F x 1co Fy1in (9) J i the moment of inetia fo pendulum and c i the coefficient of fiction fo tolley. Let we calculate Fy, uing the equilibium of foce on 0y axi, fo motionle pendulum. The gavity i uppoted by the acceleation in up of the pendulum [3]. G my '' 0 0 ; mg my '' 0 0 ; fom (2), we obtain: '' y p '' ' 2 co ] 0 mg m[ 1 in 1 (10) 80

81 FUZZY FEED_BACK CONTROL FOR INVERTED PENDULUM Fy appea a a eaction againt the foce in the cente of gavity of the pendulum, but in the uppot, upon tolley, that i, Fy i the foce at the bae of the pendulum. The inetia ha a component which puh in up, the pendulum. Fom (10): F y '' ' my mg m1 ''in m1( ) co (11) p 2 Fom (4), (8) and (9), we obtain: '' ' mx p l co ml (co ) ml ( ) ml 2 in co mgl in ml (in ) ' 2 '' ' in co J c 2 ' mgl in ml mx pl co J c (12) If θ i little, in θ 0, coθ 1. Fo the length equal with 2l, the moment of inetia fo pendulum: J=ml 2 /3 and we neglect c the coefficient of fiction fo tolley: c=0 and obtain[8]: 2 2 '' '' ml '' gl ml mlx p 3 (13) '' '' ' 2 '' 2 o '' '' l '' g l x p 3 (14) 1.3. The tanfe function We calculate fit the Laplace tanfe function, H()= θ()/f(), but the poition (x p,y p) being without inteet, fo moment. Fom (7) and (8) we obtain: 2 2 '' ml f ml '' ml '' mgl ml 0 (15) M m 3 l ml f 4 g 0 (16) 3 M m M m But L(θ '' )= 2 θ () and L(f)= L(f(t)) =f(). Then: l H f M m 1( ) / (17) l ml 2 4 g 3 M m o 81

82 STELIAN VALENTIN CASAVELA, ANTONIO CASAVELA, CRISTOFOR CASAVELA g m M ml l m M f ) ( (18) We may calculate alo the Laplace tanfe function, H()= x p()/f(), y p being contant, but the angle θ being dependent of x p. Fom (8) and (14) it may be obtained: ml x m M f l x ml x m M f l g p p p '' '' '' ) ( 3 ] ) ( [ (19) m M m f g m m m M m f g x p '' (20) But L(x p '' )= 2 x p() and (18) detemine: ) (4 3 ) ( ) ( 3 ) ( 2 2 m M m f g m M ml l m M f g m x p (21) Finally: ) (4 4 ) ( ) ( ) ( ) ( ) ( m M m M g m l M mg m M g m M m M l m M mg f x H p (22) ) ( 3 ) (4 3 4 ) ( ) ( ) ( m M g m M l g l f x H p (23) Uually, the ituation decibed by fomula (17) and (18), but not (19), ae often encounteed, and thee will be developed in thi pape. A phyical contant let u take: m=0.5kg, M=1kg and l=0.5m. Then: 82

83 FUZZY FEED_BACK CONTROL FOR INVERTED PENDULUM 1 0( ) H ( ) (24) f ( ) 4 0,5 0,5 0,5 2 9,8 3 0,5 1 0,66 H 1( ) (25) 2 0,5 9,8 2. SIMULATION OF THE CONTROL FOR INVERTED PENDULUM 2.1. Input and Output fo Fuzzy Contolle Fig 2. Fuzzy diect contolle with feed back The linguitic vaiable ae input and output. The input mean the eo e(t) and the change-in-eo de/dt, while the output i decibed by the foce u(t)- newton (peviouly denoted with f(t)), e(t) = (t) y(t), whee (t) (angle -adian) i the efeence input, y(t) mean the output angle, made by pendulum with the vetical (peviouly denoted with θ). l i the half of length of the pendulum (mete). See next figue 3. Fig 3. Foce and angle Eo and change-in-eo ae famed in domain: 2 mean neglage, 1 mean negmall (fo ight ide), 0 mean zeo, 1 mean pomall and 2 mean polage (fo left ide). The foce ha evee ign, becaue if = 0, then e = y = y and de/dt = dy/dt. 83

84 STELIAN VALENTIN CASAVELA, ANTONIO CASAVELA, CRISTOFOR CASAVELA Table 1. Rule Table, heuitic ceated Fig 4. Membehip function 84

85 FUZZY FEED_BACK CONTROL FOR INVERTED PENDULUM 2.2. The Matlab pogam fo Sytem with Fuzzy Contolle Fig 5. Simuling in Matlab fo Fuzzy feed back contolle fo inveted pendulum We may ee that the input i θ et=0 (Scope1). The output will be een on Scope2 (foce), Scope 5 (θ) and Scope 10 (de/dt). Fig 6. θ et=0, foce and θ If we modify the input, in pule with maximum θ et=1.150 (Scope 1), the output would be een next. Scope 2 (foce), Scope 5 (θ). 85

86 STELIAN VALENTIN CASAVELA, ANTONIO CASAVELA, CRISTOFOR CASAVELA Fig. 7. θ et=1.15 0, foce and θ 3. CONCLUSIONS The eult eem to be quite modet, but thi pogam i ued in a Model Refeence Adaptive Fuzzy Contol (MRAFC), a a diect contolle and the pefomance i inceaed ignificantly. REFERENCES [1]. Babu C. Pătăşcoiu N., Roşulecu C., Uing vitual intumentation in ditibuted contol ytem, Poceeding of Intenational Multidiciplinay Sympoium "Univeitaia SIMPRO 2014", Petoşani, [2]. Navale R. L., Development of an adaptive fuzzy logic contolle fo HVAC ytem, Retopective Thee and Dietation, [3]. Oltean S. E., Dulau M., Duka A. V., Model Refeence Adaptive v. Leaning Contol fo the Inveted Pendulum. A Compaative Cae Study, Jounal of Contol Engineeing and Applied Infomatic, [4]. Paino K. M., Yukovich S., Fuzzy Contol, Addion Weley Longman, Inc., [5]. Pătăşcoiu N., Poanta A., Tomuş A., Sochica B., A oftwae olution fo mechanical change meauement though vitual intumentation, WSEAS Tanaction on Cicuit and Sytem, v.9 n.12, p , Decembe [6]. Pătăşcoiu N., Tehnici de intumentaţie vituală, Editua Univeita, Petoşani, [7]. Pătăşcoiu N., Siteme de achiziţie şi pelucae a datelo, Editua didactică şi Pedagogică, [8]. Samoila, B. L., Popecu, F. G., Sluaiuc, R., Vitual intument ued in diect cuent cicuit leaning poce. Annal of Univeity of Petoani, Electical Engineeing, Vol. 15, pag.47-52, Petoşani, 2013, ISSN [9]. Zadeh L. A., Bekeley, C. A., Fuzzy Logic Toolbox, Fo Ue with MATLAB, Ue Guide Veion 2, Januay 10,