Browsing by Author "Otaola, Erlantz"
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Item A Comparative Analysis of Self-Rectifying Turbines for the Mutriku Oscillating Water Column Energy Plant(2019) Otaola, Erlantz; Garrido, Aitor J.; Lekube, Jon; Garrido, Izaskun; Tecnalia Research & InnovationOscillating Water Column (OWC) based devices are arising as one of the most promising technologies for wave energy harnessing. However, the most widely used turbine comprising its power take-off (PTO) module, the Wells turbine, presents some drawbacks that require special attention. Notwithstanding different control strategies are being followed to overcome these issues; the use of other self-rectifying turbines could directly achieve this goal at the expense of some extra construction, maintenance, and operation costs. However, these newly developed turbines in turn show diverse behaviours that should be compared for each case. This paper aims to analyse this comparison for the Mutriku wave energy power plant.Item Modelado y simulación de tren de aterrizaje basado en actuador electromecánico con PMSM multifase(2019) Sierra-González, A.; Ibarra, E.; Kortabarria, I.; Martínez de Alegría, I.; Otaola, Erlantz; Martín, J.L.Debido a los problemas medioambientales actuales, la electrificación de aeronaves o concepto MEA (More Electric Aircraft) está atrayendo el interés de la comunidad científica. Como resultado, los sistemas de actuación hidráulica están siendo paulatinamente sustituidos por sistemas de actuación electromecánica. Sin embargo, los requisitos de seguridad y disponibilidad del sector aeronáutico sugieren la sustitución de motores eléctricos trifásicos tradicionales por motores multifase con grados de libertad adicionales y tolerancia a fallos. En este sentido, es importante disponer de modelos de simulación fiables para el estudio de este tipo de sistemas. Por ello, en este trabajo se presenta el modelo completo de un tren de aterrizaje electromecánico que incluye una máquina síncrona de imanes permanentes (PMSM) multifase, el cual permite estudiar el comportamiento del sistema en régimen de operación normal y durante situaciones de falta.Item Modeling and control of an overactuated aerial vehicle with four tiltable quadrotors attached by means of passive universal joints(IEEE, 2020-10) Iriarte, Imanol; Otaola, Erlantz; Culla, David; Iglesias, Inaki; Lasa, Joseba; Sierra, Basilio; INNOV_AIR_MOBIL; Tecnalia Research & Innovation; MAQUINASWe present a novel overactuated aerial vehicle based on four quadrotors connected to an airframe by means of passive universal joints. The proposed architecture allows to independently control the six degrees of freedom of the airframe without having fixed propellers at inefficient configurations or making use of dedicated rotor tilting actuators. After deriving the dynamic equations that describe its motion, we propose a linear control strategy that is able to successfully decouple rotation and translation, relying exclusively on on-board sensors. A prototype is built and preliminary experimental results demonstrate that the concept is feasible.Video: https://youtu.be/9ASP3FyhCJw.