Nuevo paradigma descentralizado para la operación de microrredes basado en control por rechazo activo de perturbaciones
ilustraciones, diagramas, gráficas, planos, tablas
- Autores:
-
Vargas Medina, Daniel
- Tipo de recurso:
- Fecha de publicación:
- 2022
- Institución:
- Universidad Nacional de Colombia
- Repositorio:
- Universidad Nacional de Colombia
- Idioma:
- spa
- OAI Identifier:
- oai:repositorio.unal.edu.co:unal/82988
- Palabra clave:
- 620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería
Análisis de redes eléctricas
Distribución de energía eléctrica
Transmisión de potencia
Electric network analysis
Electric power distribution
Power transmission
Paradigma
Control
Descentralizado
Microrredes
ADRC
Paradigm
Decentralized
Microgrids
- Rights
- openAccess
- License
- Atribución-NoComercial-SinDerivadas 4.0 Internacional
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| dc.title.spa.fl_str_mv |
Nuevo paradigma descentralizado para la operación de microrredes basado en control por rechazo activo de perturbaciones |
| dc.title.translated.eng.fl_str_mv |
New decentralized paradigm for microgrids operation based on active disturbance rejection control |
| title |
Nuevo paradigma descentralizado para la operación de microrredes basado en control por rechazo activo de perturbaciones |
| spellingShingle |
Nuevo paradigma descentralizado para la operación de microrredes basado en control por rechazo activo de perturbaciones 620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería Análisis de redes eléctricas Distribución de energía eléctrica Transmisión de potencia Electric network analysis Electric power distribution Power transmission Paradigma Control Descentralizado Microrredes ADRC Paradigm Decentralized Microgrids |
| title_short |
Nuevo paradigma descentralizado para la operación de microrredes basado en control por rechazo activo de perturbaciones |
| title_full |
Nuevo paradigma descentralizado para la operación de microrredes basado en control por rechazo activo de perturbaciones |
| title_fullStr |
Nuevo paradigma descentralizado para la operación de microrredes basado en control por rechazo activo de perturbaciones |
| title_full_unstemmed |
Nuevo paradigma descentralizado para la operación de microrredes basado en control por rechazo activo de perturbaciones |
| title_sort |
Nuevo paradigma descentralizado para la operación de microrredes basado en control por rechazo activo de perturbaciones |
| dc.creator.fl_str_mv |
Vargas Medina, Daniel |
| dc.contributor.advisor.none.fl_str_mv |
Cortés Romero, John Alexander Mojica Nava, Eduardo Alirio |
| dc.contributor.author.none.fl_str_mv |
Vargas Medina, Daniel |
| dc.subject.ddc.spa.fl_str_mv |
620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería |
| topic |
620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería Análisis de redes eléctricas Distribución de energía eléctrica Transmisión de potencia Electric network analysis Electric power distribution Power transmission Paradigma Control Descentralizado Microrredes ADRC Paradigm Decentralized Microgrids |
| dc.subject.lemb.spa.fl_str_mv |
Análisis de redes eléctricas Distribución de energía eléctrica Transmisión de potencia |
| dc.subject.lemb.eng.fl_str_mv |
Electric network analysis Electric power distribution Power transmission |
| dc.subject.proposal.spa.fl_str_mv |
Paradigma Control Descentralizado Microrredes |
| dc.subject.proposal.eng.fl_str_mv |
ADRC Paradigm Decentralized Microgrids |
| description |
ilustraciones, diagramas, gráficas, planos, tablas |
| publishDate |
2022 |
| dc.date.issued.none.fl_str_mv |
2022 |
| dc.date.accessioned.none.fl_str_mv |
2023-01-17T19:33:12Z |
| dc.date.available.none.fl_str_mv |
2023-01-17T19:33:12Z |
| dc.type.spa.fl_str_mv |
Trabajo de grado - Maestría |
| dc.type.driver.spa.fl_str_mv |
info:eu-repo/semantics/masterThesis |
| dc.type.version.spa.fl_str_mv |
info:eu-repo/semantics/acceptedVersion |
| dc.type.content.spa.fl_str_mv |
Text |
| dc.type.redcol.spa.fl_str_mv |
http://purl.org/redcol/resource_type/TM |
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acceptedVersion |
| dc.identifier.uri.none.fl_str_mv |
https://repositorio.unal.edu.co/handle/unal/82988 |
| dc.identifier.instname.spa.fl_str_mv |
Universidad Nacional de Colombia |
| dc.identifier.reponame.spa.fl_str_mv |
Repositorio Institucional Universidad Nacional de Colombia |
| dc.identifier.repourl.spa.fl_str_mv |
https://repositorio.unal.edu.co/ |
| url |
https://repositorio.unal.edu.co/handle/unal/82988 https://repositorio.unal.edu.co/ |
| identifier_str_mv |
Universidad Nacional de Colombia Repositorio Institucional Universidad Nacional de Colombia |
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spa |
| language |
spa |
| dc.relation.references.spa.fl_str_mv |
Ackermann, Thomas ; Prevost, Thibault ; Vittal, Vijay ; Roscoe, Andrew J. ; Matevosyan, Julia ; Miller, Nicholas: Paving the Way: A Future Without Inertia Is Closer Than You Think. En: IEEE Power and Energy Magazine 15 (2017), 11, p. 61–69. – ISSN 1540–7977 Alzahrani, Ahmad ; Ferdowsi, Mehdi ; Shamsi, Pourya ; Dagli, Cihan H.: Modeling and Simulation of Microgrid. En: Procedia Computer Science Vol. 114, Elsevier, jan 2017. – ISSN 18770509, p. 392–400 Bastidas Rodríguez, J D. ; Ramos Paja, C A. ; Bastidas-Rodr´ıguez, J D. ; Ramos-Paja, C A.: Tipos de inversores y topologías para aplicaciones de microrredes Types of inverters and topologies for microgrid applications. 2017 ( 1). – Informe de Investigación. – 7–14 p. Beg, Nauman ; Armstorfer, Andreas ; Rosin, Argo ; Biechl, Helmuth: Mathematical modeling and stability analysis of a microgrid in island operation. En: 2018 International Conference on Smart Energy Systems and Technologies, SEST 2018 - Proceedings, 2018. – ISBN 9781538653265 Beltrán Pulido , Andrés Felipe: Control por rechazo activo de perturbaciones con capacidad de soportar caídas de voltaje en la red en un sistema de generación de energía eólica, Universidad Nacional de Colombia - Sede Bogotá, Tesis de Grado, nov 2017. – 86 p. Benrabah, Abdeldjabar ; Xu, Dianguo ; Gao, Zhiqiang: Active Disturbance Rejection Control of LCL-Filtered Grid-Connected Inverter Using Pad´e Approximation. En: IEEE Transactions on Industry Applications 54 (2018), nov, Nr. 6, p. 6179–6189. – ISSN 00939994 Cai, Yuxi ; He, Yingjie ; Zhou, Hongwei ; Liu, Jinjun: Active Damping Disturbance Rejection Control Strategy of LCL Grid-Connected Inverter Based on Inverter-Side Current Feedback. En: IEEE Journal of Emerging and Selected Topics in Power Electronics (2020), p. 1–1. – ISSN 2168–6777 Cao, Yongfeng ; Cao, Yongfeng ; Zhao, Qiangsong ; Ye, Yongqiang ; Ye, Yongqiang ; Xiong, Yongkang: ADRC-Based current control for grid-tied inverters: Design, analysis, and verification. En: IEEE Transactions on Industrial Electronics 67 (2020), oct, Nr. 10, p. 8428–8437. – ISSN 15579948 Casolino, Giovanni M. ; Russo, Mario ; Varilone, Pietro ; Pescosolido, Daniele: Hardware-in-the-loop validation of energy management systems for microgrids: A short overview and a case study. En: Energies 11 (2018), Nr. 11. – ISBN 3907762993656 Chandorkar, Mukul C. ; Divan, Deepakraj M. ; Adapa, Rambabu: Control of parallel connected inverters in standalone ac supply systems. En: IEEE Transactions on Industry Applications 29 (1993), Nr. 1, p. 136–143. – ISSN 19399367 Cherati, S. M. ; Azli, N. A. ; Ayob, S. M. ; Mortezaei, A.: Design of a current mode PI controller for a single-phase PWM inverter. En: 2011 IEEE Applied Power Electronics Colloquium (IAPEC), 2011, p. 180–184 Chethan Raj, D. ; Gaonkar, D N.: Frequency and voltage droop control of parallel inverters in microgrid. En: 2016 2nd International Conference on Control, Instrumentation, Energy and Communication, CIEC 2016, IEEE, jan 2016. – ISBN 9781509000357, p. 407–411 de Colombia, Gobierno: Plan Nacional de Desarrollo 2018-2022. Pacto por Colombia. Pacto por la Equidad / Departamento Nacional de Planeación. 2018. – Informe de Investigación Crowhurst, B. ; El-Saadany, E. F. ; El Chaar, L. ; Lamont, L. A.: Singlephase grid-tie inverter control using DQ transform for active and reactive load power compensation. En: PECon2010 - 2010 IEEE International Conference on Power and Energy, IEEE, nov 2010. – ISBN 9781424489466, p. 489–494 Demirkutlu, Eyyup ; C¸ etinkaya, S¨uleyman ; Hava, Ahmet M.: Output voltage control of a four-leg inverter based three-phase UPS by means of stationary frame resonant filter banks. En: Proceedings of IEEE International Electric Machines and Drives Conference, IEMDC 2007 Vol. 1, IEEE, may 2007. – ISBN 1424407435, p. 880–885 Dong, Lu ; Wang, Huan ; Zeng, Guo Q. ; Zhang, Zheng J. ; Wu, Lie ; Xiong, Ru ; Dai, Yu X.: Optimal Droop Control of Distributed Inverters in a Microgrid under Autonomous Mode Based on Differenial Evolution. En: Proceedings 2018 Chinese Automation Congress, CAC 2018, IEEE, nov 2019. – ISBN 9781728113128, p. 3684–3689 Dorado-Rojas, Sergio A. ; Cortes-Romero, John ; Rivera, Sergio ; Mojica-Nava, Eduardo: ADRC for decentralized load frequency control with renewable energy generation. En: 2019 IEEE Milan PowerTech, PowerTech 2019, 2019. – ISBN 9781538647226 Elthokaby, Y. ; Elshafei, A. L. ; Abdel-Rahim, N. ; Abdel-Aliem, Emad S.: Finite-control set model-predictive control for single-phase voltage-source UPS inverters. En: 2016 18th International Middle-East Power Systems Conference, MEPCON 2016 - Proceedings, IEEE, dec 2017. – ISBN 9781467390637, p. 261–265 Feng, Hongyinping ; Guo, Bao Z. Active disturbance rejection control: Old and new results. 2017 Fusheng, Li ; Ruisheng, Li ; Fengquan, Zhou: Microgrid technology and engineering application. 2015. – 1–198 p.. – ISBN 9780128036303 Gheisarnejad, Meysam ; Khooban, Mohammad H.: Secondary load frequency control for multi-microgrids: HiL real-time simulation. En: Soft Computing 23 (2019), Nr. 14, p. 5785–5798. – ISSN 14337479 Golsorkhi, Mohammad S. ; Lu, D. D.: A decentralized power flow control method for islanded microgrids using V-I droop. En: 22nd Iranian Conference on Electrical Engineering, ICEE 2014, 2014. – ISBN 9781479944095, p. 604–609 Golsorkhi, Mohammad S. ; Lu, Dylan Dah C.: A Decentralized Control Method for Islanded Microgrids under Unbalanced Conditions. En: IEEE Transactions on Power Delivery 31 (2016), jun, Nr. 3, p. 1112–1121. – ISSN 08858977 Golsorkhi, Mohammad S. ; Lu, Dylan Dah C. ; Guerrero, Josep M.: A GPS-based decentralized control method for islanded microgrids. En: IEEE Transactions on Power Electronics 32 (2017), feb, Nr. 2, p. 1615–1625. – ISSN 08858993 Guerrero, Josep M. ; Chandorkar, Mukul ; Lee, Tzung L. ; Loh, Poh C. Advanced control architectures for intelligent microgrids part i: Decentralized and hierarchical control. apr 2013 Guerrero, Josep M. ; Miret, Jaume: Inverters in Microgrids Using Resistive Output Impedance. En: Electronic Engineering (2006), p. 5149–5154. – ISBN 1424401364 Guo, Bao-Zhu ; Zhao, Zhi-Liang: Active Disturbance Rejection Control for Nonlinear Systems. John Wiley & Sons Singapore Pte. Ltd, oct 2016. – ISBN 9781119239932 Han, Hua ; Hou, Xiaochao ; Yang, Jian ; Wu, Jifa ; Su, Mei ; Guerrero, Josep M.: Review of power sharing control strategies for islanding operation of AC microgrids. En: IEEE Transactions on Smart Grid 7 (2016), jan, Nr. 1, p. 200–215. – ISSN 19493053 Han, Yikan ; Xiong, Hejin: The anti-disturbance performance study of voltage source inverter with active disturbance rejection control. En: Proceedings of 2019 IEEE 8th Joint International Information Technology and Artificial Intelligence Conference, ITAIC 2019, IEEE, may 2019. – ISBN 9781538681787, p. 1101–1105 Hassan, M. A. ; Abido, M. A.: Optimal design of microgrids in autonomous and grid-connected modes using particle swarm optimization. En: IEEE Transactions on Power Electronics 26 (2011), mar, Nr. 3, p. 755–769. – ISSN 08858993 He, Jinghan ; Wu, Xiaoyu ; Wu, Xiangyu ; Xu, Yin ; Guerrero, Josep M.: SmallSignal Stability Analysis and Optimal Parameters Design of Microgrid Clusters. En: IEEE Access 7 (2019), p. 36896–36909. – ISSN 21693536 Ho, Carl Ngai M. ; Cheung, Victor S. ; Chung, Henry Shu H.: Constant-frequency hysteresis current control of grid-connected VSI without bandwidth control. En: IEEE Transactions on Power Electronics 24 (2009), nov, Nr. 11, p. 2484–2495. – ISSN 08858993 Hossain, Md A. ; Pota, Hemanshu R. ; Issa, Walid ; Hossain, Md J. Overview of AC microgrid controls with inverter-interfaced generations. 2017 Huang, Yi ; Xue, Wenchao: Active disturbance rejection control: Methodology and theoretical analysis. En: ISA Transactions (2014). – ISSN 00190578 Jeon, Jin-Hong ; Kim, Jong-Yul ; Kim, Hak-Man ; Kim, Seul-Ki ; Cho, Changhee ; Kim, Jang-Mok ; Ahn, Jong-Bo ; Nam, Kee-Young: Development of hardware in-theloop simulation system for testing operation and control functions of microgrid. En: IEEE Transactions on Power Electronics 25 (2010), Nr. 12, p. 2919–2929. – ISSN 08858993 Justo, Jackson J. ; Mwasilu, Francis ; Lee, Ju ; Jung, Jin W. AC-microgrids versus DC-microgrids with distributed energy resources: A review. aug 2013 Kawabata, Takao ; Higashino, Shigenori: Parallel Operation of Voltage Source Inverters. 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Microgrid modelling: A comprehensive survey. jan 2018 Sira-Ramírez, H. ; Zurita-Bustamante, E.W.: On the equivalence between ADRC and Flat Filter based controllers: A frequency domain approach. En: Control Engineering Practice 107 (2021), p. 104656. – ISSN 0967–0661 Sira-Ramírez, Hebertt: From flatness, GPI observers, GPI control and flat filters to observer-based ADRC. En: Control Theory and Technology 16 (2018), 11, p. 249–260. – ISSN 2095–6983 Sira Ramírez, Hebertt J. ; Luviano-Juárez , Alberto ; Ramírez-Neria, Mario ; Zurita-Bustamante, Eric W. ; Hebertt Sira-Ramírez (Ed.) ; Alberto Luviano-Juárez (Ed.) ; Mario Ramírez-Neria (Ed.) ; Eric William ZuritaBustamante (Ed.): Active Disturbance Rejection Control of Dynamic Systems. Elsevier Inc. Butterworth-Heinemann, 2017. – 358 p.. – ISBN 9780128498682 Stadler, Michael ; Naslé, Adib: Planning and implementation of bankable microgrids. 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En: The Electricity Journal 25 (2012), Nr. 8, p. 84–94. – ISSN 1040–6190 Trujillo Rodríguez, César L. ; De La Fuente, David V. ; Figueres Amorós , Emilio ; Garcerá Sanfeliú, Gabriel ; Guacaneme Moreno, Javier: Diseño, modelado e implementación de inversor conectado a la red eléctrica a partir de fuentes renovables. En: Revista Tecnura 16 (2012), jun, Nr. 32, p. 12. – ISSN 2248–7638 Unamuno, Eneko ; Barrena, Jon A. Hybrid ac/dc microgrids - Part I: Review and classification of topologies. 2015 Unamuno, Eneko ; Barrena, Jon A. Hybrid ac/dc microgrids - Part II: Review and classification of control strategies. 2015 Wang, Xiaotian ; Zhou, Xinmin ; Wang, Haoran: Optimizing PI controller of the single-phase inverter based on FOA. En: 2017 2nd International Conference on Robotics and Automation Engineering (ICRAE), 2017, p. 151–155 Wu, Guiying ; Sun, Li ; Lee, Kwang Y.: Disturbance rejection control of a fuel cell power plant in a grid-connected system. En: Control Engineering Practice 60 (2017), mar, p. 183–192. – ISSN 09670661 Wu, Pan ; Huang, Wentao ; Tai, Nengling ; Liang, Shuo: A novel design of architecture and control for multiple microgrids with hybrid AC/DC connection. En: Applied Energy 210 (2018), p. 1002–1016. – ISSN 03062619 Xu, Qianwen ; Xiao, Jianfang ; Wang, Peng ; Wen, Changyun: A Decentralized Control Strategy for Economic Operation of Autonomous AC, DC, and Hybrid AC/DC Microgrids. En: IEEE Transactions on Energy Conversion 32 (2017), dec, Nr. 4, p. 1345–1355. – ISSN 08858969 Yang, Nanfang ; Gao, Fei ; Paire, Damien ; Miraoui, Abdellatif ; Liu, Weiguo: Distributed control of multi-time scale DC microgrid based on ADRC. En: IET Power Electronics 10 (2017), Nr. 3, p. 329–337. – ISSN 17554543 Yi, Wang ; Hanhong, Jiang ; Pengxiang, Xing: The Research on Second-Order ADRC Algorithm of Using Wind Turbine Virtual Inertia to Participate in Primary Frequency Regulation in a Small Stand-Alone Microgrid. En: Mathematical Problems in Engineering 2018 (2018), mar, p. 1–13. – ISSN 15635147 Yu, Yunjun ; Hu, Xiangyu: Active Disturbance Rejection Control Strategy for GridConnected Photovoltaic Inverter Based on Virtual Synchronous Generator. En: IEEE Access 7 (2019), p. 17328–17336. – ISSN 21693536 Zhang, Guoyue ; Yin, Ke ; Wu, Yue ; Qi, Donglian: Control strategy for photovoltaic grid-connected inverter with LCL filter. En: 26th Chinese Control and Decision Conference, CCDC 2014, IEEE, may 2014. – ISBN 9781479937066, p. 4770–4774 Zhang, Heng ; Xiong, Hejin ; He, Chaozhi: Research on Active Disturbance Rejection Based on New Single-Stage Buck-Boost Inverter. En: 2020 IEEE Student Conference on Electric Machines and Systems, SCEMS 2020, IEEE, dec 2020. – ISBN 9781728156224, p. 751–755 Zhang, Miao ; Wu, Jie ; Hou, Congling: The control system of renewable energy connected grid based on the ADRC technology. En: Proceedings of the World Congress on Intelligent Control and Automation (WCICA) Vol. 1, IEEE, 2004. – ISBN 0–7803– 8273–0, p. 64–67 Zurita Bustamante, E. W. ; Sira-Ram´ırez, H. ; Linares-Flores, J.: An equivalence between the ADRC and the Flat filtering controllers: A case study in double buck converter. En: 2018 14th International Conference on Power Electronics (CIEP), 2018, p. 188–193 |
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Atribución-NoComercial-SinDerivadas 4.0 InternacionalDerechos reservados al autor, 2022http://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Cortés Romero, John Alexanderd4c4ad5497c404645297a4b48010bf01Mojica Nava, Eduardo Alirioe4a1a8ad2ab3b2c45a8785177a841de1Vargas Medina, Daniel2887d7e4821ad0571e098f4f6160a1e12023-01-17T19:33:12Z2023-01-17T19:33:12Z2022https://repositorio.unal.edu.co/handle/unal/82988Universidad Nacional de ColombiaRepositorio Institucional Universidad Nacional de Colombiahttps://repositorio.unal.edu.co/ilustraciones, diagramas, gráficas, planos, tablasLas microrredes durante los últimos años han sido un tema de investigación muy trabajado debido a todas las ventajas que suponen a nivel ambiental, de eficiencia energética y de confiabilidad. Sin embargo, para aprovechar estas ventajas es necesario que su planeación, diseño e implementación sean las adecuadas. Dentro del diseño de las microrredes, el diseño del sistema de control para las interfaces de electrónica de potencia ha sido un campo de investigación con muchos aportes debido a su importancia en el funcionamiento y comportamiento de la microrred. En este trabajo se propone un nuevo paradigma descentralizado para la operación de microrredes basado en el enfoque de control por rechazo activo de perturbaciones o ADRC (por sus siglas en inglés), para cumplir con los objetivos de control de los niveles cero, primario y secundario de forma robusta en una microrred compuesta por tres generadores. La validación y evaluación del control propuesto se lleva a cabo por medio de simulaciones. Se analizan las diferencias en diseño y desempeño entre el esquema de control propuesto y las estrategias comunes para dichos niveles: control PI (proporcional-integral) en el nivel cero, droop en el nivel primario y control PI centralizado en el nivel secundario. Adicionalmente, se presenta la equivalencia teórica entre el ADRC y el GPI robusto, mostrando sus diferencias a nivel de implementación y desempeño en simulación. (Texto tomado de la fuente)Microgrids in recent years have been a subject of much-worked research due to all the advantages they represent at the environmental level, energy efficiency and reliability. However, to obtain these benefits, it is necessary that their planning, design and implementation are adequate. Within the design of microgrids, the design of the control system for power electronics interfaces has been a field of research with many contributions due to its importance in the operation and behavior of the microgrid. In this paper, a new decentralized paradigm for microgrids operation based on the ADRC approach is proposed, to meet the control objectives of the zero, primary and secondary levels robustly in a microgrid composed of three generators. The validation and evaluation of the proposed control is carried out through simulations. The differences in design and performance between the proposed control scheme and the common strategies used for those levels are analyzed (PI controller in the zero level, droop in the primary level and PI centralized controller in the secondary level). Additionally, we present the theoretical equivalency between the ADRC and the robust GPI, showing the implementation and performance differences in simulation.MaestríaMagíster en Ingeniería - Automatización IndustrialTeoría de controlxii, 82 páginasapplication/pdfspaUniversidad Nacional de ColombiaBogotá - Ingeniería - Maestría en Ingeniería - Automatización IndustrialFacultad de IngenieríaBogotá, ColombiaUniversidad Nacional de Colombia - Sede Bogotá620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingenieríaAnálisis de redes eléctricasDistribución de energía eléctricaTransmisión de potenciaElectric network analysisElectric power distributionPower transmissionParadigmaControlDescentralizadoMicrorredesADRCParadigmDecentralizedMicrogridsNuevo paradigma descentralizado para la operación de microrredes basado en control por rechazo activo de perturbacionesNew decentralized paradigm for microgrids operation based on active disturbance rejection controlTrabajo de grado - Maestríainfo:eu-repo/semantics/masterThesisinfo:eu-repo/semantics/acceptedVersionTexthttp://purl.org/redcol/resource_type/TMAckermann, Thomas ; Prevost, Thibault ; Vittal, Vijay ; Roscoe, Andrew J. ; Matevosyan, Julia ; Miller, Nicholas: Paving the Way: A Future Without Inertia Is Closer Than You Think. 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En: 2018 14th International Conference on Power Electronics (CIEP), 2018, p. 188–193EstudiantesInvestigadoresMaestrosProveedores de ayuda financiera para estudiantesLICENSElicense.txtlicense.txttext/plain; charset=utf-85879https://repositorio.unal.edu.co/bitstream/unal/82988/1/license.txteb34b1cf90b7e1103fc9dfd26be24b4aMD51ORIGINAL1073240691.2022.pdf1073240691.2022.pdfTesis de Maestría en Ingeniería - Automatización Industrialapplication/pdf5348242https://repositorio.unal.edu.co/bitstream/unal/82988/2/1073240691.2022.pdfa79386c15d12b4c8fc8002b50bcf39eeMD52THUMBNAIL1073240691.2022.pdf.jpg1073240691.2022.pdf.jpgGenerated Thumbnailimage/jpeg4719https://repositorio.unal.edu.co/bitstream/unal/82988/3/1073240691.2022.pdf.jpg1e51d64d8c6efe16944bc5439e5b7287MD53unal/82988oai:repositorio.unal.edu.co:unal/829882023-08-13 23:04:45.532Repositorio Institucional Universidad Nacional de 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