Part II - IPA SA

RRA, Vol. XX, Nr. 3 - 4 pag. 29-36, 2007 Tiprit în România 

VIREC, A VIRTUAL ROBOT CENTER FOR E-LEARNING 

eng. Alexandru CRACIUN 

IPA, Craiova subsidiary, Romania, e_mail: office@ipacv.ro 

eng. Cornelia POPA 


eng. Daniela MIHAI 


eng. Mircea BADEA 


Abstract: In the technological field, virtual reality technology has been widely proposed and recognized 

as a major technological advance for supporting life-long education to individuals along with a flexible 

workforce. One of the unique capabilities of the VR technology is the successful translation of abstract concepts 

into visualized events and the interaction of students with them, that in real life could be limited due to distance, 

time, and safety factors. This paper presents a virtual laboratory ViReC accessible through the Internet. The 

architecture uses open standards, such as World Wide Web and its related technologies: HTTP, HTML, Java, 

Macromedia Flash, PHP, MySQL and so on. 

Keywords: Virtual robotics, Virtual laboratory, E-learning, Internet solutions. 

l. INTRODUCTION 

The wide expansion of the World Wide Web 

and the Internet has formed all the necessary 

preconditions for adopting this powerful 

means for purposes such as delivery of E- 

learning content, collaboration and distance 

learning, both in the industrial and the 

educaional field. 

E-learning can also be very useful in the case of 

a potenial public for learning that could be 

described as "itinerant or that is widely 

scattered over a vast area" (Hamburg ei al, 

2003a). E-learning may be a way of 

overcoming geographical isolation and physical 

distances from resources or learning 

canters. In these situations, the use of the 

Internet and network-king takes on its full 

meaning. Robotics is well suited as a problem 

domain because it intrinsically requires 

multidisciplinary knowledge. Robotics 

encompasses subjects such as mechanical 

engineering, electronics, control, 

communication, vision, real-time parallel 

computing and systems design. By choosing 

a problem domain with a high multi-disciplinary 

requirement, we reduce the chance that any 

one person on the team will "cheat" and do all 

the work.As the literature supporting the positive 

educaional effects of robotics accumulates, it 

becomes increa-singly clear that: 

• Robotics is very absorbing and enjoyable 

for many children and adults 

• Robotics events and competitions 

motivate the study of technical subjects 

• Robotics provides hands on examples 

for teaching science, technology, 

engineering 

• Robotics creates excellent possibilities 

for learning team working, especially 

through competitions. 

Cumulative experience suggests that robotics 

is an excellent domain for introducing 

students to a range of technological and 

scientific disciplines. Robotics provides 

leverage on two key pedagogic aims of E- 

learning: problem-based learning and engaging 

students in discourse (i.e. creating a 

community of learning). So, robotics

30 REVISTA ROMÂN DE AUTOMATIC 

possesses a number of specifics advantages 

that make it particularly well suited to 

unsupervised project work at a distance. 

Distance learners often have little opportunity 

for face-to-face contact, although some 

courses offer up to two hour-long monthly 

tutorials or one-off day schools. However, 

attendance at such tutorials is not compulsory 

and there are many reasons why distance 

education students may be unable to attend 

meetings. 

2. MOTIVATIONS AND DESIGN 

The main motivation factors that inspired the 

design and the implementation of the ViReC 

and the goal that should be achieved by this 

work is threefold: 

• To provide an E-learning environment 

for students as well as to overcome 

communication difficulties among them 

• To overcome limitations of current E- 

learning applications 

• To avoid limitations met in most 

Virtual Robot applications so far. 

• At a first level we plan to support the 

community of Virtual Laboratory users 

as follows: 

• To overcome the problem of interaction 

and communication among them 

• To support the students to construct 

their knowledge in a "learning by 

doing" situation 

• To provide remote support to students 

by mentors. 

The ViRec source of inspiration was a real 

robotized application for didactical purpose 

(Niulescu et al, 2002), developed into the 

Robotics laboratory of the University of 

Craiova, Faculty of Automation, Computere 

and Electronics (Figure 1). The principally 

components of the overall structure are an 

ABB IRB 1400 robot (1) and a multifunction 

didactical plat-form (2), containing five 

stations. 

Fig. 1 The real platform for robotized application 

3. ARCHITECTURE AND 

IMPLEMENTATION 

This section is dedicated to describing the 

structure of the system that supports the 

ViReC. The term structure is used for 

referring to the logical view of the static 

structure of the architecture in terms of its 

components, their interconnections and the 

inter-faces and operations offered by these 

components. 

The step that follows the definition of the 

main design principles of the Virtual Robot is 

the assess-ment of the technologies that will 

facilitate the implementation of the system. 

The system should be an easily accessible 

web-based system, used by a worldwide 

community, taking into account band-width, 

and client-side system constraints. Therefore 

one of the major targets apart from 

implementing the Virtual Robot with the 

appropriate functionality is to satisfy the 

following prerequisites. First, there is a need 

to minimize the client-side system 

requirements and the cost of client-side 

system set-up. This means that the end-user 

should be able to access the laboratory using 

a typical personal computer without 

excessive requirements either in hardware or 

in software. Second, the system should have 

the ability to support a maximum number of 

simultaneous users. This requirement should 

in particular be considered in the multi-user 

applications. Finally, using technologies,

REVISTA ROMÂN DE AUTOMATIC 

31 

which do not require excessive hardware 

requirements, should also minimize the cost 

of the server side set-up. As far as it concerns 

the web server, it is used for storing the 

client-side files of the Virtual Robot, voice 

chat and text chat. Furthermore, the web 

server stores and executes the PHP scripts to 

obtain the users' data from a database. The 

web server that satisfies these prerequisites is 

the Apache web server, which is free of 

charge, runs on almost all operating systems, 

supports PHP scripts, can host Director and 

Flash movies and can interoperate with 

MySQL, Macromedia Flash Communication 

Server MX and Java. The internal structure of 

the Virtual Robot Center is presented in 

Figure 2. 

As Figure 3 shows, the basic graphical user 

interface GUI of ViReC contain 5 topics 

(links): Docs, Tutorial, Exercises, Online 

Support and Plugins. It can be downloaded 

from our site http://www.ipacv.ro 

/proiecte/robotstudio/index. 

Fig. 4. The GUI interface for the topics ”Docs” 

Fig.2. The structure of the Virtual Robot Center 

Fig. 3. The initial starting GUI interface of ViReC 

The "Docs" topics presents basics 

information for the user. Before using the 

compiler, it is necessary for any user to 

enrich his knowledge by reading about the 

robot controller, the robot programming 

language and communication protocols, how 

to make a module or a routine, how to 

combine them into a program, how to read 

and analyze the programming instruct-tions 

and the complete examples presented in this 

section. The information is enough in order to 

offer support for a user with medium skills in 

this domain. Because the use and the 

programming is limited by the real robot 

operaional space, the user has to know more 

information about: the coordinates of robot 

movement, the position of the table with 

pneumatic devices which are placed facing 

the robot, the pieces type and their position 

on the table, the buffers where the raw pieces 

are gathered and the way the pneumatic 

extractors act. This section also presents the 

most useful instructions of programming (for 

moving, for activating and deactivating 

sensors, for logical, arith-metic, assigning, 

conditioning, looping, selection etc), together 

with examples of programs. AII these 

information (Figure 4) are gruped in the 

folowing 10 chapters: Basic Characteristics 

(including the sections: Modules, Routines,


Data Types, Data, Instructions, Expressions, 

Error Recovery, Interrupts, Back-ward 

Execution and Multitasking), Sample 

Applications (including sections: Assembling 

pieces, Para-lelipipedical pieces palletizing, 

Cylindrical pieces palletizing and Welding 

operation), Robot Motion, Servo System, 

Robot Structure, Manipulator, Teach 

Pendant, Controller, Communication 

Protocols and Application Environment. 

For example, the chapter "Sample 

Applications" presents simulated and interactive 

applications with basic operations: palletizing of 

two types of pieces (a parallelepipedical piece 

and a cylindrical piece), the assembling of these 

two types of pieces and the welding-line and 

welding-point operations in an attractive and 

explicit form for the reader. The user can 

analyze the instructions in the program during its 

execution and the way of activating and 

deactivating the sensors used in the run process. 

So, the user can stop the execution and even 

run step by step the execution in order to 

understand how the program is created. In these 

tutorials we can also find interactive applications 

with the user where he can choose the type of 

the piece that needs to be transformed and the 

place on the pallet where the piece is going to 

be placed. He can also analyze the instructions 

in the program and the activating and 

deactivating the sensors during its execution 

(Comsa et al, 2003). 

Fig. 5 The GUI interface for the topics “Tutorial” 

The "Tutorial" topics (Figure 5) presents 5 

chapters: Robot Tutorials, Assignment Labs, 

Simulate & Interactive application, Robot 

Movies and Help. Each of these chapters 

contains other sections. For example, the chapter 

Robot Tutorials presents dyna-mic on-line 

tutorials for robot axes in 3D graphic, a tutorial 

dealing with the buttons of the Teach Pendant for 

programming the robot in an attractive and 

explicit form, and an interactive presentation 

with the Teach Pendant joystick for the user. To 

offer useful information, this topics presents so a 

film with the execution in the real lab (Figure 1) 

and with information about the application 

components. We can also learn about how to 

integrate a module into a program, about the set 

of useful instructions in an explicit presentation 

with sound, images and examples of execution 

of linear and circular movement instructions in a 

3D form and so, the assignment of values in a 

variable. The lab assignments are presen-ted 

explicitly with sound and images for the user to 

understand the theme. The lab assignments are: 

• Movement operation (by moving the tool of 

robot from Home position to a specified point) 

• Output signals (set and reset output signals 

using RAPID instructions) 

• Simple palletizing operation (by grabbing a 

piece and move it to a specified position) 

• Palletizing operation (by grabbing the pieces 

and move its on specified positions) 

• The assembling operations (by assembling 

these two types of pieces we will obtain a new 

product. Flowing from the parallelepipedical 

pieces is supplied by the first two workstations 

and flowing of the cylindrical pieces from the 

last two workstations. All the pieces must be 

placed in specific positions, knowns by the 

robot. This two types of pieces are taken one by 

one by the robot and placed into the assembling 

place. Because of position's errors, it's 

necessary for the robot to do two supplementary 

movements to arrange all the pieces on the 

assembling place. After that, the robot puts the 

new product in a matricial storehouse with four 

locations. 

• The palletizing operation of 

parallelepipedical pieces (all the pieces must 

be placed successively in a matricial 

storehouse with four locations).


33 

• Palletizing cylindrical pieces (flowing of the 

cylindrical pieces is supplied by the 

workstation number three and workstation 

number four. All the pieces must be placed in a 

matricial storehouse with eight locations. 

• The welding operation (to do this operation 

we use storehouses (or Station) 1 and 2, which 

are supplied with parallelepipedical pieces. The 

robot take these pieces one by one and puts them 

together in the assembling place. After that, with 

a welding device that is taken from the special 

support created for the welding device, the robot 

simulates welding-line and welding-point 

operations. When the operation is finished, the 

robot puts in the support the welding device and 

the piece in the matricial storehouse with four 

locations (in order 1, 2, 3, 4). 

There are also presented programming 

examples for the applications of palletizing, 

assembling and welding. They differ from the 

lab assignments by the positioning of the 

pieces in another order. 

Activating the section Robot Movies, the user 

can see a set of 4 movies with the real robot 

applications (Cylindrical Palletizing, 

Paralelipipedical Palletizing, Welding, 

Assembling). 

In the chapter "Help", the section Robot's 

Workplace is intended to provide a simulation 

tool in which the user can preview his written 

programs. After successfully loading the 

operating environment and the program to 

execute, just pushing the RUN button (Figure 6) 

will start the program simulation, current 

instruction being shown on screen. For greater 

customization, the user can define it's own 

environment space, containing various objects 

defined inside the editor. Those objects can 

have different proper-ties, like a piston that 

makes a push operation or a parallelepiped 

piece with/without holes. 

Fig. 6 The GUI interface for the topics ”Simulation” 

The third topics presented in the ViReC GUI is 

"Exercises". The user opens this window in 

the same time with the compiler and can edit 

a program. Once the program edited, the user 

opens the option "Run" of the compiler (Figure 

7) to see if the program has or has not errors. 

Fig. 7 The GUI interface for the compiler 

If errors are observed in the program, the 

compiler shows in a bottom window the number 

of the line in the program where the error is and 

helping explana-tions to make it right. The 

running of the program can be made slowly or 

step by step. The user can stop the execution and 

can pass to the next line, before the iniial line, or 

can continue the execution from the iniial line, 

if wanted. During the running of the program 

the user can visualize the stocked values in 

registers. It can be monitoring the activating and 

deactivating of some inputs and outputs pressing 

the number of the output that needs to be 

visualized. After the program being checked


for errors, the execution can be seen by pressing the 

soft button "View Result". After pushing this 

button, a window in which the execution is 

visualized in 2D graphics is opened. The 

execution can be visualize from any angle by 

a simple rotating of the mouse. 

The last two topics presented in the GUI 

interface, "Online Support" and "Plugins", are 

introduced to offer auxiliary E-facilities for a 

user: chat, links to on-line appropriate 

courses or software. 

4. TECHNICAL DESCRIPTION OF 

ViReC 

Concerning the software support using to 

create the site ViReC, we can note in brief: 

• DataBase. MySQL is an open source 

relaional database management system 

(RDBMS) that uses Structured Query 

Language (SQL), the most popular language 

for adding, accessing, and processing data in 

a database. 

• Compiler. The compiler is developed 

using Java technology. An applet is a small 

Internet-based program written in Java, a 

programming language for the Web, which 

can be downloaded by any computer. The 

applet is also able to run in HTML. The 

applet is usually embedded in an HTML page 

on a Web site and can be executed from 

within a browser. Each user can save his 

work in database with public and private 

access. Software offer possibility to load 

components in environment to develop more 

applications. 

5. SOME TECHNICAL DETAILS 

The code behind simulation is made as 

follows: 

• iniial ization code 

• run-time code 

• clean-up code 

In the initialization phase, there are two 

different operations. First, the corresponding 

operating environment is read from the robot 

database. This is done through a service 

based on Apache Web server and PHP 

scripting language with MySQl Support. 

Below is shown how the operating 

environment is read using a sample script 

(getenv.php): 

//Make the database connection using Sdatabaseserver, 

Sdatabaseuser and Sdatabasepass variables 

Sconn = 

@mysql_connect($databaseserver,$databaseuser,$database 

pass); 

// Select the database 

Sdatabase = mysql_select_db($database,$conn); 

// The query text (Select all from the products table in our 

database) 

Sselect = "SELECT * FROM environment where 

user='$ POST[user]' and env='$ POSTfenv]'"; 

// Make the query 

Sresult = mysql_query($select); 

// Count the rows (total result) 

$rows = mysql_num_rows($result); 

// For each result 

while($list = mysql_fetch_array($result)){ 

// Set some variables, using the info get from the database 

// Slist is the array that contains the Db values 

// For example $list["id"] is the value of an 'id' field in the Db 

$id = $list["id"]; 

Sobject = $list["object"]; 

$x = $list["x"]; 

$y = $list["y"]; 

$z=$list["z"]; 

//Prin in the browser window a string, in a format that Flash can read 

print("Total=$rows&Object$id=$object|$x|$y|$z&"); 

} mysql_free_result($result);


35 

In this way the objects from the environment 

are passed to the simulator, using the 

requested environment "$env" defined by 

user "$user". Then, the simulator decodes 

object data and interprets it for use. This is 

done in the root.onLoad function, which is 

called when the simulator loads. 

env = new LoadVars(); env.load("http://localhost/proiecte/robotstudio/getenv.php") 

env.onLoad = function (success) 

{ for (this.a = 1; this.a


6. CONCLUSIONS 

Virtual laboratories represent now an 

important and modern educaional tools 

and solutions that bring together 

geographically distant research groups, 

allowing them to share data, 

documents, video and audio 

presentations, while integrating their 

computaional and laboratory 

resources. Among the many benefits of 

virtual laboratories, the foilowing are 

particularly very important: 

• Resource sharing becomes a reality, 

improving the utilization of costly 

equipment 

• Easier access to educaional and 

research material is provided to 

students and professional training 

courses 

• Scientific investigation standard 

can be esta-blished in areas where 

practicai experimentation is a required 

part of research 

• Reduction in travel time leads to 

productivity enhancement. 

The recent created virtual laboratories, 

as ViReC, are implemented as a new 

generation communication service, not 

as a simply Worldwide Web 

application. So, they employ a 

sophisticated access framework, a 

communication infrastructure able to 

support multimedia flows and a 

component-based 

software 

construction. As the Internet is turning 

into a truly multi-service network with 

a steady increase in bandwidth and 

decrease in response time, the 

environment becomes more suitable for 

implement-tations such as Virtual 

Laboratories. 

Furthermore, it offers various 

communication channels such as 

gestures, voice, and text chat, that help 

learners to interact and cooperate with 

each other. 

REFERENCES 

Coma C, M. Niulescu, R. Mitric and G. Vlâdu 

(2003). E-Laboratory solution for training in virtual 

robotics, Annals of the University of Craiova - 

Electrical and control engineering series, 27/1, pp. 

276-283. 

Hamburg I. (2003). Verteilt und doch gemeinsam 

lernen. In: Wissenschaftszentrum Nordrhein- 

Westfalen: Das Magazin, 14, H. 1, S. 34. 

Hamburg I., O. Cernian and T. Herbert (2003a). 

Blended learning and distributed learning environments. 

In: Proceedings of 5th International 

Conference on New Educaional Environments, pp. 

197-202, Lucerne, Switzerland. 

Hamburg I., O. Cernian and T. Herbert (2003b). 

Lernen und Kooperieren in verteilten Umgebungen: 

die Chance fur die betriebliche Weiterbildung! 

In: IT-basierte Lernformen fur die betriebliche 

Weiterbildung. Gelsenkirchen: Inst. Arbeit 

und Technik, S. 45-55. 

Niulescu M., A. Câpitnescu and C. Coma (2002). 

Integrarea robotului ABB IRB 1400 într-o celul 

flexibil de fabricaie cu scop didactic. In: Proc. of 

Conferina Naional de Robotic, pp. 155-160. 

http://news.bbc.co.Uk/l/hi/sci/tech/ll 

11654.stm.BBC News Article - Virtual Lab brings 

science to life. 

http://physicsweb.org/resources/Education/Interactiv 

e experiments/ physicsweb.org. Virtual Interak-tive 

Experiments. 

www.sci.brooklyn.cuny.edu/-marciano.Virtual 

Multi-Media Internet Laboratories. 

Waller J.C. and N. Foster (2000). Training via the 

web: a virtual instrument. In: Computers and 

Education, 35, pp. 161-167. 

AR934-7.doc


Predictive Diagnostic and Supervision 

System for Hydroelectric Units 

Doru OPRISESCU 

SC IPA SA, Calea Floreasca 169, Bucuresti, Romania 

Apolodor GHEORGHIU 


Georgeta GHEORGHIU 


e-mail: ggheorghiu@ipa.ro 

Abstract: The early detection of an abnormal running tendency translates into substantial cost savings 

and additional production revenues. 

Keywords: Diagnose Platform Hydroelectric Units 

INTRODUCTION 

IPA SA has, since its founding in 1960, 

became a leader in process automation in all 

industrial branches, both in Romania and in 

the neighbourhoods countries or in the far 

eastern countries. 

This presentation refers to the monitoring 

and diagnosis system elaborated by IPA S.A. 

for the Movileni Hydroelectric Power Plant, 

containing two 6,5 kV and two 10,5 kV 

Kaplan hydroelectric units. 

Today, numerous pressures on the 

hydroelectric industry demand innovative 

new approaches to diagnosis and 

supervisions procedures, for early discovery 

of the abnormal running of the hydroelectric 

units. 

The solution is to form a separate team, 

whose activity shall concentrate upon the 

continuously monitoring of the hydroelectric 

power plant units, bringing together people, 

which are working for many years in the area 

of hydroelectric units maintenance and 

repairing. 

Consequently, the responsibility for this new 

activity have been allocated to a new operator: 

the operator of the monitoring and diagnosis 

system. This operator is advised in advance, 

by the diagnose system, of critical conditions, 

allowing effective decisions to be made to 

avoid or minimize the effects of an 

emergency. 

The PC Operator Stations related to this 

activity, were located in another room, near 

the plant Central Control Room. 

This separation between the two central rooms 

is very useful because the activity of the two 

kinds of operators is very different. The 

monitoring and diagnosis activity consists in 

the examination of the evolution in time of 

many parameters, apart from the plant control, 

which is carried on in real time. 

The early detection of an abnormal running 

tendency translates into substantial cost 

savings and additional production revenues. 

The diagnosis system implemented to 

Movileni hydroelectric plant uses all the 

process information able to concur to a 

complex analysis, as well as the more recent


dedicated systems developed by 

acknowledged companies for the special 

monitoring domains such as vibrations and 

partial discharges. 

Consequently to this concept, the resulted 

system configuration, presented below, 

contains three PC based diagnosis stations, 

one for each diagnose domain: 

• DS1 for vibrations; 

• DS2 for partial discharges; 

• DS3 for other data. 

DS1 

DS2 

DS3 

U1 RS-485 / USB U2 RS-485 / RS-232 

RS-485 

RS-485 

RS-485 

Ethernet TCP/IP 

RS-485 

ABB 

Firewall 

Plant Server 

GROUP 1 & 2 GROUP 3 & 4 

ZOOM 

ZOOM 

GROUP 3 GROUP 4 

HydroTrac 

HydroTrac 

Sensors 

Sensors 

Capacitive 

couplers 

Capacitive 

couplers 

POWER PLANT 

CONTROL ROOM 

VIBRATIONS MONITORING 

All the components used for the vibrations 

monitoring as well as the components for the 

air gap monitoring was procured from 

VibroSyst M, a Canadian company. 

VibroSyst M Inc. [1] has, since its founding 

in 1986, become a leading manufacturer of 

monitoring and diagnostics systems that 

support condition-based maintenance of 

hydro generating units. 

The VibroSyst M diagnose software system, 

named “ZOOM” (Zero Outage On-line 

Monitoring) was adopted for monitoring and 

diagnostics acquisition of hydro generating 

units. The ZOOM System is easy to use, 

simplifies measurement procedures, 

facilitates behavior analysis and warns the 

user of alarm conditions. 

The ZOOM System database assures 

improved operations and maintenance of 

hydro generators, increasing its service 

availability and producing significant 

savings. The system represents an powerful 

analytical and diagnostic tool which: 

- Detect and diagnose anomalies to 

prevent forced outages; 

- Synchronized measurements for result 

correlation; 

- Simplified analysis process and 

improved diagnostic accuracy; 

- Stores all alarm for later event analysis 

and diagnosis. 

The VibroSist M system contains a lot of 

proximity probes mounted on the machines. 

These probes are connected, with special 

extension cables, to the programmable and 

monitoring units logged by IPA in two 

cabinets near the hydro generator units: one 

cabinet for group 1 and group 2 and another 

cabinet for group 3 and group 4. These two 

cabinets are connected via RS-485 network to 

the DS1 diagnosis station which is loaded 

with the ZOOM software. 

The monitoring refers to the shaft relative 

vibration, the bearing absolute vibration and 

the generator air gap correlated with a 

synchro probe.


39 

PARTIAL DISCHARGE MONITORING 

All the components used for the Partial 

Discharge (PD) monitoring, including 

capacitive couplers, HydroTrac units and 

special software, was procured from IRIS 

Power, a Canadian company. The Partial 

Discharge system was used for two of the 

four hydro generators, the generators with a 

voltage of 10,5 kV. 

In 1994, IRIS [2] installed the world’s first 

commercial continuous on-line partial discharge 

measuring system for large generators. 

The IRIS HydroTrac system was released in 

2000. The Partial Discharge testing has 

become the most pervasive tool for assessing 

the condition of the stator winding insulation 

during normal operation of a hydro generator. 

Typical winding aging condition, which can be 

detected by partial discharge testing, include: 

- loose wedges; 

- insulation delaminating; 

- separation of copper-insulation bond; 

- deterioration of semi-conducting 

coating; 

- damaged semi-conducting/grading 

coating overlap area; 

- cracks on winding insulation; 

- problems related to thermal, 

mechanical, and/or electrical aging of 

the insulation. 

The results of PD testing are generally 

summarized by two key indicators or 

summary numbers: NQN and Qm. These two 

factors are derived from the standard pulse 

height analysis plots obtained from a PD test. 

- NQN is the area under the pulse 

height analysis curve, and represent the total 

PD activity and indicate the increasing 

insulation aging. 

- Qm is the magnitude, in mV, of the 

largest PD pulses detected and is indicative of 

the worst deterioration within the machine. 

For each of the two 10,5kV hydro generator 

was allocated a HydroTrac unit. The two 

units were connected, via an RS-485 network, 

to the central DS2 diagnosis station. 

OTHER DATA MONITORING 

The other data, which were necessary to be 

monitored, are obtained from the SCADA 

system, elaborated by ABB Germany, via an 

OPC server – OPC client connection in which 

ABB is the server and IPA is the client. 

As OPC client, IPA has used the RSView32 

base software from the Rockwell Automation 

Company. The process parameters, which are 

taken over in this way, for analysis, are the 

following: 

• Hydro generator stator winding, iron 

core and bearing temperature; 

• Cooling water, cooling air and oil 

temperature; 

• Guide vane opening; 

• Grate clogging level; 

• Water upstream and downstream 

level; 

• Circuit breakers and protections 

state; 

• Voltage and current in the 0,4 kV 

circuits; 

• Oil and cooling water pumps 

running hours. 

These information are used to give, for 

example, a statistical image about the 

frequency of circuit breakers disconnecting or 

about how many times a winding temperature 

has exceed a certain value and at what time. 

All these data are archived, to be used for a 

long time diagnosis trend display, or to be 

edited in a printed report. 

REFERENCES 

[1] VibroSyst M “On line monitoring of 

hydro generating units for optimized 

operations and maintenance”. 

[2] B.A. Lloyd and G.C. Stone – Iris Power 

Engineering – “Experience with continuous 

on-line stator winding partial discharge 

monitoring of hydro generators”. 

AR934-8.doc

RRA, Vol. XX, Nr. 3 – 4 pag. 40-44, 2007 Tiprit în România 

Quality of the electric energy; measurement and analyse methods and system 

eng. Ciprian PREDESCU 


eng. Daniela MIHAI 


eng. Cornelia POPA 


eng. Irina CONSTANTINESCU 


eng. Alexandru CRCIUN 


Abstract: The paper presents the equipment used to measure some parameters that characterize the 

electric energy quality. 

The proposed equipment performs test and acquisition of analogue data (U and I) and numerical data. 

The sampled data are recorded when preset thresholds are exceeded by the analogical inputs or when 

the digital inputs states change. The fixed variant is supplementary provided with 2 analogue outputs 

and 8 numerical outputs. The operation of equipment is simulated and the corresponding software are 

exemplified for the case of a highly distorting consumer, a set of electric energy quality parameters 

being determined for this case. 

Keywords: Energy system management, Measurements, Transducers. 

1. INTRODUCTION 

The recent implementations based on power 

electronics provide a lot of advantages 

related to the designing of some high power 

electrical drives with variable speed, such as 

the increase of driving system 

performances. Unfortunately this kind of 

equipment added new quality problems to 

the existing ones. The new problems are 

related to the electric nature waveforms 

distortions, with direct impact over the 

consumers supplying. 

The energetic effects that affect the electric 

energy quality must be precisely evaluated 

in order to their consecutive limitation. The 

quality parameters measurement is related to 

the existing voltage level, to the data 

acquisition time speed, to the employed 

numeric algorithms. Test and isolated 

implementations were recently performed in 

our country and abroad, but none became a 

market leader. 

2. GENERAL DESCRIPTION EQUIPMENT 

In order to determine some of the electric 

energy quality parameters and also to achieve 

a complex equipment that should be able to 

determine some other quantities and 

unpleasant phenomena, a modular portable 

system was conceived. The main functions 

provided by it are: 

- determination of electric energy quality 

parameters that should consequently result in 

measures for improving of qualitative and 

quantitative efficiency of energetic 

consumptions; 

- events recording, in order to detect the 

faults causes and the repeated connections 

and disconnections over electric lines.


41 

The equipment modular designing makes 

possible the realization of a family of fixed 

and portable systems for tests and data 

acquisitions. Due to its modular conceiving, 

the system provides: 

- acquisition of 9/16 analogue inputs and 

6/32 numerical inputs by means of circuits 

that perform the conditioning of analogue 

signals compatible to the electric quantities 

supplied by the electro-energetic systems; 

- portable variant will be supplementary 

equipped with 2 analogue outputs and 8 

numeric outputs for simulations, tunings and 

tests; 

- non-volatile recording of finite number of 

records; 

- connection through a serial line of a PC 

compatible computing system for data 

loading corresponding to the recordings that 

present interest. 

3. EQUIPMENT FUNCTIONS 

The equipment family provides the 

following functions: 

- test and acquisition of analogue data 

(voltages, currents and powers) and 

respectively of numeric data (switching 

apparatus state) for nodes of the electroenergetic 

system where the distorting 

regimes occur; 

- numeric processing of data, in order to 

determine the energetic parameters, the 

performance indices concerning the electric 

energy quality; 

- recording, evaluation, administering and 

displaying along periods of the 

consumptions and events concerning the 

deviations from the quality of the used 

electric energy; 

- permanent monitoring of the energetic 

parameters; 

- faults detection and localization; 

- signalization when some quality indices 

standardized values are exceeded. 

A series of facilities are provided, as 

follows: 

- determination of data corresponding to the 

voltages and currents for phases and neutral 

wire. The apparatus input voltages are when 

supplied either by some voltage transformers 

secondary windings with a rated value of 

100 V a.c., or by instant values transducers. 

The apparatus input currents are supplied 

either by some current transformers 

secondary windings with a rated value of 1 

A a.c., or by instant values transducers. 

- consumptions evaluation; 

- evaluation of analogue quantities, 

separately for each phase (RMS values, 

initial phases of currents and voltages 

harmonics, spectral analysis); 

- displaying of time variations for quantities 

(currents, voltages) , state of switches from 

the distribution utilities; 

- real time clock, non-volatile memory, 

graphical display of extended sizes 75 x 140 

mm; 

- analysis and determination in the three 

phase network of the following parameters: 

- phases and neutral impedances; 

- direct, reversed and homopolar 

components of the unbalanced systems of 

voltages/currents; 

- determination of the survived element 

operation regime (load, idle, voltage 

missing, fault, etc). 

The estimated and recorded data are 

processed by means of a soft package that 

allows: 

- harmonic analysis of measured quantities 

(voltages and currents) ; 

- computation of electric energy quality 

indices based on an unitary theory, 

according to European standards; 

- displaying, on request, of some electric 

parameters: active and reactive electric 

energies, active, reactive and distorting 

powers, power factor, currents, voltages, 

frequency; 

- displaying on request of superior 

harmonics weights for voltages and/or 

currents; 

- detection of normal rapid variations and of 

accidental unbalancies from the three phase 

systems of voltages and currents; 

- recording, evaluation and displaying for a 

month of the events corresponding to the 

electric energy quality deviations; 

- prescription of thresholds both for the


quantities estimated in the system and 

respectively for the estimated quantities; the 

respective thresholds are reached, sound and 

optic alarms are generated; 

- obtaining of the main energetic parameters 

situation. 

The software packet relies on the existing 

national and European standards and takes 

into account the correlations between both 

standards. The considered standards are: PE 

143/94, IEC 60664, ANSI-IEEE 519, CEI 

1000-2-4 [9]. 

4. TECHNICAL FEATURES 

The equipment presents the following 

characteristics: 

- Number of monitored and evaluated lines: 

- 3 (test variant 3 voltages and 2 

currents) ; 

- 2 (test variant 3 voltages and 3 

currents) ; 

- Analogue outputs (fixed variant): 2; 

- Tests accuracy: 

- U, I………..0,5% 

- P, Q, S, D…1% 

- Frequency…0,05% 

- Active/reactive energy according class 2 

IEC1268 

- Distortion coefficient I/U…2% 

- Storing capacity: 256 KO ... 8MO 

(depending on variant); 

- Period of recording: 3 sec - 12 min, 

equivalent of maximum 240 events, each of 

3 seconds; the records are non volatile; 

- Supplying: 230 V c.a / 50 Hz; -15% ... 

+15%; and battery 12V. 

5. EQUIPMENT’S UTILIZATION FOR 

THE DETERMINATION OF 

ELECTRIC ENERGY QUALITY 

PARAMETERS 

The equipment was tested under normal 

operation conditions, taking data from a 

connection point of a major distorting three phase 

consumer. The sampling frequency was 3,6 kHz. 

For the beginning the distorting three phase 

receiver voltages and currents waveforms 

were recorded. The recorded signals were 

afterward acquisitioned. Based on an 

original processing algorithm, the harmonics 

analysis was performed, considering the EU 

standards (in order to obey the European 

standards while considering the specific of 

Romanian consumers and networks) [6]. The 

recorded three phase voltages waveforms are 

depicted by fig,1(a) and those corresponding 

to currents are depicted by fig. 1(b). 

Using the decomposition algorithm 

mentioned above, the first 40 harmonics of 

current and voltage were determined. The 

signals recomposed from the first 40 

harmonics of the first phase voltage together 

with the significant harmonics from the u1 

waveform and their initial phases are 

depicted by fig. 2. 

In fig. 3 we represented the signal 

recomposed from the current through phase 

1, compared to the initial signal (Fig. 3(a)), 

along with the harmonics magnitudes from 

the i1 waveform (Fig,3(b)) and their initial 

phases (Fig.3(c)). 

Based on the harmonic decomposition we 

could determine some coefficients related to 

the electric energy quality corresponding to 

phase 1 [3]: 

- for u1: RMS value: 3.8984e+002 V; peak 

factor: 1.4024e+000; shape factor: 

1.0988e+000; VTHD 1: 1.0264e+000; 

- for i1: RMS value 7.2715e+000 A; peak 

factor : 1.3890e+000; shape factor: 

1.1534e+000; ITHD 1: 1.3631e+001


43 

1000 

u1, u2, u3 (u0) [V] 

500 

0 

u1 

u2 

u3 

-500 

(a) 

-1000 

0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 

20 

i1, i2, i3 (i0) [A] 

10 

0 

i1 

I2 

I3 

-10 

-20 

0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 

Time [secs] 

(b) 

Fig. 1. Three-phase voltages and currents from system 

100 

0 

- 

Mag. 

[%] 

0 0.00 0.00 0.00 0.00 0.01 0.01 0.01 0.01 0.01 Time 

15 

10 

Mag.(1)=100% 

5 

Phase 

0 

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 

400 

200 

0 

-200 

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 

Harmonic order 

Fig. 2 Voltage u1 – Signal reconstructed from 40 harmonics superposed over the original signal

44 


20 

0 

Mag 

[%] 

-20 

0 0.00 0.00 0.00 0.00 0.01 0.01 0.01 0.01 0.01 Time(sec) 

15 

10 

Mag.(1)=100% 

5 

Phase 

0 

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 

400 

200 

0 

- 

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 

Harmonic order 

Fig. 3. Current i1 signal reconstructed from 40 harmonics superposed over the original signal 

The harmonic analysis for the phases 2 and 3 

revealed an evolution similar to that of the 

first phase. 

The analysis also proved that the three-phase 

system is symmetric, so that for the analyzed 

consumer the problems related to the electric 

energy quality are actually those related to 

the distorting regime. 

4. CONCLUSIONS 

As far as we are awared, in Romania there is no 

equipment similar to the one presented in this 

paper. Famous manufacturers as Chauvin 

Arnoux/ Enerdis France, Siemens Germany, 

Schneider France, General Electric SUA, 

Circutor Spain produce equipment that provide 

only partial similarities to it. 

The manufacturers we analyzed make efforts to 

modernize the test principles, to use small size 

transducers, provided with local intelligence and 

respectively to increase the number of facilities 

provided by the equipment: functions for rapid 

electric events recording, simultaneously with 

the recording of electric parameters along long 

periods, SCADA compatibility, electric energy 

quality analysis, etc.. This test principle results in 

an increase of test accuracy, operation safeness 

and improved reliability. 

5. REFERENCES 

[1] Budeanu, C., Rolul fizic al marimilor 

instantanee in fenomenele de conservare, 

Energetica, ’86, p.277-281 

[2] Depenbrock, M., The FDB-Method a Generally 

Applicable Tool for Analyzing Power Relations, 

IEEE Trans. on Power Systems, vol.8, no.2/93, 

p.380-386 

[3] Emanuel, A.E., a.o., New Concepts of 

Instantaneous Active and Reactive Powers in 

Electrical Systems with Generic Loads, IEEE Tr. 

on Power Del., no.3/93, p.697-703 

[4] Nicolae, P.M., Calitatea energiei electrice in 

sisteme electroenergetice de putere limitatá, Ed. 

Tehnicá, Buc. 1998 

[5] Nicolae, P.M., Mandache, L., Nicolae, 

I.D., About The Correlation Between The 

Power Quality Parameters and Number of 

Fourier Series Terms, ATEE 2002, 

Politehnica University, Bucuresti, 2002 

[6] Tugulea, A., Consideratii privind efectele 

energetice in regimuri deformante, 

Energetica, no. 1/’86, p.27-31 

[7] G. Vladut, P.M. Nicolae, L. Mandache, C. 

Cojocaru, I. Purcaru Equipment for measuring 

of some parameters that characterize the 

electric energy quality, ICATE 2004, Baile 

Herculane International Conference. 

AR934-9.doc


Librrie VisSim pentru dezvoltarea aplicaiilor cu controlere DSP 

din familia C28x 

Ing. Alexandru ENACHE 

SC IPA SA Calea Floreasca 169 Bucuresti 

Ing. Cristina CHIAU 

SC IPA SA Sucursala Cluj-Napoca 

Ing. Adrian DAVID 

SC TECHNOSOFT SRL Bucuresti 

Abstract: Time Delay Systems represent a real interest for motion control engineering with DSP. 

Different control matters have been formulated for such systems. Motin control with DSP is an accurate 

and robust system. Nowadays DSP control system is easy to use due to friendly user interface for 

programming. 

Keywords: motion control, DSP, software optimization, VisSim software 

INTRODUCERE 

În ultimele decenii am asistat la o cretere 

rapid a numrului de tranzistoare integrate 

într-un cip, în consecin crescând i efortul 

necesar proiectrii i programrii unui cip 

complex. Datorit concurenei mari din 

domeniul productorilor de echipamente ce 

folosesc procesoare digitale de semnal 

(DSP), timpul de lansare pe pia al unui 

produs este un factor critic. De aici a aprut 

necesitatea ameliorrii efortului i timpului 

necesar programrii. Reducerea timpului de 

dezvoltare i depanare al unei aplicaii poate 

fi realizat în câteva moduri: 

- reutilizarea codului: acest lucru se 

poate face într-un interval rezonabil de 

timp numai dac aplicaiile sunt scrise 

într-un limbaj de programare de nivel 

înalt; 

- folosirea de instrumente software 

de proiectare i simulare puternice din 

punctul de vedere al facilitilor oferite: 

din acest punct de vedere, exist o mare 

varietate de pachete software care permit 

efectuarea de simulari în aproape orice 

domeniu de activitate; 

În general, timpul de dezvoltare pentru o 

aplicaie este alocat pentru dou tipuri de 

activiti: partea de dezvoltare a aplicaiei i 

partea de testare – depanare a acesteia. Este de 

preferat ca testarea aplicaiei, cel puin în 

primele stadii ale acesteia, s se fac pe cât 

posibil folosind programe de simulare, evitând 

defectarea echipamentului fizic în cazul unor 

erori de proiectare. Pentru a se putea realiza 

acest lucru, este necesar un model matematic 

al echipamentului fizic – în cazul de fa 

motorul electric – cât mai bun. 

Modelul matematic al motorului asincron cu 

magneti permanenti (consideratii generale) 

Motoarele sincrone cu magnei permaneni 

prezint o sum de caracteristici deosebit de 

avantajoase pentru conceperea sistemelor de 

acionare moderne. Din punct de vedere 

constructiv, statorul unei astfel de maini este 

similar cu cel al unei maini asincrone sau a 

unei maini sincrone clasice (cu înfurare de 

excitaie în rotor). Diferenele survin în 

construcia rotorului. Aici câmpul produs de 

înfurarea de excitaie (parcurs de curent 

continuu) întâlnit într-o main sincron 

clasic a fost înlocuit cu câmpul produs de 

magnei permaneni.


Modelul de studiu folosit pentru deducerea 

modelului mainii sincrone este cel prezentat 

în figura alturat. 

Utilizarea magneilor permaneni aduce 

numeroase avantaje între care pot fi 

enumerate: 

- eliminarea inelelor colectoare i a periilor i 

odat cu acestea a tuturor problemelor legate 

de fiabilitate i întreinere generate de 

acestea; 

- eliminarea pierderilor Joule asociate 

înfurrii de excitaie; 

- pierderi reduse în rotor, datorate 

rezistivitii mari a materialului magnetic. În 

plus, magneii permaneni prezint o 

permitivitate relativ (07.105.1r) foarte 

apropiat de cea a aerului ceea ce conduce la 

crearea unui întrefier echivalent sensibil mrit 

fa de cel al unui motor asincron. Acest fapt 

determin scderea semnificativ a 

inductanei de magnetizare pentru motoarele 

sincrone cu magnei permaneni. Implicit 

aceasta conduce la reducerea semnificativ a 

pierderilor în fier din rotor în comparaie cu 

pierderile rotorice înregistrate în cazul unui 

motor asincron; 

- o rcire mai eficient datorat localizrii 

pierderilor în cupru i în fier la nivelul 

statorului. Aceast caracteristic favorizeaz 

un design compact; 

- posibilitatea de a obine un cuplu de 2-5 ori 

mai mare decât cuplul nominal al motorului 

pe durate scurte de timp cu condiia ca în 

decursul acestor intervale temperatura 

rotorului/statorului s nu ating valori 

periculoase pentru magneii permaneni sau 

pentru izolaie. De asemenea curentul maxim 

prin motor este limitat de necesitatea de a 

evita demagnetizarea rotorului. În practic 

îns, datorit calitii magneilor permaneni 

actuali, aceast limitare este de cele mai 

multe ori nerestrictiv (curenii care ar putea 

cauza demagnetizarea rotorului se plaseaz 

peste curentul maxim ce poate fi furnizat de 

ctre convertorul static conectat la motor); 

- flexibilitate în concepie; caracteristicile 

unei astfel de maini pot fi schimbate în 

funcie de dispunerea magneilor permaneni 

i de tipul de magnei permaneni folosit. 

În mod special, obinerea unor valori 

importante ale fluxului magnetic în întrefier 

fr a fi necesar utilizarea unei excitaii 

externe face posibil construcia unor 

motoare cu randamente de conversie 

electromecanic dificil de egalat în prezent de 

alte tipuri. Pierderile reduse permit realizarea 

unor raporturi (cuplu/inerie) respectiv 

(putere/mas a motorului) remarcabile. 

Aceste caracteristici constituie un atu 

competiional important în contextul în care 

se apreciaz c peste 90% din costurile totale 

de achiziie i exploatare ale unui motor 

electric se regsesc în energia consumat de 

acesta. 

Motoarele cu magnei permaneni pot fi 

clasificate în dou grupuri importante: 

- cu tensiune contra electromotoare 

trapezoidal (distribuie trapezoidal a 

fluxului magnetic din întrefier) 

- cu tensiune contra electromotoare 

sinusoidal (distribuia fluxului magnetic 

din întrefier este aproximativ 

sinusoidal) 

În cadrul acestei lucrri se va folosi un motor 

sincron cu distribuie sinusoidal a fluxului. 

Motoarele sincrone cu magnei permaneni 

sunt folosite pe scar larg în servosisteme 

care conin motoare de putere mic pentru 

maini-unelte, roboi industriali, dar i pentru 

maini de putere mare. Criteriile de proiectare 

a servosistemelor cu motoare sincrone cu 

magnei permaneni difer fa de cele pentru 

sisteme de acionri cu motoare sincrone


47 

convenionale. Cerinele care trebuie 

îndeplinite sunt urmtoarele: 

- densitate de flux în întrefier mare; 

- raport putere / mas cât mai mare 

posibil; 

- raport cuplu / moment de inerie mare, 

pentru a fi posibile acceleraii cât mai mari; 

- pulsaii de cuplu cât mai mici, chiar i la 

turaii foarte mici, pentru a se putea 

realiza sisteme de poziionare de mare 

precizie; 

- controlul cuplului la turaie nul; 

- funcionare la turaii mari; 

- capabilitate de cuplu mare (acceleraii i 

deceleraii rapide pentru scurt timp; 

- randament mare; 

- factor de putere mare; 

Aceste cerine pot fi asigurate de controlul 

vectorial al motorului sincron cu magnei 

permaneni. Rotorul poate fi realizat sub mai 

multe forme constructive, cum ar fi rotor în 

form de pahar cu un raport lungime / diametru 

mare, rezultând o constant de timp mecanic 

cât mai mic sau rotor în form de disc. Uneori, 

rotorul este fabricat din material plastic de 

duritate mare i magneii sunt încapsulai în 

rini speciale. Aceste maini sunt denumite 

maini cu câmp radial – cele cu rotor pahar – 

sau maini cu câmp axial – cele cu rotor disc. 

Mainile cu rotor disc sunt în mod uzual 

folosite la acionarea roboilor, în timp ce în 

servosistemele pentru maini unelte sunt 

folosite mainile cu rotor pahar. Aceste tipuri 

de rotoare conduc la un moment de inerie 

sczut, rezultând acceleraii mari. Costurile 

pentru fabricarea mainilor cu câmp axial sunt 

mai mari decât pentru cele cu câmp radial. 

Exist tipuri variate de magnei permaneni 

pentru realizarea rotorului. Una dintre soluii 

este aceea de utilizare a magneilor cu 

pmânturi rare, spre exemplu Samariu-Cobalt 

(SmCo , SmCo ) sau Neodim-Fier-Bor 

5 17 

(NdFeB), care se monteaz pe suprafaa 

rotorului prin lipire cu adezivi puternici. 

Pentru a se obine rezisten mecanic, care 

este foarte important în special pentru turaii 

ridicate, spaiile dintre magnei sunt umplute 

cu fibr de sticl. În prezent, un dezavantaj al 

utilizrii magneilor cu pmânturi rare este 

preul relativ ridicat, dar, odat cu dezvoltarea 

noilor tehnologii, preul este în continu 

scdere. Mai mult, este de ateptat o 

îmbuntire a caracteristicilor magneilor cu 

NdFeB (în prezent pot fi probleme, deoarece 

intensitatea câmpului magnetic scade cu 

temperatura). Atunci când sunt folosite în 

sisteme de frecven variabil, motoarele 

sincrone cu magnei permaneni nu au nevoie 

de înfurri de amortizare. 

În cazul în care la suprafaa rotorului sunt 

montate bare magnetice, maina poate fi 

considerat ca având un întrefier crescut, ceea 

ce face ca efectul polilor apareni s fie 

neglijat (inductivitile de magnetizare, 

respectiv cele sincrone de pe cele dou axe L 

d 

i L sunt egale). Mai mult, deoarece 

q 

întrefierul este mare, inductivitatea sincron 

L =L =L este mic i, astfel, reacia 

s d q 

indusului este neglijabil. 

Structura schemei de control pentru pentru o 

main sincron cu magnei permaneni 

Curenilor i sa ,i sb , (msurai cu ajutorul unor 

unturi sau traductoare Hall) li se aplic 

transformata Park. Ieirea transformatei Park 

este constituit de proieciile vectorului 

curent,(i sd ,i sq ) pe axele (d,q) ale unui sistem de 

axe aliniat cu fluxul rotoric. Întrucât acesta este 

creat de magneii permaneni din construcia 

rotorului, reperul (d,q) se va deplasa solidar cu 

vectorul flux magnetic rotoric. 

Proieciile (i sd ,i sq ), împreun cu referinele lor 

constituie intrrile celor dou regulatoare 

proporional – integrale (PI). Regulatoarele PI 

au rolul de a impune în statorul motorului 

cureni care s urmeze referinele. 

Ieirile celor dou regulatoare, constituie 

proieciile în reperul (d,q) ale vectorului 

tensiune de referin. Tensiunile, sunt aplicate 

transformatei Park invers. Se obin astfel 

referinele pentru tensiunile de faz Pornind 

de la acestea, metoda PWM va sintetiza 

timpii de conducie (comenzile) pentru 

braele punii trifazate. Astfel la bornele 

motorului vor fi impuse tensiuni de faz egale 

cu tensiunile de referin.


Informaia despre poziia rotorului pe baza 

creia se efectueaz ambele transformate 

Park este furnizat de ctre un traductor de 

poziie. Concomitent cu poziia rotorului este 

determinat viteza mecanic a acestuia, . 

Eroarea între viteza real i viteza de referin 

este aplicat unui regulator PI care determin 

curentul de referin pe axa q a reperului, În 

cazul unui motor cu L sd =L sq , pe axa d este 

impus o referin de curent nul i sdref =0 

Aceasta deoarece pentru L sd =L sq componenta 

i sdref a curentului nu produce cuplu estimarea 

poziiei rotorului i respectiv vitezei 

mecanice poate fi realizat i în absena unui 

traductor de poziie/vitez ataat rotorului. În 

acest caz ea este bazat pe curenii / 

tensiunile msurate sau estimate la bornele 

mainii. 

Modelul mainii sincrone cu magnei permaneni implementate în VisSim


49 

Modelarea schemei de msurare a curentului 

Modelarea encoderului implementat în VisSim 

Modelarea invertorului 

Schema regulatorului de current


Schema regulatorului de vitez 

Pentru a putea realiza o analiz comparativ a 

rezultatelor simulrii i a rezultatelor reale, 

s-a implementat un modul logger, care 

funcioneaz pe acelai principiu cu cel din 

DMC Developer. Utilizarea sa presupune ca 

rezultatele obinute în urma simulrii sunt 

considerate satisfctoare, se compileaz 

proiectul folosind DMC Developer. In urma 

acestei operaii, rezult în directorul 

proiectului un fiier de tip map, care conine 

adresele tuturor simbolurilor întâlnite la 

compilare. Lista acestor simboluri apare în 

acest dialog în lista variabilelor disponibile. 

Din lista acestor simboluri, se aleg variabilele 

care se doresc monitorizate. De notat faptul 

c nu toate aceste simboluri sunt 

reprezentative pentru aplicaie, unele 

reprezentând constante iar altele variabile 

fr însemntate din punctul de vedere al 

evalurii comportamentului dinamic. Se pot 

selecta pentru achiziie un numr de maxim 9 

variabile. Din harta de memorie generat în 

concordan cu opiunile proiectului, setate la 

nivel de DMC Developer, se citete adresa de 

start a bufferului folosit de logger precum i 

dimensiunea acestuia. 

Pe baza dimensiunii bufferului de logger i a 

numrului de variabile selectate pentru 

achiziie, se calculeaz numrul de locaii de 

memorie disponibile în bufferul de logger. În 

momentul validrii datelor introduse în 

dialog, se iniializeaz zona din bufferul de 

logger alocat datelor necesare loggerului 

conform opiunilor fcute. Modulul 

implementat are un comportament dinamic, 

în sensul c dac variabilele care vor fi 

achiziionate au fost setate la nivel de DMC 

Developer, ele vor fi recunoscute automat la 

deschiderea dialogului. Modulul a fost 

implemetat în Visual C++ sub forma unei 

biblioteci, care poate fi adugat în VisSim 

sub forma unui add-on. Odat fcut setarea 

datelor, modulul de logger, care se prezint 

sub forma unui bloc în cadrul diagramei de 

simulare, va avea un numr de ieiri egal cu 

cel al variabilelor selectate i cu aceleai 

denumiri. Dup ce s-a compilat, descrcat i 

executat programul, se poate da comanda de 

start simulare în VisSim, în cele dou panouri 

grafice fiind afiate pe de o parte rezultatele 

simulrii, iar pe de alt parte rezultatele reale 

încrcate de pe kitul de dezvoltare 

MCK2812. Datele pot fi apoi analizate, 

existând o funcie de zoom. 

În continuare este prezentat dialogul asociat 

modulului de logger, precum i datele 

obinute în cazul unui control de poziie. 

Mrimile achiziionate sunt referina de 

poziie i poziia msurat.


51 

CONCLUZII 

În condiiile creterii puterii de calcul a 

procesoarelor de semnal, implementarea 

aplicaiilor folosind generarea de cod C este o 

soluie foarte practic pentru domeniul 

acionrilor electrice în care concurena este 

foarte puternic, iar timpul lansrii unui 

produs este un factor decisiv; 

• codul C generat are avantajul c este 

portabil, trecerea de la un procesor la altul 

necesitand un timp scurt; 

• prin folosirea librriei IQmath produs de 

Texas Instruments se poate implementa 

cod i pe procesoarele în virgul fix; 

• testarea i validarea aplicaiilor se face la 

nivel de simulare, evitând posibila 

defectare a echipamentelor în cazul unor 

erori în aplicaie; 

• msurtorile efectuate pentru determinarea 

timpului de execuie indic o vitez de 

execuie superioar a codului generat 

folosind VisSim în comparaie cu alte 

generatoare de cod; 

• se observ în urma analizei rezultatelor 

obinute în urma simulrii i a celor 

obinute în urma testelor practice c 

acestea nu difer semnificativ; acest lucru 

întrete i mai mult ideea ca simularea 

comportrii diverilor algoritmi de 

comand reprezint pasul ce trebuie 

realizat înaintea implementrii acestora pe 

procesoarele de semnal (DSP); 

• în condiiile implementrii regulatoarelor 

având comportament anti-oscilaii (antiwindup) 

– în sensul c la saturarea ieirii 

acestora este saturat i partea integral – 

se observ c rspunsul în curent i vitez 

al motorului este mult mai rapid, cu 

suprareglaj mai mic i cu eroare staionar 

nul; 

• motoarele sincrone cu magnei permaneni 

reprezint o soluie foarte avantajoas 

pentru realizarea servosistemelor; dintre 

avantajele lor putem enumera: eliminarea 

inelelor colectoare i a problemelor legate 

de fiabilitate i întreinere, eliminarea 

pierderilor Joule asociate înfurrii de 

excitaie, rcire mai eficient datorit 

• localizrii pierderilor în cupru i în fier la 

nivelul statorului, design compact, 

flexibilitate în concepie prin folosirea de 

magnei permaneni din diverse materiale, 

cu diverse dispuneri pe rotor; 

• odat cu apariia pe pia a procesoarelor 

de semnal (DSP) i mai ales a 

microcontrolerelor DSP, ce înglobeaz 

diverse periferice specializate pentru 

controlul motoarelor electrice, având 

viteze de calcul foarte mari i preuri 

rezonabile, devine posibil producerea pe 

scar larg i la preuri moderate, a unor 

sisteme de comand numeric a 

acionrilor electrice foarte performante, 

capabile s execute algoritmi de control cu 

un grad de complexitate mult sporit; 

• datorit vitezei de calcul mari, devine 

posibil implementarea algoritmilor de 

control direct în limbaje de nivel înalt, 

meninând astfel efortul legat de 

implementare, testare i portare a 

aplicaiilor la un nivel redus; 

• în aceste condiii, proiectantul unui sistem 

numeric de comand a acionrilor 

electrice are la dispoziie o gam mult mai 

larg de opiuni în ceea ce privete 

alegerea algoritmilor de control. La 

stabilirea metodei de control ce urmeaz a 

fi utilizat, el trebuie îns s se in cont 

de o serie de factori care influeneaz 

rezultatele unei implementri practice, 

cum ar fi: 

o comportamentul algoritmului în 

regim neliniar (când comanda este saturat) i 

gradul în care prin tehnici specifice se pot 

reduce efectele negative; 

o sensibilitatea algoritmului la 

cuantizarea mrimilor de intrare / ieire; 

• folosirea bibliotecii IQmath prezint o 

sum de avantaje cum ar fi: portabilitate 

facil a codului între procesoare în virgul 

fix i procesoare în virgul mobil; 

formatul cu care se lucreaz se poate 

modifica uor în funcie de cerinele 

aplicaiei prin definirea unui singur 

parametru; biblioteca este optimizat 

pentru vitez; este gratuit; se poate folosi 

acelai cod surs pentru a programa cele


dou categorii de procesoare: trecerea de 

la un procesor la altul se face prin 

definirea corespunztoare a unei 

constante; se adapteaz uor pentru 

cerinele diverselor sisteme: fie o dinamic 

mare, fie o rezoluie ridicat; 

Bibliografie 

[1] D.O. Kisch “Reglarea Vectorial a 

Mainilor de Curent Alternativ” Editura 

ICPE, 1997. 

[2] L. Kreindler, R. Giuclea “Bazele 

Microprocesoarelor” Editura Matrix Rom, 1998. 

[3] R. Mgureanu - Servomecanisme. Note de 

curs. 

[4] I.F.Soran – Acionri electrice I. Note de 

curs. 

[5] Nat Seshan, Mark Utter – “Addressing 

Peripherals as Data Structures in C” – TI 

Application Report 

[6] “TMS320C28x Assembly Language Tools 

User's Guide” – Texas Instruments 

[7] “TMS320C28x Optimizing C/C++ 

Compiler User’s Guide” – Texas Instruments 

AR934-10.doc


CONTROLUL POLURII UNEI FERME AVICOLE PRIN 

AUTOMATIZARE PENTRU ASIGURAREA POLITICII EUROPENE DE 

PROTECIE INTEGRAT DE MEDIU 

Alexandrina PETRESCU 

inginer tehnolog gr.II S.C. IPA S.A. 

Abstract: This upheaded paper aim to conceive the automation like a decisive means in the control of 

the pollution in a poultry farm through to comply with the european environment integrated protective 

policy. 

In the 1chapter it is presented the environment subjects in the Roumanian and EU legislation, direct 

regarding to the comply of the air, water and soil quality. 

It is presented the automation, like a means in the control of the pollution and used the european 

measure BAT - Best Available Techniques for Intensive Rearing of Poultry and Pigs, through the 

analysis of the impact level of the activity in a poultry farm, placed in a village place. 

Keywords: pollution, automation, poultry farm. 

LEGISLAIA ÎN ROMÂNIA I ÎN UE 

PRIVIND CALITATEA AERULUI, APEI 

I A SOLULUI 

Protecia mediului este una din marile 

provocri actuale ale Europei, dat fiind 

amploarea prejudiciilor aduse mediului prin 

poluare. Deeurile produse de statele 

membre se ridic la dou milioane de tone 

pe an, cifra crescând anual cu 10%, acestea 

afectând calitatea vieii locuitorilor, în 

special din zonele urbane. 

Uniunea European a fost adesea criticat c 

a pus dezvoltarea economic i comerul 

înaintea problemelor de mediu, ceea ce a 

condus la o schimbare de optic. 

La ora actual, modelul european de 

dezvoltare ce nu se bazeaz pe deteriorarea 

mediului i srcirea resurselor naturale 

este recunoscut ca unul avansat. 

Aciunile Comunitii privind protecia 

mediului, au început în 1972 cu patru 

programe de aciune succesive bazate pe 

probleme ecologice i având atât o abordare 

vertical, cât i sectorial. Au fost adoptate 

peste dou sute de acte normative, prin 

introducerea unor standarde minime de limitare a 

polurii, în domeniul managementului deeurilor, 

al polurii aerului i a apei. 

Al aselea Program de Aciune privind 

mediul, „Mediu 2010 – Viitorul nostru, 

Opiunea noastr”, stabilete prioritile UE 

în patru domenii mari: 

• schimbrile climatice, 

• natur i biodiversitate, 

• mediu i sntate i 

• managementul resurselor 

naturale i al deeurilor. 

Dintre msurile ce trebuie luate pentru 

atingerea scopului urmrit în cele patru 

domenii se menioneaz: 

• îmbuntirea legislaiei în 

domeniul mediului, 

• întreprinderea unor aciuni 

comune cu cetenii i piaa, 

• integrarea politicii mediului în 

celelalte politici ale UE.


Calitatea aerului este evideniat prin 

urmtoarele aspecte: 

• poluarea de impact cu diferite noxe, 

• calitatea precipitaiilor atmosferice, 

• situaia ozonului atmosferic, 

• emisiile unor gaze ce produc efect de 

ser i 

• unele manifestri ale schimbrilor 

climatice. 

Calitatea apei se impune prin respectarea 

unor principii de baz: 

⇒ principiul precauiei, aciuni 

preventive, rectificarea i corectarea 

daunelor i a prejudiciilor la surs, 

⇒ principiul „poluatorul pltete”, 

⇒ integrarea politicii privind protecia 

apei în alte politici comunitare, 

⇒ folosirea datelor tiinifice i tehnice 

disponibile,subsidiaritate 

Protectia solului împotriva polurii i a 

eroziunii. se bazeaza pe principiul precauiei 

i al responsabilitii fa de mediu i se 

concentreaza pe integrarea proteciei solului 

în alte politici comunitare, ca i pe 

monitorizarea solului. 

Pentru protejarea mediului, prin prevenirea 

i minimizarea emisiilor în aer, ap i sol a 

substanelor poluante, a fost adoptat 

Directiva nr. 96/61/CE, referitoare la 

prevenirea i controlul integrat al polurii 

(IPPC). 

Directiva definete obligaiile minime ce 

trebuie respectate de instalaiile industriale, 

cuprinzând msuri referitoare la emisiile în 

ap, aer i sol, ca i a modului de abordare a 

accidentelor de mediu, a deeurilor, a 

consumului de ap i de energie i care stau 

la baza permiselor de funcionare a 

instalaiilor mentionate.In cadrul acestei 

directive, conform BAT,BREF code ILF 

=“Reference Document on Best Available 

Techniques for Intensive Rearing of Poultry 

and Pigs”, se stabilesc în detaliu condiiile de 

cretere a psrilor i porcilor, în ferme de 

diverse dimensiuni cu limitarea efectelor 

acestora asupra mediului. 

Directiva mai stabilete valorile limit ale 

emisiilor pentru diferii poluani i 

procedurile de monitorizare a emisiilor. 

urmrind dezvoltarea conceptului de politic 

a produsului integrat, ceea ce înseamn 

dezvoltarea unei piee a produselor 

ecologice, care s aib un ciclu de via 

durabil. 

Reglementrile privind protecia mediului, 

aliniate la cerinele Uniunii Europene au fost 

adoptate în cadrul Conferinei 

Interguvernamentale de Aderare a României 

– UE din martie 2002 în sectoare ca 

deeurile, apa, organismele modificate 

genetic, protecia naturii, protecia civil i 

securitate nuclear. 

Colaborarea cu Agenia European de Mediu 

se desfoar sub forma unor raportri 

privind starea factorilor de mediu, raportri 

fcute pe baza chestionarelor furnizate de 

agenie. 

ANALIZA INIIAL DE MEDIU A 

UNEI FERME DE PSRI 

Analiza iniial de mediu conine informaii 

privind: 

⇒ Surse permanente sau ocazionale care 

produc emisii aer /ap; 

⇒ Sursele de alimentare cu ap; 

⇒ Surse permanente sau ocazionale care 

produc zgomot, vibraii, miros; 

⇒ Deeuri provenite din activiti 

proprii ale organizaiei; 

⇒ Surse de poluare a solului;


55 

• Produse finite 

• Subproduse 

INTRARI 

•Materii prime 

•Materiale 

•Energie 

•Apa 

Activitate 

operationala 

IESIRI 

•Elementi lichizi 

•Elementi gazosi 

Deseuri 

•Lichide 

•Solide 

• Servicii auxiliare: 

• Transport /livrare 

Instalare /service 

Evacuare 

Depozitare 

Valorificare materiale si 

energie 

Depozitare 

SCHEMA GENERAL A FLUXULUI OPERAIONAL ÎNTR-O ORGANIZAIE 

În practica curent, organizaiile ce 

realizeaz o analiz iniial de mediu, 

apeleaz la urmtoarele categorii de impact: 

emisii de aer, eflueni lichizi; poluare sol, 

apa freatic; deeuri; consum de energie, 

ap, materii prime, materiale; zgomot; 

vibraii; miros; sigurana personalului i a 

instalaiilor /construciilor 

Proces 

Aspecte de 

mediu 

Impacturi 

semnificati 

Aspecte 

semnificati 

Zona 

amplasament 

Criterii 

SELECTAREA ASPECTELOR SEMNIFICATIVE DE MEDIU

56 


Analizând nivelul impactului activitii unei 

ferme de psri situat într–o localitate 

rural vom prezenta automatizarea ca mijloc 

pentru controlul polurii i utilizrii BAT 

(Best Available Techniques for Intensive 

Rearing of Poultry and Pigs). 

AUTOMATIZAREA MIJLOC DE 

DIMINUARE SAU ELIMINARE A 

IMPACTULUI PRODUS ASUPRA 

MEDIULUI 

Automatizarea unei ferme avicole se 

definete pe structura acesteia: 

• capacitate de producie: baterii 

ecologice în hale tipizate, piramidale 

pe nivele cu profil: - exploatare gini 

outoare pentru ou de consum 

efectiv psri (adulte); 

- comercializarea produselor 

agroindustriale. 

• dotri specifice monitorizate pe 

caracteristicile lor de impact asupra 

mediului (pavilion administrativ cu 

birouri, vestiare i filtre sanitare; 

magazie sortat ou; atelierul mecanic, 

gospodria de carburani, grup 

electrogen; cldiri anexe pentru grupul 

social i un filtru sanitar; rezervor pentru 

ap din beton armat; buncre pentru 

furaje alimentate cu elevator i prevazute 

cu ventilatoare de aer). 

• furajarea se asigur prin transportoare 

mecanizate, cu lan care permit accesul 

facil la hran i evit risipa; 

• colectarea dejeciilor care cad 

gravitaional se face mecanizat cu 

plug raclor în canale transversale, 

echipate cu transportoare elicoidale 

sau raclei fixi care le scot din hale. 

• adparea se realizeaz automatizat 

prin adptori cu picurtor; 

• evacuarea apelor uzate se face în 

staia de epurare i se monitorizeaz: 

pH–l;suspensiile; CCOCr; CBO5; 

extractibile cu solveni organici; 

• climatizarea automat folosete 

sistemul de ventilaie i cldura 

biologic; 

• colectarea oulelor – este mecanizat 

prin benzi colectoare −transportoare la 

magazia de sortare i ambalare / 

livrare. 

• centrala termic degaj pulberi , gaze 

de ardere i produsele arderii pentru 

care se cuantific i se monitorizeaz 

poluanii rezultai (Pulberi; SOx; 

NOx; CO; COV) 

• controlul duratei de odihn a halelor 

i a utilajului, perfect curate de 

resturi organice i dezinfectate, 

corespunde duratei ciclului biologic al 

germenilor–cca. 3 sptmâni i se face 

prin programare în timp (cu 

avertizare). 

• evacuarea în atmosfer a emisiilor 

din hale, se face dirijat prin tirajul 

natural i prin ventilaie. 

Automatizarea unei ferme avicole este 

necesar s asigure controlul i îndeplinirea 

condiiilor legale privind protecia calitii 

factorilor de mediu în conformitate cu 

prevederile Directiva nr. 96/61/CE, 

referitoare la prevenirea i controlul 

integrat al polurii (IPPC) prin BAT, BREF 

code ILF = “Reference Document on Best 

Available Techniques for Intensive Rearing 

of Poultry and Pigs”, respectiv cu negocierea 

Tratatului de aderare a României la Uniunea 

European. 

Fiecare ferm care asigur îndeplinirea 

cerinelor BAT/BREF va avea cel puin un 

computer i reele de comunicare, operate de 

personal cu calificare în domeniu. 

Instalaia de automatizare – monitorizare, 

prin controlul realizat pe echipamente de 

calcul performante (calculator, display−uri, 

imprimante de noi generaii), va asigura 

msurile prevazute prin cele mai performante 

tehnici de cretere a psrilor de carne i ou, 

în ferme de diverse dimensiuni, BAT, astfel: 

• Cresterea pasarilor in hale, in sistem 

ecologic de baterii piramidale si/sau 

verticale (BAT pct. 2.2.1.16) 

• Sistem de adapare prin adapatori cu 

picatura (BAT pct. 2.2.5.3);


57 

• Sistem de alimentare/furajare 

automatizat (BAT pct. 2.2.5.1si BAT 

pct. 2.2.5.2); 

• Sistem de raclare dejecii semisolide 

(BAT pct. 4.5.1.5.3 si BAT pct. 

5.3.7); 

• Sistem de transport, colectare, 

neutralizare dejecii uscate i 

semisolide (BAT pct. 4.5.1.5.3 i 

BAT pct. 5.3.7); 

• Sistem de ventilaie – cimatizare a 

halelor prin controlul temperaturii i 

umiditii în adposturi (BAT pct. 

2.2.4) 

• Sistem de iluminat dirijat, 

• Emisii de noxe controlate. 

Pentru diminuarea impactului produs de 

activitatea fermei avicole se vor asigura 

urmtoarele msuri: 

• Respectare msuri de prevenire, 

stingere incendii, prevzute în 

Normele în vigoare; 

• Întreinere în bun stare a foselor 

vidanjabile i a bazinelor colectoare; 

• Întreinerea spaiilor verzi i chiar 

plantarea suplimentar a unei “perdele 

de copaci”. 

• Automatizarea, monitorizarea i 

evidena statistic a ecologizrii 

platformei având ca obiect: 

• Dozarea controlat a furajelor; 

• Adparea cu pictura; 

• Colectarea mecanizat a dejectiilor; 

• Automatizarea iluminatului, ventilrii 

i climatizrii; 

• Introducerea msurilor BAT (Best 

Available Techniques) dintre care: 

♦ Furajarea în condiii tehnice controlate 

cu respectarea cantitii de proteine 

necesare. 

♦ Reducerea cantitii de ap utilizat, 

astfel curarea halelor i a 

echipamentelor s se fac prin jet de 

ap cu presiune ridicat la sfâritul 

fiecrei depopulri, instalaiile de ap 

s se recalibreze periodic pentru 

evitarea scurgerilor de ap; consumul 

de ap s fie monitorizat; scurgerile 

detectate/ instalaiile reparate. 

♦ Reducerea folosirii energiei prin 

utilizarea adecvat i întreinerea 

halelor i a echipamentelor. 

♦ Rezolvarea problemei dejeciilor, 

conform BAT prin depozitare pe teren 

la distan mare. 

CONCLUZII 

Pe baza evalurii nivelului de impact al 

activitilor unei ferme avicole se pot formula 

urmtoarele concluzii referitoare la 

automatizarea acesteia ca mijloc de 

diminuare sau eliminare a impactului produs 

asupra mediului: 

• Automatizarea asigur încadrarea 

factorului de mediu ap în limite 

ecologice prin controlul continuu al 

coninutului apelor uzate; 

• În privina factorului de mediu aer, 

automatizarea urmrete s încadreze 

sub valorile limit, concentraiile de 

poluani emisi de ferm; 

• Monitorizarea concentraiilor 

poluanilor din sol urmrete s nu 

afecteze negativ fauna i vegetaia 

terestr a zonei i s nu prezinte risc 

pentru sigurana locuitorilor. 

• Evaluarea impactului se face tot prin 

echipamente de calcul aferente 

instalaiei de automatizare, prin 

calcule matematice complexe i se 

afieaz printr–o matrice de evaluare. 

Se preconizeaz c prin utilizarea 

Directivelor Europene BAT se promoveaz 

automatizarea fermelor avicole cu scopul 

obinerii de performane ridicate prin: 

• Utilizarea optima a capacitatii 

halelor de productie ( oua si/sau 

carne); 

• Reducerea consumului de energie 

termica, electrica, carburanti; 

• Reducerea consumului de apa; 

• Reducerea consumului de nutrienti 

(furaje), precum si 

• Reducerea impactului negativ 

asupra factorilor de mediu.

58 

REVISTA ROMÂNĂ DE AUTOMATICĂ 

⇒ Ca o concluzie finala automatizarea 

unei ferme avicole va asigura 

masurile europene BAT ceea ce se 

transpune prin eficienta maxima, 

cheltuieli minime si functionare 

ecologica. 

Bibliografie 

- Document de poziţie al României în 

procesul de aderare la Uniunea 

Europeană. Capitolul 22: Protecţia 

mediului. Proiect. 

- Comisia Comunităţii Europene, 

Bruxelles, 09.02.2000 - Cartea Albă 

asupra Responsabilităţii Mediului. 

- "Convention on Acces to Information, 

Public Participation in Decisionmaking 

and Acces to Justice in 

Environmental Matters", semnată la 

"Environment for Europe" Ministerial 

Conference, iunie 1998 la Aarhus – 

Danemarca. 

- The Protocol on Water and Health 

din cadrul Convenţiei ONU/ECE, 

Londra, iunie 1999, cu ocazia celei de 

a 3-a Conferinţă Ministerială a 

Mediului şi Vieţii. 

- I. Hamburg, Germany, G.Vladut, St. 

Bălănică, România, Real Time 

Environmental Monitoring Centre, 

IFAC Honk Kong 2001. 

- Comisia Comunităţii Europene, 

Bruxelles, 02.02.2000, Regulamentul 

Parlamentului European şi Consiliului 

asupra măsurilor destinate să 

favorizeze integrarea deplină a 

dimensiunii mediului în procesul 

dezvoltării ţărilor în curs de 

dezvoltare. 

- ISO 1996 a Environmental 

management systems - Specification 

with guidance for use. ISO 14001. 

International Organization for 

Standardization, Geneva. 

- WHO 1995h Decision Support 

System for Industrial Pollution 

Control DSS IPC. PC Programme for 

the assessment of air emission 

inventories, liquid and solid waste 

inventories, estimation of pollution în 

air, water, and soil. PAHO/World 

Bank 1995. 

- Directive 96/61/CE du Conseil du 24 

septembre 1996 relative à la 

prévention et à la réduction intégrées 

de la pollution (JOCE n° L 257 du 10 

octobre 1996). 

- "A System For Environmental 

Protection: Reference Dose Models 

For Fauna And Flora" R.J Pentreath, 

D.S Woodhead, Environment Agency, 

Bristol, U.K, Centre for Environment, 

Fisheries & Aquaculture Science, 

Suffolk, U.K. 

AR934-11.doc


SISTEM OPTOELECTRONIC DE MSURARE 

A DEPLASRII BARAJELOR 

Nicolae BOJOR 

Institute of Research and Development for Automation Subsidiary Cluj 

Camelia BODI 


Cristina Iuliana CHIAU 


Abstract: To earlier detect possible risk situations, to adopt premonition actions, the great dams are 

permanent monitoring, according to a fixe program, by measurement of some parameters with traducers 

installed in the body of the dam. The massive constructions are internally equipped with pendulum wires, 

on all the highness. This pendulum wires can be access on many points at different stages of the 

construction. The deplacement measurements are of the important parameters in the global dam 

appreciation. 

Keywords: pendulum wire, telependul, teletransmision, optoelectronic, CCD. 

1. INTRODUCERE 

Sistemele de msurare a deplasrii barajelor 

se bazeaz pe pendule ineriale directe i 

inverse. Elementul care sesizeaz micrile 

barajului este un fir de oel legat la un reper 

fix, în partea superioar a barajului pentru 

pendulul direct. Firul execut o micare tip 

pendul, iar balansul captului liber este 

msurat cu un sistem electronic. Pendulul 

invers are la baz acelai principiu de 

msurare, dar este fixat în roca de fundaie a 

barajului i este întins de jos în sus, cu 

ajutorul unui clopot imersat în ulei, care 

asigur direcia vertical pentru fir. Pendulul 

invers are avantajul c pune în eviden i 

alunecarea barajului fa de roc . 

Figura 1. Principiul pendulului direct i invers


2. PRINCIPIUL DE FUNCIONARE 

Telependulul TP201 este un instrument 

optoelectronic ce asigur msurarea automat 

a deplasrii în plan orizontal a barajelor pe 

dou direcii perpendiculare, detectând 

coordonatele într-un plan orizontal ale firelor 

pendulelor directe sau inverse. Msurtorile 

cu telependulul TP201 sunt comandate de la 

distan de calculatorul sistemului automat de 

supraveghere. 

TP201 este construit în jurul unui dispozitiv 

optoelectronic bazat pe o arie liniara 640x1 

de fotodiode TSL210. Aria cuprinde 5 

seciuni de 128 fotodiode, ce alctuiesc un 

domeniu liniar continuu de 640 de pixeli. 

Fiecare dioda are asociat un circuit de 

amplificare iar funcionarea circuitului este 

serial. Iluminarea fotodiodelor se face printrun 

sistem optic ce produce lumina planparalela. 

Se obine un semnal electric pe care 

se evideniaz obstacolul în calea luminii 

reprezentat de firul de pendul, fcând astfel 

posibil detecia lui. 

Prelucrarea se face cu un sistem bazat pe 

microcontrollerul Microchip PIC16F876. 

Circuite proprii fac posibil operarea local i 

de la distan. Comanda i conectarea la 

sistem se face printr-un automat Siemens S7- 

200 CPU 226, având astfel toate facilitile 

oferite de acesta. 

Figura 2 Structura telependulului CCD TP201 

3. SCHEMA BLOC 

COMUNICATIE 

RS485 

Panou local 

Unitate 

de 

comanda 

Sursa 

Modul optic X 

MODUL 

CCD 

Modul optic Y MODUL CCD 

Figura 3 Schema bloc


61 

Telependulul TP201 este compus în principal 

din urmtoarele module funcionale 

principale 

• 2 seturi (pentru X i Y) module 

surs lumin paralel coninând: 

- LED-ul de iluminare 

- Lentila de focalizare 

- Suportul lentilei 

• 2 seturi (pentru X i Y) module 

CCD coninând: 

- senzor liniar TSL210 

- circuite de baleiere CCD 

- amplificator video 

- suport 

• Modulul analogic de prelucrare a 

semnalului de la modulele CCD, ce 

conine: 

- comutator X,Y 

- convertor PWM 

- comparatoare 

- referine 

• Modulul numeric – microcomanda 

msurare cu microcontrolerul PIC16F76, 

automat Siemens pentru integrare în 

sistem 

• Sursa de alimentare 

- +5V 

- +5V izolat galvanic 

- +12V 

• Circuit de comunicaie serial 

RS485 

4. FUNCIILE PRINCIPALE 

Funciile principale realizate sunt: 

• msurarea coordonatelor X,Y ale 

pendulului; 

• autoreglarea sistemului optic 

(feedback pe semnalul obinut de la 

CCD); 

• reglarea intensitii luminoase la 

fiecare msurare; 

• afiarea în local a coordonatelor 

firului de pendul; 

• afiarea în local de mesaje privind 

starea telependulului; 

• salvarea periodic a coordonatelor 

în memoria nevolatil; 

• rata msurrilor prestabil; 

• împachetarea datelor cu datare în 

timp real; 

• ceasul intern de timp real cu 

acumulator propriu; 

• conversie pixeli-mm a 

coordonatelor firului de pendul; 

• msurarea coordonatelor X,Y ale 

firului la comanda de la distan; 

• descrcarea datele salvate la PC ; 

• vizualizarea / tergerea datelor 

salvate. 

5. CARACTERISTICI TEHNICE 

• domeniul maxim de msurare: 

- pe direcia mal stâng-mal drept 80 mm 

- pe direcia amonte-aval 80 mm 

• precizia de msurare ± 0,002mm 

• rezoluia de msurare 0,00125 mm 

• timpul maxim de msurare 1 sec 

• rata de msurare presetabila 

• referine presetabile pe axele X,Y 

• moduri de operare: 

- msurtori comandate de la distan 

- msurtori automate la intervale programabile 

• zona de funcionare: N (climat temperat conf. STAS 6535-89) 

• categoria de exploatare: 3 conf. STAS 6692-89 

• alimentarea 

24Vcc /500mA 

• dimensiuni 400x400x200mm


6. INTEGRAREA ÎN SISTEM 

Pentru comunicaia cu telependulul este 

necesar un terminal cu interfaa asincron 

standard. Programul de PC interogheaz 

periodic Telependulul TP201, iar acesta 

trimite ultima valoare msurat. Se conec- 

teaz pân la 30 telependule într-un sistem 

automat de supraveghere al unui baraj. 

Citirea de la distan a datelor i telecomanda 

telependulelor se realizeaz cu un calculator 

concentrator de tip PC pe care este instalat 

programul de aplicaie TP_COM. 

POST CENTRAL 

SUPRAVEGHERE 

Mod 

MOD 

UP 

Fire 

linie 

Retea 

MOD 

Mod 

CONCENTRATOR 

DATE 

UP 

485/ 

Retea 

UP 

Retea 

SURS 

A 

Retea 

locala 

Bloc 

electro 

nic 

telepe 

Retea 

alimentare 

24Vcc 

Bloc 

electro 

nic 

telep 

PUNCTE 

MASURARE 

DEPLASARE 

Bloc 

electro 

nic 

telep 

Figura 4 Sistem de monitorizare cu reea de telependule CCD


63 

7. CONCLUZII 

Telependulul optic are avantajul, relativ la 

pendulul mecanic, c nu conine piese 

mecanice în micarea, eviiindu-se astfel 

neplcerile cauzate de uzurile mecanice 

aprute în timp. Unitatea central a 

telependulului optic poate fi conectat cu un 

PLC utilizându-se astfel protocoalele de 

comunicaie cu modem telefonic sau radio i 

afiare pe TD din PLC. 

BIBLIGRAFIE 

[1] Non-contact Measurement of Damaged 

External Tapered Thread Based on Linear 

Array CCD - F J He, R J Zhang, Z J Du and 

X M Cui International Symposium on 

Instrumentation Science and Technology 

Conference Series 48 (2006); 

[2] USA–Patent 5808726-Distance measurement 

apparatus Egawa, Akira (Kawasaki, JP) Suzuki, 

Ryoichi (Yokohama, JP); 

[3] Documentaie TAOS Linear Sensor Array 

- TSL210 – 640 x 1; 

[4] Documentaie SILL OPTICS - 

Supertelecentric led condenser. 

AR934-12.doc


Decision assistance system for environment quality analyse 

Gabriel VLDU 

IPA CIFATT Craiova, e-mail: office@ipacv.ro 

Irina CONSTANTINESCU 


Mircea BADEA 


Abstract: This paper propose to present a system for environment monitoring and chemical accident 

prevention. The technological accident will be minimised in the pollution units, so it can be at a tolerant 

acceptance level, risk will be avoid and emergencies that may occur will be promptly solved. The system 

achievement is that it informs the decision factors in territory about what decisions shall be carried-out 

while an accident may occur. The primary scientific object is a complete connection between all concepts of 

technological accident, technological and noxis monitoring, industrial security, chemical alarm plan, 

avoiding accidents, simulation, assisted decision, prognosis, modelling gasses dispersion in the atmosphere 

in relief and meteorological conditions. The system main target (in the pollution units) is to avoid, to launch 

the alarm before accidents occur, and to maintain the installations at technological levels that doesn’t affect 

medium factors. The system role (in areas District Council-Civil Protection Authorities -Environment 

Protection Agency) is monitoring the pollution units, the areas that might be affected by the pollution factors 

for keeping them at a tolerable acceptance level and to minimise their effect. 

Keywords: SCADA System, environment monitoring, software packages. 

Introduction 

To design a environmental monitoring and 

prognosis system in technological risk 

conditions also with a complete analysis 

about the impact over populated areas we 

must consider the main goal, the objectivescomplexity, 

area, technological risk 

conditions and environmental potential 

pollution. To evaluate and anticipate the 

impact of the pollutants in air there are 

created concentric network in the 

technological installation, round about the 

pollution units and close by the impact areas. 

The technological risk will be minimised in 

the pollution units, so it can be at a tolerant 

acceptance level, risk will be avoid and 

emergencies that may occur will be promptly 

solved. The system main target is to avoid, to 

launch the alarm before accidents occur, and 

to maintain the installations at technological 

levels that doesn’t affect medium factors. The 

system role, in areas is monitoring the 

pollution units, the areas that might be 

affected by the pollution factors for keeping 

the at a tolerance acceptance level and to 

minimise their effect. Regarding the type of 

the pollution agent and its aggressive impact 

over human factor complex system are 

chosen to eliminate this problem. A special 

chase is the chemical plant that is located 

near-by a power-plant unit and that are due to 

the fact that noxious effect is cumulated. 

Objectives 

The main target for what the system is 

created, is sustaining the human effort 

(correlated in the monitoring units, in 

intervention and supervision organisms), in 

taking the optimum solutions while the 

chemical alarm may occur, and that can be 

realise by informing the personnel about the 

specific measures he must take at his work 

place. The system finality will consist in a 

united and operative database that will be 

able to present solutions for avoiding or/and 

minimising risks for the units and near-by 

areas and regions. The system has four 4 

components:


65 

A) preventive through monitoring the 

technological process, the medium 

and the utilities 

B) Analysis and prognosis if a chemical 

accident may occur 

C) A complete information of the 

decision factors 

D) Evaluator- fulfilling the conditions of 

medium nonpollution- for APM 

Factors regarding chemical alarm plan are: 

- local dispatcher that determents the 

cause of the chemical focal (in the unit 

and powerplant) 

- chemical alarm dispatcher that puts in 

use the chemical alarm plan if an accident 

that affects not only the unit but also the 

near-by areas occurs 

- Civil Protection Agency in the accident 

spreads and affects outside unit areas 

This system is conceived regarding these 

aspects but also regarding regional aspects; 

the sub-system-involving prognosis, 

monitoring, simulation and information 

consists in 

- to determine, locate the place were the 

focal is 

- to determine the noxis quantity dropped 

- to determinate and to present the 

meteorological parameters 

- to determine the cloud shape and his 

evolution using a mathematical algorithm 

- to present the evolution on the region 

map 

- to inform in a real time the decision 

factors in the unit, powerplant and in the 

region 

The system offers, in an operative guide 

regime (offers a maximum of information’s 

to allow the human factor to take the 

optimum decision), all the information’s 

needed to choose the right scenario, every 

type of scenario being finalised in an 

adequate plan. 

Data module for technological process 

This module role is monitoring the 

technological parameters, framing through 

the limits, alarming and avoiding if accident 

occur (break conducts followed by noxious 

emission), locating the exact place and the 

quantity of noxious emission. Generally you 

observe pressures, debits, temperatures in the 

established areas for risk study (fig. 1) 

Fig. 1. Data module for technological process


Sensors, analysis modules 

This module role is monitoring the noxious 

and gases emission in the atmosphere. 

Regarding the type of the gases, noxious 

emissions that can affect the environment and 

the checking points number sensors analysers 

and specific systems are being chosen. A 

great attention must be paid to the system 

maintenance and to the calibration of the 

measure sensors. For the dispersion analyses 

and the prognosis evolution calculation, 

sensors and analysers will be ordered in 

adequate places (locations) and for gases they 

will be ordered on different level (verticals, 

concentric on horizontals) 

Meteorological module 

The meteorological module’s role is to track 

down atmospheric conditions in an automatic 

mode, where noxious emission takes place. If 

the analysis involves larger areas affected, the 

meteorological stations are ordered so they 

can relief wind directions and their 

characteristics: temperature, direction, 

speeds, solar radiation, humidity, raining 

quantities, atmospheric pressure. 

Data acquisition 

for H2S sensors 

1 

2 

SA 

-UC with LCD 

RS 485 

communication 

3 

4 

5 

Chemical alarm Responsible 

SM 

Tehnological area 

Dispatching 

. . . . . 

. . . . . 

Fig. 2. Sensors, analysis modules


67 

Gases dispersion, noxious emissions, 

impact area prognosis, simulation module 

The main factors involved in the atmospheric 

dispersion are: 

1. Severe unstable atmospheric conditions 

lead to a quick mix and dispersion of the 

particles in the air, while stable atmospheric 

conditions prohibit that to happen 

2. Mechanical turbulence due to the wind, 

soils, forests and hills 

3. Existing temperature gradient till 30 

meters high in the atmosphere 

4. The most unfavourable condition for 

dispersion is the quiet atmosphere from silent 

nights and early mornings 

Another unfavourable situation for the 

dispersion is a not enough higher ceiling. The 

most favourable situation for a dispersion is a 

strong sun and wind breezes in the superior 

levels of the atmosphere. During the 

exploding gas recipients, the area affected is 

not limited, so you have to consider also the 

following factors: 

A. Direction of the gas (horizontal, 

vertical), speed and wind direction 

B. General weather conditions and field 

topography 

C. Speed, temperature and gas emission 

concentration 

The potential risks due to the stocking and 

transporting the chemical products are being 

analysed in 3 different stages: 

- identify the risk 

- analyse the impacts 

- analyse the causes of the risk and 

minimise them 

The dilution of a toxic cloud in unstable 

atmosphere conditions is much quicker and 

achieves a shorter distance than in stable 

conditions: from this we deduce risks in 

stable conditions (no wind and clouds are on 

a low level) The possible effects of pollution, 

chemical accident from power plants and the 

impact towards populated areas are being 

emphasized by a program packet that presents 

the evolution of the toxic cloud and the 

dispersion analysis through a map. Through 

the screen the noxious and gas emission is 

being presented also with the speed and wind 

direction and the stability class. The required 

data’s that allows a visualization of the 

medium concentration are being provided by 

packet programs that modulates the pollution 

emission processes for the gas, liquid or 

biphasic stages, evaporation, dispersion, heat 

radiation, explosions and fires. The medium 

concentrations for a long period and for an 

existing receiver are important as a distinct 

field; every checkpoint of the module 

network (concentric toward the pollution 

source) has two plane co-ordinates and an 

attached concentration class. 

It was elaborated calculus programs, to 

evaluate, in emergency situations, the 

magnitude of impact area. They are built on 

the basis of usual mathematical models for 

plant noxious hold-up, release flow rate of the 

pollutant and atmospherically dispersion of 

toxic gas dispersion and use dimensional size 

of the plant (volumes, diameters, etc.) and 

automatic monitored data (technological 

parameters, pollutant concentration in air, 

meteorological parameters). Decision factors 

will receive calculus results (fig. 3). These 

programs are essential components of an 

information system for emergency plan. 

The distinctive value field of the 

concentration classes is assimilated to a data 

field type Soundings and it is overpass in a 

batch-mode through a digital map of the 

interest area, thus obtaining a geographical 

link in time between the pollution substance 

(dispersion, medium concentrations) and the 

environment. Time studying evolution of the 

environment concentrations, in a 

geographical context allows reaching at the 

results classified in: 

- geographical results. We obtain these 

results from direct information’s as: 

pollution cloud dimensions, affected area 

parameters- classes of concentrations, 

regions, districts that are affected 

- the impact towards medium, population in 

particular, by processing a data base that 

contains information’s about the attributes 

of the affected objects, presenting the 

number of inhabitants that are affected by 

lethal concentrations.

68 


25 

P (bar) 

20 

15 

10 

5 

Q liquid (kg) 

45000 

40000 

35000 

30000 

25000 

local 

storage vessel 

20000 

0 

15000 

0 2000 4000 Q 6000 gas (kg) 8000 

10000 time (s) 

45000 

c 5000 - inside pressure vs. time 40000 

0 

35000 

0 2000 4000 6000 8000 

30000 

time (s) 

25000 

b - quantity 20000 of released liquid vs. time 

local 

stack 

15000 

10000 

5000 

25000000 

C (mg/m3) 

0 

0 2000 200000004000 6000 8000 

time (s) 

15000000 

b - quantity of released gas vs. time 

10000000 

C (mg/m3) 

100 

600 

X (m) 

1100 

1600 

2100 

5000000 

0 

0 50 100 150 200 

t (s) 

Instantaneous emission 0 - ground level concentration 

100 

200 

300 

X (m) 

400 0 10 20 30 40 

Y (m) 

2000 

1800 

1600 

1400 

1200 

1000 

800 

600 

400 

200 

0 

Continuous emission - ground level concentration 

Fig. 3 Emission and dispersion calculus results 

This software programs packet are 

implemented by the Environment Protection 

Agency and also by the Civil Protection 

Inspectorate. This is an open system that can 

have a flexible configuration regarding the 

complexity of the situation and the level of 

supervision, a real LEGO of the environment 

protection and can be extended for different 

risk factors that may occur.

Part II - IPA SA

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