Automatique
Conception, Modélisation et Commande d’un UAV de type Quadrirotor.
Ce mémoire est reparti en deux volets : d’une part, l'établissement du modèle dynamique et l'étude de la commande PID d'un UAV quadrirotor. D'autres part, la réalisation d'une carte autopilote pour quadrirotors basée sur la carte de développement ARDUINO MEGA. Cette dernière doit être capable d'acquérir et de traiter les informations issues des capteurs MPU6050, Ultrason et le GPS) en temps réel, de commander et contrôler le quadrirotor a base de régulateur PID. Les résultats obtenus par les capteurs seront affichés sur « MultiWii » une interface graphique représentant la station au sol. Par conséquent, une comparaison est faite entre la carte réalisée et une carte Autopilote de type open source "PIXHAWK cube 2.1". Voir les détails
Mots clés : Quadrirotors, Autopilote, Arduino MEGA, MPU6050, ultrason, GPS, commande PID, modèle mathématique, MultiWii, station au sol, QGroundControl, PIXHAWK cube 2.1.
A new robust tilt-PID controller based upon an automatic selection of adjustable fractional weights for permanent magnet synchronous motor drive control
This paper focuses on achieving a good trade-off between performance and robustness for a class of uncertainty models including unstructured multiplicative uncertainties. In robust control, the simultaneous improvement of the two secure margins for nominal performances and robust stability using a standard controller structure represents two contradictory objectives and guaranteeing simultaneously of these goals represents therefore a major challenge for most researchers. In this context, a robust tilt-proportional integral derivative (T-PID) controller synthesized with an automatic selection of adjustable fractional weights (AFWs) is discussed in our work. Their parameters are optimized through solving a weighted-mixed sensitivity problem using an optimization tool which is based on the genetic algorithm. This problem is formulated from performance and robustness requirements where a fitness function is accordingly determined. Furthermore, thus its search space is built according to some guidelines for ensuring an automatic selection of adequate AFWs. The proposed constrained optimization problem is initialized by using arbitrary T-PID speed controller as well as through initial fixed integer weights (FIWs) which were chosen previously by the designer. To highlight the proposed control strategy, the synthesized robust T-PID speed controller is applied on the permanent magnet synchronous motor. Their performance and robustness are compared to those provided by an integer-order PID (IO-PID) and two conventional fractional-order PID (FO-PID) controllers. This comparison reveals superiority of the proposed robust T-PID controller over the remaining controllers in terms of robustness with reduced control energy. Voir les détails
Mots clés : Weighted-mixed sensitivity problem, Tilt-proportional integral derivative controller, Fractional-order FO-PID speed controller, Permanent magnet synchronous motor
Auto-control technique using gradient method based on radial basis function neural networks to control of an activated sludge process of wastewater treatment
Dissolved oxygen (DO) concentration is a key variable in the activated sludge wastewater treatment processes. In this paper, an auto control strategy based on Euler method and gradient method with radial basis function (RBF) neural networks (NNs) is proposed to solve the DO concentration control problem in an activated sludge process of wastewater treatment. The control purpose is to maintain the dissolved oxygen concentration in the aerated tank for having the substrate concentration within the standard limits established by legislation of wastewater treatment. For that reason, a new proposed control strategy based on gradient descent method and RBF neural network has been used. Compared with RBF neural network PI control, the obtained results show the effectiveness in terms of both transient and steady performances of proposed control method for dissolved oxygen control in the activated sludge wastewater treatment processes. Voir les détails
Mots clés : activated sludge process, Wastewater treatment, Gradient descent algorithm, RBF neural network, PI control
New Optimal Control of Permanent Magnet DC Motor for Photovoltaic Wire Feeder Systems
This article aims to improve the permanent magnet DC (PMDC) motor performance for photovoltaic (PV) wire-feeder systems (PVWFSs) of arc welding machines. The considered technique is designed by direct speed control based on optimal Fractional-order Fuzzy PID FO-Fuzzy-PID controller. The purpose is to ensure optimal control of wire feed speed reference to reduce torque ripples and hence, the performance of the WFS is improved. The dynamic reaction of the proposed solar PVWFS relies upon the scaling factors of FO-Fuzzy-PID controller, which are optimized by using teaching-learning algorithm based on Particle Swarm Optimization (PSO) method. The maximum power point tracking (MPPT) is achieved using an intelligent FO-Fuzzy-PID current controller based Perturb and Observe (P&O) MPPT algorithm. The PVWFS system incorporating the proposed method is tested and compared with the conventional PID control scheme under different weather conditions. The simulation of the proposed system by MATLAB\SIMULINK is carried out. The simulation results indicate the effectiveness of the considered control strategy in terms of the reduction in torque oscillations, optimizing electrical power and wire feed speed. Voir les détails
Mots clés : Solar photovoltaic (PV) module, wire feeder systems (WFSs), DC-DC buck converter, MPPT control, FO-Fuzzy PID controller, Particle Swarm Optimization (PSO) algorithm
Maximum power extraction framework using robust fractional-order feedback linearization control and GM-CPSO for PMSG-based WECS
The most important issue in the use of wind energy conversion systems is to ensure maximum power extraction in terms of efficiency. Therefore, maximum power point tracking algorithms are as important as the maximum power point tracking controller. In this study, maximum power extraction frameworks operating the state-of-the-art optimization methods are presented for permanent magnet synchronous generator–based wind energy conversion system. These frameworks consist of a Gauss map–based chaotic particle swarm optimization and a hybrid maximum power point tracking approach that combines feedback linearization technique with fractional-order calculus. The feedback linearization control strategy can fully decouple and linearize the original state variables of the nonlinear system and thus provide an optimal controller crossing wide-range operating conditions. The objective is to maintain the tip speed ratio at its optimal value, which implies the use of a rotational speed loop. The method is based on the feedback linearization technique and the fractional control theory. Gauss map–based chaotic particle swarm optimization, which is a remarkable and recent optimization technique, is utilized to achieve optimum coefficients to efficiently ensure the maximum power point tracking operation in here. A simulation study is carried out on a 3-kW wind energy conversion system to show the effectiveness of the proposed control scheme. Voir les détails
Mots clés : Permanent Magnet Synchronous generator, Maximum Power Point Tracking, Feedback linearization control, fractional-order theory, Gauss map–based chaotic particle swarm optimization
ANALYSE, REGLAGE ET CONCEPTION DES CORRECTEURS PIλDμ D’ORDRE FRACTIONNAIRE POUR LA COMMANDE DES SYSTEMES
Récemment, les opérateurs et les systèmes d’ordre fractionnaire ont investi tous les domaines de la commande classique par leur utilisation dans la conception de correcteurs et d’algorithmes pour la commande des systèmes dynamiques. Malgré l’introduction de beaucoup de correcteurs et d’algorithmes d’ordre fractionnaire, un travail de recherche continu et intensif pour le développement de nouvelles techniques de commande d’ordre fractionnaire est toujours en cours pour le rehaussement et l’amélioration de la qualité des performances et de la robustesse des systèmes de commande. Dans ce travail, des méthodes de conception de correcteurs fractionnaires en utilisant les opérateurs et les systèmes fractionnaires ont été développées pour des systèmes de commande à retour unitaire dont les processus sont représentés par un modèle du premier ordre avec retard afin d’améliorer la qualité de ses performances caractéristiques et sa robustesse. Des exemples illustratifs ont été présentés pour valider l’efficacité et la flexibilité des méthodes proposées dans la conception des correcteurs fractionnaires. Les résultats de simulation obtenus ont été comparés à ceux obtenus en utilisant des correcteurs classiques et d'ordre fractionnaires pour les mêmes systèmes pour montrer l'amélioration des performances caractéristiques et de la robustesse apportées par les correcteurs fractionnaires proposés Voir les détails
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Development of photovoltaic cell models using fundamental modeling approaches
In this paper, three advanced modelling approaches will be performed to well describe the actual behavior of photovoltaic (PV) cells, in which some total solar irradiance changes are considered. The first one uses a specific solar cell provided by the Sim-Electronics tool of the Matlab software. It is used to simulate the actual behavior of PV cells instead of the conventional electrical circuit based on either single or double diodes. The second approach adopts some physical components provided by the Simscape library to reach the same above mentioned goal. The third approach uses the Simulink blocks to build the mathematical equations describing the PV cell behavior, in which some mathematical operators and functions are used. The three proposed models have the ability to predict the actual behavior of PV cells under different weather conditions. This can improve the extraction of the maximum power and contribute even to the synthesis of the appropriate controller. The performances assessment of each proposed model is established in term of the provided output power as well as the generated current and voltage. Voir les détails
Mots clés : PV cell, Simulink, Simscape, Simelectronics, PV mode
A Comparison Study: Direct and Indirect ModeControl of Perturb and Observe-MPPT Algorithmsfor Photovoltaic System
The Perturb and Observe P&O algorithm hasbeen widely used in most real-world applications due to itssimplicity of implementation in the control loops. Its main idea isto adjust the operating point of photovoltaic PV panels to ensurea good tracking behavior of a desired Maximum Power PointMPP. The P&O algorithm is one of the most used MPPTalgorithms to extract the electrical energy of PV panels underdifferent weather conditions. This can be done via the directcontrol mode of the DC-DC boost converter which commonlylinked by an external resistive load. However, the given electricalpower of the P&O-MPPT algorithm becomes fluctuating in thesmall time range, especially when the current MPP is graduallyapproaching the desired one. It provides unfortunately a steadystatepower oscillation problem and a loss of electrical energy at asudden change of climatic conditions. The indirect control modeof the DC-DC boost converter via P&O-MPPT algorithm isadopted as an alternative key to avoid the above mentioneddrawbacks where electrical performances are well enhanced interm of transient and steady-states of the given output powerresponse, the MPP tracking accuracy, the given electrical energyratio and so on. This goal can be reached through the followingsteps. The desired reference voltage perturbation is firstlycomputed by the standard P&O algorithm using the MPPmeasurements recorded through the actual PV panel at thestandard test condition STC (i.e., nominal absolute temperatureand nominal solar irradiance). It then compared by the actualvoltage perturbation generated by the closed loop P&O-MPPTscheme, providing thus the discrepancy voltage perturbation.Finally, a Proportional-Integral-Derivative PID controller givenin the P&O-MPPT inner loop scheme is used to mitigate as muchas possible the previous voltage error perturbation. This yields adesired duty cycle perturbation of the DC-DC boost converterwhich allowing reaching a good trade-off between both transientstatespeed and steady-state stationary of the output powerresponse. Simulation results confirm the effectiveness of theindirect control mode of the P&O –MPPT algorithm over thedirect control mode of same algorithm for several suddenchanges in weather conditions and wide variations of the resistiveload. Voir les détails
Mots clés : PV system, Boost converter, P&O algorithm, Direct and indirect control modes
Modélisation et commande d’un système éolienne
Ce travail vise principalement à apporter une contribution à la modélisation, le contrôle et l’optimisation d’un système à énergie renouvelable basé sur l’énergie du vent en utilisant les techniques de commande et d’optimisation modernes. Après la modélisation de la chaîne de conversion d’énergie éolienne complète avec exploitation de la commande MPPT, deux types de contrôle ont fait l’objet de l’analyse pour le contrôle de couple électromagnétique: la commande On-Off et la commande par mode glissant. D’après les résultats de simulation obtenus, la commande On- Off présente de meilleures performances pour un système invariant. Dans le cas où le système est soumis à des variations paramétriques, deux stratégies de contrôle sont apparus comme concurrentielles à la technique de contrôle On-Off à savoir la commande On-Off floue et la commande par mode glissant floue. Les résultats obtenus mettent en évidence l’efficacité des stratégies de commande proposées en terme de robustesse. Afin d'extraire la puissance maximale du SCEE, l'objectif de contrôle peut être formulé comme un problème d'optimisation, et il existe une certaine difficulté à trouver les paramètres du contrôleur. Pour atteindre notre objectif, nous avons opté pour les algorithmes d'optimisation multi-objectifs: MOPSO et POGWO. L’amélioration des résultats obtenus en simulation a été validée comparativement aux travaux des articles cités en bibliographie. Voir les détails
Mots clés : MPPT, Commande On-Off, Mode glissant, logique flou, optimisation, Machine électriques triphasés, Les algorithmes de contrôles, Eolienne, GACE
Study of a double fed induction generator usingmatrix converter: Case of wind energy conversionsystem
Due to the growing of the power electronics, especial attention has been given to the use ofnew generation of power converters, AC/AC matrix converter to which provide a directpower converter AC/AC, bi-directional power flow, almost sinusoidal input and outputwaveform. In this paper, we present the performance study of a variable-speed windturbine based on doubly fed induction generator fed by matrix converter using themaximum power point tracking method to extract the maximum power available. Thewhole system is presented in d-q-synchronous reference frame. The control scheme istested and the performances are evaluated by simulation results. The simulation resultsobtained under MatLab/Simulink show the effectiveness and validity of the consideredcontrol. Voir les détails
Mots clés : Wind turbine, Control, Maximum power tracking, matrix converter, doubly fed induction generator