Η παρούσα διδακτορική διατριβή αναλύει και προτείνει κάποιες νέες λύσεις και μεθοδολογίες όσον αφορά στο πρόβλημα της βέλτιστης απομάστευσης ενέργειας από ένα αιολικό σύστημα. Στο πρώτο μέρος, προτείνεται μια νέα μεθοδολογία για τη βελτιστοποίηση της εκμετάλλευσης του ανέμου σε μια συγκεκριμένη περιοχή, καταλήγοντας στη βέλτιστη χωροταξική τοποθέτηση των ανεμογεννητριών σε ένα αιολικό πάρκο. Στο δεύτερο μέρος, ο σκοπός της βελτιστοποίησης είναι η μεγιστοποίηση της παραγόμενης ισχύος για κάθε τυχαία ταχύτητα ανέμου, μέσω της ανάπτυξης βέλτιστων τεχνικών ελέγχου. Και στις δύο περιπτώσεις, η ανάλυση γίνεται με τη χρήση μοντέλων τα οποία αναπτύχθηκαν στο περιβάλλον του προγράμματος Matlab και τον υπολογιστικών εργαλείων που παρέχει αυτό. Τα μοντέλα που δημιουργήθηκαν, μας οδήγησαν σε μια σειρά προσομοιώσεων οι οποίες επαλήθευσαν τη θεωρητική ανάλυση και επιβεβαίωσαν ότι οι πρωτότυπες λύσεις που προτείνονται δίνουν βελτιστοποιημένα αποτελέσματα σε σχέση με αντίστοιχες γνωστές αναλύσεις. Πιο συγκεκριμένα, το πρώτο μέρος αυτής της διατριβής επικεντρώνεται στη βέλτιστη επιλογή τόσο του αριθμού, όσο και της θέσης των ανεμογεννητριών σε μια συγκεκριμένη γεωγραφική περιοχή. Το κριτήριο που χρησιμοποιείται για την βελτιστοποίηση είναι η μέγιστη παραγωγή ενέργειας με το χαμηλότερο κόστος. Στην ανάλυση αυτή, εισάγεται μια νέα διαδικασία προσέγγισης αυτού του προβλήματος με τη χρήση της Μεθόδου Προσομοίωσης Μόντε Κάρλο. Στην παρούσα ανάλυση, όπως και σε παλιότερες αντίστοιχες, χρησιμοποιείται το ίδιο κριτήριο βελτιστοποίησης και γίνονται οι ίδιες παραδοχές, προκειμένου τα αποτελέσματα να είναι συγκρίσιμα. Τα αποτελέσματα που παρουσιάζονται είναι πολύ καλύτερα και όσον αφορά στην παραγόμενη ισχύ αλλά και το κριτήριο βελτιστοποίησης. Επιπρόσθετα, εξάγονται σημαντικά συμπεράσματα σχετικά με το μέγιστο αριθμό των ανεμογεννητριών και την χωροταξική τους τοποθέτηση, τα οποία επαληθεύουν ότι η προτεινόμενη μέθοδος είναι ένα λειτουργικό εργαλείο για την απόφαση τοποθέτησης ανεμογεννητριών σε ένα αιολικό πάρκο. Στο δεύτερο μέρος, που είναι και πιο εκτεταμένο, σκοπός είναι η σχεδίαση νέων ελεγκτών υψηλής απόδοσης, οι οποίοι επιτυγχάνουν τη μέγιστη παραγωγή ισχύος για συστήματα ανεμογεννητριών μεταβλητών στροφών. Πιο συγκεκριμένα, αναλύεται ένα σύστημα ανεμογεννήτριας το οποίο αποτελείται από επαγωγική γεννήτρια βραχυκυκλωμένου κλωβού που συνδέεται στο δίκτυο με πλήρως ελεγχόμενο ac/dc/ac μετατροπέα με IGBT στοιχεία. Αρχικά παρουσιάζεται μια ανάλυση των μεθόδων που χρησιμοποιούνται σήμερα για τη μεγιστοποίηση και τον έλεγχο της ισχύος. Με βάση αυτή την ανάλυση, προτείνοντες εναλλακτικές λύσεις που είναι λιγότερο πολύπλοκες, πιο ακριβείς και πιο εύκολα εφαρμόσιμες, ένα γεγονός που αποδεικνύεται μέσω της θεωρητικής ανάλυσης. Για το σκοπό αυτό αναπτύχθηκαν και προτάθηκαν κατάλληλα μη γραμμικά μοντέλα για το σύστημα της ανεμογεννήτριας, για την περίπτωση της λειτουργίας υπό μεταβλητή, προσαρμοζόμενη ταχύτητα. Η εκτενής μαθηματική ανάλυση απέδειξε ότι το αρχικό μη γραμμικό σύστημα τηρεί τη θεμελιώδη ιδιότητα των Euler-Lagrange συστημάτων, την παθητικότητα. Αυτό σημαίνει πως το σύστημα έχει απόσβεση τόσο στο ηλεκτρικό όσο και στο μηχανικό μέρος. Επίσης, γίνεται ανάλυση του εφαρμοζόμενου σχήματος του διανυσματικού ελέγχου. Η ανάλυση αυτή αποδεικνύει ότι με κατάλληλη μετατροπή και προσαρμογή των PI ελεγκτών που χρησιμοποιούνται στην πλευρά της γεννήτριας και σημαντικές απλοποιήσεις του σχήματος του παραδοσιακού διανυσματικού ελέγχου, προκύπτουν δύο διαφορετικά σχήματα ελέγχου τα οποία επιτυγχάνουν αυτόματα τον προσανατολισμό στο πεδίο που απαιτείται από το διανυσματικό έλεγχο, ενώ διατηρούν και αυξάνουν την απόσβεση του αρχικού συστήματος. Οι έλεγχοι αυτοί επιτυγχάνουν εξαιρετική ρύθμιση των στροφών λειτουργίας της γεννήτριας σύμφωνα με την ταχύτητα του ανέμου, έτσι ώστε να οδηγούν στη βέλτιστη λειτουργία, δηλαδή αυτή της μέγιστης δυνατής εξαγόμενης ισχύος. Το πρώτο σχήμα ελέγχου είναι απευθείας συγκρίσιμο με τις υπάρχουσες εφαρμογές του διανυσματικού ελέγχου, ενώ το δεύτερο εισάγει μια πρωτοποριακή τεχνική, η οποία βελτιώνει σημαντικά την απόκριση του συστήματος. Ανάλογες βελτιώσεις προτείνονται και για την πλευρά του μετατροπέα προς την πλευρά της σύνδεσης με το δίκτυο της ηλεκτρικής ενέργειας. Και για αυτή την περίπτωση αποδεικνύεται ότι ο προτεινόμενος σχεδιασμός μπορεί να δώσει απλοποιημένα σχήματα ελέγχου πολύ αποδοτικά όμως για τη διαμόρφωση της ποιότητας της παραγόμενης ισχύος Έτσι, επιτυγχάνεται πλήρης αντιστάθμιση της αέργου ισχύος με λειτουργία μοναδιαίου συντελεστή ισχύος της ανεμογεννήτριας. Επιπρόσθετα, επιτυγχάνεται η σαφής σταθεροποίηση της λειτουργίας της διασύνδεσης συνεχούς ρεύματος σε λειτουργία σταθερής dc τάσης. Οι αναλυτικές προσομοιώσεις οι οποίες διεξήχθησαν, βασίζονται σε ρεαλιστικά σενάρια λειτουργίας. Σύμφωνα με αυτά η απαίτηση για ρύθμιση της ταχύτητας στην βέλτιστη τιμή της συμβαίνει την ίδια χρονική στιγμή που εμφανίζεται αλλαγή της παρεχόμενης ισχύος και ροπής από τον άνεμο. Τα αποτελέσματα της προσομοίωσης επαληθεύουν τη θεωρητική ανάλυση και δείχνουν ότι και τα δύο προτεινόμενα σχήματα ελέγχου επιτυγχάνουν μεγιστοποίηση στην παραγωγή ισχύος με τρόπο αποδοτικό και με τους αναμενόμενους χρόνους απόκρισης. Συγκρίσεις με υπάρχουσες αντίστοιχες τεχνικές ελέγχου δείχνουν την υπεροχή των προτεινόμενων σχημάτων ελέγχου και την ικανοποιητική λειτουργία τους. / This dissertation analyses and suggests some efficient solutions for the optimization problem of the available power in a wind system. The thesis is divided into two parts. In the first part, a new methodology is proposed for optimizing the manipulation of wind in a certain area, based on the optimal placement of wind turbines in wind parks. In the second part, the purpose of the optimization is to maximize the power production from the wind, through the development of new control techniques. In both cases, the analysis is made by using detailed nonlinear models, which were developed in computational environment of the Matlab program and all the computational tools that were available. The models that were developed lead us to a series of simulations that confirm the theoretical analysis and suggest original solutions and optimized results in comparison to known ones. Particularly, the first part of this thesis is concentrated in the optimal selection of the number and the positioning of the wind turbines in a certain geographic region. The criterion used for the optimization is the maximum power production with the minimum cost. In this analysis a novel procedure is introduced, based on the Monte Carlo Simulation Method. As in previous studies, we used the same optimization criterion and the other conditions in order the results to be comparable. The presented results are far better as long it concern the maximum power production and the optimization factor. Furthermore, important conclusions are made for the maximum number of the wind turbines and their location that confirm the proposed method as an efficient tool for the geographic distribution of wind mills in a wind park. In the second part of this dissertation, the goal is to design high efficient and simple controllers that achieve maximum power production for wind turbine systems. Particularly, a variable speed wind generation system is considered consisting by a squirrel cage induction generator connected to the grid by a fully controlled ac/dc/ac IGBT converter. To this end, first it is presented an analysis of the control method, namely the vector control method, which is used today for maximization and control of the active power. Based on this analysis, alternative solutions are proposed, that are less complicated, more accurate and easier to be accomplished, a fact that is proved through a theoretical analysis. Suitable nonlinear models have been developed and proposed for a wind turbine system, for the case of operating under variable, adjustable speed. Comprehensive mathematical analysis proves that the original nonlinear system has the fundamental property of Euler-Lagrange systems, which is passivity. This means that the system is damped in both the electric and the mechanical part. Also, an analysis of the existing, vector control based schemes is conducted. Then, by modifying properly the PI controllers used at the generator side and simplifying decisively the vector control scheme, we propose two different control schemes that simultaneously are free from the field oriented requirement of the vector control while they maintain and increase the damping of the initial system. The first control scheme is directly comparable with the existing vector control applications, while the second introduces an innovated technique that improves substantially the system response. Detailed simulations that carried out are based on realistic operation scenario, which mean that require demand for the adjustment of the speed in its optimal value, at the same time that a change at the supplied by the wind power and torque occurs. The simulation results confirm the theoretical analysis and show, that both the proposed control schemes achieve optimal power production in an efficient manner and in the expected response time.

Cette thèse développe les lois de coordination de systèmes de Lagrange. Elle propose en premier lieu une stratégie complètement décentralisée qui se base sur la technique de cross-coupling pour la commande d'un groupe de robots, appelé réseau, qui synchronisent leurs mouvements en suivant une trajectoire désirée. Cette stratégie est étendue pour faire face à l'incertitude paramétrique des robots ainsi qu’aux retards fréquemment rencontrés dans les applications pratiques de réseaux de communication. Une deuxième architecture basée sur la théorie des graphes est proposée pour les réseaux à leader. L'approche développée est considérée hybride. Une extension adaptative à base de réseaux de neurones est développée pour traiter les cas d'incertitude paramétrique. La stratégie conçue prend en considération les délais dans la réception des données. En se basant sur la notion de système en chaîne, la théorie des graphes, le concept de la passivité et la technique du backstepping, une nouvelle méthodologie de la conception de contrôleur de synchronisation pour une classe de systèmes sous-actionnés est développée. Afin d’avoir la possibilité d’implémenter ces stratégies de contrôle, on a développé une plate-forme d'expérimentation pour la robotique industrielle coopérative. / This thesis investigates the issue of designing decentralized control laws to cooperatively control a team of robot manipulators. The purpose is to synchronize their movements while tracking common desired trajectory. Based on a combination of Lyapunov direct method and cross-coupling technique, To account for unmatched uncertainties, the proposed decentralized control laws are extended to an adaptive synchronization tracking controllers. Moreover, due to communication imperfection, time delay communication problems are considered in the performance analysis of the controllers. Another relevant problem for distributed synchronized systems is the leader-follower control problem. In this strategy, a decentralized control laws based on the backstepping scheme is proposed to deal with a leader-follower multiple robots structure. Based on graph theory, the coordination strategy combines the leader follower control with the decentralized control. The thesis, also considers the cooperative movement of under- actuated manipulators tracking reference trajectories defined by the user. The control problem for a network of class of under-actuated systems is considered. The approach we adopted in this thesis consists in decomposing the under-actuated manipulators into a cascade of passive subsystems that synchronize with he other neighbors subsystems. The resulting synchronized control law is basically a combination of non-regular backstepping procedure aided with some concepts from graph theory. The proposed controllers are validated numerically, assuming that the underlying communication graph is strongly connected. To implement these control strategies, we developed an experimental platform made of three robot manipulators.

L'évolution de l'électronique de puissance depuis ces dernières années est le résultat des enjeux énergétiques actuels qui exigent, entre autres, des architectures de conversion d'énergie capables de traiter des puissances de plus en plus importantes. Parmi les éléments les plus caractéristiques de cette évolution, l'avancement technologique des composants semi-conducteurs (nouveaux composants SiC ou GaN) ainsi que la conception de nouvelles architectures de convertisseurs statiques jouent un rôle important. Parmi ces architectures, différentes associations basées sur la connexion en série et en parallèle de cellules de commutation classiques ont été proposées. Ces associations permettent d'augmenter la puissance traitée par les convertisseurs sans accroitre les contraintes au niveau des interrupteurs. Elles permettent également l'obtention de signaux de sortie d'une meilleure qualité avec des fréquences apparentes de découpage plus importantes. Ces architectures utilisent des éléments de stockage d'énergie qui diminuent les contraintes au niveau des interrupteurs mais qui exigent, en revanche, une régulation précise des grandeurs de tension ou de courant propres à ces éléments. Pour l'association en série, les tensions des condensateurs doivent rester autour d'une fraction de la tension du bus d'entrée. Pour l'association en parallèle, le courant de sortie doit être réparti équitablement entre les différents bras afin d'éviter les phénomènes non linéaires propres aux éléments magnétiques utilisés dans les inductances (séparées ou magnétiquement couplées). Dans la première partie de cette thèse, nous présentons les généralités de l'association en série et parallèle des cellules de commutation. La modélisation des éléments magnétiques utilisés pour la mise en parallèle est également détaillée dans le but d'identifier de possibles sources de déséquilibre sur la répartition du courant de sortie. Une modélisation matricielle est appliquée pour simplifier la relation entre les variables propres à chaque association et les ordres de commande de toutes les cellules. Cette modélisation matricielle sera la base des stratégies de commande que nous avons développées dans la suite de nos travaux. Dans la deuxième partie de cette thèse, nous présentons les différentes stratégies de commande pouvant être appliquées sur ces convertisseurs. Les premières stratégies sont basées sur une approche classique utilisant un modulateur, un générateur d'ordres de commande et des régulateurs de type linéaire pour la régulation des variables internes et externes de chaque association. En termes de modulateurs, nous présentons principalement un modulateur de type PS (Phase Shifted), tandis que quelques applications et résultats sont présentés pour un modulateur de type PD (Phase Disposition). D'autres stratégies basées sur la commande prédictive sont également présentées. La première est la stratégie MPC qui utilise une fonction de coût pour choisir l'état optimal du convertisseur pour chaque période d'échantillonnage. Cette stratégie a été introduite récemment dans le domaine des convertisseurs statiques et présente des avantages liées à la facilité de sa mise en place ainsi qu'aux réponses du système lors des régimes transitoires. La deuxième stratégie, basée sur la commande prédictive, utilise des instants de commutation variables, une fonction de coût simplifiée et une machine d'état. Cette dernière permet de gérer les ordres de commande de toutes les cellules de commutation en fonction des variables à réguler. En plus des avantages liés à la stratégie MPC, sa mise en place est bien plus simple car elle fonctionne à une fréquence de découpage fixe et s'adapte facilement à différents points de fonctionnement. Dans la dernière partie de cette thèse, nous présentons l'implantation expérimentale de ces stratégies afin de valider leur performance sur les convertisseurs multicellulaires. / In the last years, the development in the power electronics field is the result of the current energy challenges. These challenges require power converters able to work with increasingly important powers. Among the most characteristic elements of this development, we can find the technological advancements of the semiconductor devices (based principally in SiC and GaN) and the conception of new power converters topologies. These new power converter topologies are principally based on the serial and parallel association of classical commutation cells. With these associations, the energy treated by the converter can be increased using the current semiconductor technology. The quality of the output signals can also be improved with higher apparent switching frequencies. These associations use elements for storing energy, such as inductors or capacitors. They equally allow the reduction of the constraints on the switches given the higher voltages and currents. However, the use of these elements requires a good control of the capacitors' voltage for the serial connection and a good distribution of the output current among the different phases for the parallel connection. In the parallel connection, when we use Inter Cells Transformers (ICT) instead of classical inductors, all the phase currents reduce their ripples while their frequency is reduced. Nevertheless, some differences between all the phases' currents can entail non-linear phenomena, producing perturbations and instabilities in the system. In the serial connection, the capacitor voltages must stay around a fraction of the input voltage in order to get an optimal multilevel output voltage. In the first part of this thesis, we present the generalities of the serial and parallel association of classical commutation cells. Different models of magnetic elements are used for getting a better representation of an ICT; these models are used for finding possible sources of currents imbalances. A matrix model is used to simplify the relationship between the control variables with the control of each commutation cell. In the second part of this thesis, some control strategies that can be applied with these converters are presented. The first strategy is based on a conventional approach that uses a modulator, a state machine for generating the commands of each cell and linear regulators for controlling the internal and external variables (output voltage and currents, capacitors in the serial association and the distribution of the current for the parallel connection). In terms of modulators, we present primarily a PS (Phase Shifted) modulator while some applications and results are presented for a PD (Phase Disposition) modulator. Other strategies based on predictive control are also presented. The first of these strategies is the classical MPC (model predictive control) strategy that uses a cost function to select the optimal state of the converter for each sampling period. This strategy has recently been introduced in the field of static converters and it has several advantages related to the facility of its implementation and the optimal transient responses. The second strategy uses variable switching instants, a simplified cost function and a state machine. The state machine is used to manage the capacitors' voltages and the differential currents (differences between the phase currents) while the cost function is used for controlling the output voltage and current. This strategy is simpler to be implemented, presents fast transient responses and works with a fixed switching frequency in different operating points. In the last part of this thesis, we present the experimental implementation of these strategies in order to validate their performance in the power converters based in the serial and parallel association of classical commutation cells.

Les travaux menés durant cette thèse s'intéressent principalement aux avantages que peut offrir la machine asynchrone à double alimentation (MADA) dans un système de propulsion navale. Ceci est obtenu à travers les degrés de libertés additionnels qu'elle apporte, d'une part, par l'exploitation de la redondance structurelle naturelle, et d'autre part , par les stratégies de contrôle qui lui sont appliquées. La première partie de ce mémoire, présente la modélisation du propulseur innovant. Ce dernier est conçu principalement autour de la MADA comme moteur de propulsion. Il est alimenté par deux onduleurs de tension à Modulation de Largeur d'Impulsion (MLI), et entrainant une hélice à trois pales fixes et symétriques. Plusieurs stratégies de commande ont été introduites pour piloter le système. En effet, des lois de contrôle de type linéaires et non linéaires, associées à des divers modulateurs MLI ont été validées et appliquées à cette structure de propulsion. L'innovation apportée dans le cadre de ces travaux consiste à associer à l'optimisation par conception (machine et convertisseurs d'alimentation), une optimisation par la commande et ce en évaluant l'influence de ces techniques pour deux critères de dimensionnement majeurs, à savoir, les pertes dans les convertisseurs de puissances, et les bruits acoustiques et vibratoires. La propulsion navale, comme tout système embarqué, possède des exigences en matière de qualité de service non seulement en termes de performances mais aussi de fiabilité et de disponibilité. En effet, les systèmes conçus pour ce type d'application doivent assurer et garantir une continuité de service en cas d'apparition de défauts au sein des constituants du système. L'utilisation de la MADA dans les systèmes de propulsion offre une redondance structurelle naturelle et analytique, introduite par la commande, qui permet d'assurer une continuité de service du système en présence d'une défaillance dans la structure. Deux défauts sont ainsi considérés dans cette étude, un défaut de semi-conducteur de puissance dans le convertisseur de puissance et un défaut de capteur vitesse/position. Les stratégies de contrôle proposées, les modèles de propulseur établis ainsi que les reconfigurations adoptées suite aux défauts ont été validées expérimentalement sur les bancs développés au LAPLACE dans le cadre de ces travaux. / This study focuses on the benefits that can be induced by the use of the Double Fed Induction Machine (DFIM) operating in motor mode for marine propulsion systems. It can be achieved by the additional degree of freedom it provides, firstly, by exploiting the natural structural redundancy, and secondly, by the alytical redundancy introduced by applied control strategies. The first part of this thesis presents the modeling of a propeller architected mainly around the DFIM and its load such as a propeller with three fixed and symmetrical blades. Several control strategies have been introduced to control the system, in fact, linear and nonlinear control laws type associated with various modulators have been validated and applied to the propulsion structure. The objective was to evaluate the influence of these techniques for two major design criteria, namely, losses in power converters, and noise and vibration noise. Naval propulsion as any embedded system has requirements for the quality of service not only in performance but also reliability and availability. Indeed, the systems designed for these types of applications must ensure and guarantee continuity of service in response to the failures in system components. The use of MADA in propulsion systems provides a natural structural and analytical redundancies which ensure system service continuity in the presence of a fault in this structure. Two faults are considered in this study, a power semiconductor fault in the power converter and a speed sensor / position failure. Control strategies proposed, the propeller modeling established and reconfigurations adopted following settings have been validated by simulation and experimentally on the real laboratory or industrial benches developed in the context of this study.

[pt] Modelagem e Controle Não Linear de um Veículo Terrestre sobre Suspensão descreve um estudo em dinâmica veicular no qual inicialmente apresenta-se um modelo analítico para representar a geração de forças longitudinais e laterais no contato do pneu com o solo. Em seguida é desenvolvido, para um automóvel de passeio terrestre sobre suspensão, um modelo não linear de 4 graus de liberdade (velocidades longitudinal, lateral, de guinada e de rolagem), e a sua linearização. Expande-se esse modelo para um de 8 graus de liberdade, no qual inclui-se o movimento de rotação axial de cada uma das quatro rodas, e consideram-se os movimentos do veículo somente no plano, sem efeitos de pitch ou bounce, mas apresentando alguma relação de distribuição de cargas devido ao roll. Descrevem-se ainda modelos em Grafos de Ligação para os três dinâmicas de um veículo terrestre (longitudinal, lateral e vertical) e seus acoplamentos, visando futuras análises mais detalhadas desse sistema. Todos os modelos em malha aberta são validados através simulações computacionais em diversas condições típicas de operação. Na segunda parte desse trabalho é apresentada a estratégia proposta para o tratamento do problema de controle direcional do veículo em uma manobra qualquer, empregando a metodologia da linearização por realimentação, tendo como base o modelo linear de 4 graus de liberdade. São analisados os resultados encontrados através de simulação computacional para a malha fechada com diferentes combinações de parâmetros, empregando os modelos não lineares de 4 e 8 graus de liberdade. Conclui-se discutindo a possibilidade de generalização deste procedimento para diferentes aplicações em Dinâmica Veicular. / [en] Modeling and Non Linear Control of a Ground Vehicle's Steering describles a study in vehicle dynamics, which presents an analytic model representing the generation of longitudinal and lateral forces at the contact patch between tire and ground. Next it is developed, for a typical passenger car, a non-linear model with four degrees of freedom (longitudinal, lateral, yaw and roll velocities), and its linearization. This model is then expanded to another one with eight degrees of freedom, which includes the axial rotation of each one of the four wheels, and considers the vehicle's movement only at a known plane, whithoud pitch and bounce effects, but including some load distribution among the wheels, due to roll. Computational simulation in varius typical operation condition validate all open loop models. The second part of this work presents the proposed strategy for directional control of a vehicle at any type of manoeuvre, using the feedback linearization methodology, directly applied to the linear four degrees of freedom model. Theresults obtained trhough computational simulation for a closed loop model with different parameters are analysed using both nonlinear four and eight degrees of freedom models. The possibility of generalizing this procedure to distinct applications in Vehicle Dynamics is, then, discussed.

PAE / O transporte rodoviário é um dos modais mais utilizados para o transporte de passageiros principalmente devido à sua acessibilidade, tanto no contexto nacional como mundial. As organizações buscam métodos e sistemas cada vez mais eficientes para atender de forma satisfatória seus clientes, oferencendo serviços de qualidade e confiáveis. O presente trabalho teve como objetivo propor um modelo matemático de veículos para a minimização de ônibus, evitando ao máximo o desbalanceamento da rede de transporte. O modelo buscou abranger as restrições inerentes aos fluxos em rodoviárias de modo a cobrir todas as viagens de uma tabela de horários já definida, alocando apenas um veículo para cada viagem e aproveitando o mesmo para outras viagens quando possível, atendendo à função objetivo. O modelo foi aplicado à uma empresa de transportes de passageiros com quatro cidades envolvidas e 105 viagens em um tempo de 24 horas. As variáveis e restrições foram identificadas a partir de entrevistas semi -estruturadas e visitas à organização, observando roteiros de viagens a serem cumpridos por dois modelos de ônibus: metropolitanos e articulados. Neste contexto, dois modelos distintos foram montados de forma a atender as viagens, sendo analisadas separadamente. Os resultados definiram um total necessário de 12 ônibus metropolitanos e 4 ônibus articulados para atender às exigências da empresa e da tabela viagens, sendo que todas as restrições foram satisfeitas, detectando -se a necessidade da realização de seis viagens mortas (sem passageiros) para suprir a necessidade de d emanda de ônibus para cada tabela de viagens diárias. Com os resultados, fez-se uma comparação com a programação que a empresa necessitava para cumprir a tabela de viagens, identificando a diminuição de um ônibus metropolitano, sem deixar de cumprir a restrição de autonomia de cada ônibus poder rodar 400 quilômetros sem necessidade de reabastecimento. Algumas melhorias foram identificadasanalisando-se a rede resultante, sendo discutidas ao final da pesquisa e norteando novas intenções de trabalhos futuros. / Road transport is one of the most used modes for passenger transport mainly due to its affordability, in the national and global context. Organizations seek for a better methods and systems to meet the satisfaction of its customers, offering quality and reliable services. This research aimed to propose a vehicle scheduling model to minimize buses, avoiding the transmission system imbalance. The model tried to cover the restrictions inherent about the vehicle flow on bus stations to cover all travel in a given timetable, allocating only one vehicle for each trip and using it for other trips when it is possible, given the objective function. The model was applied to a passenger transportation company with four cities involved and 105 trips in a time of 24 hours. The variables and constraints were identified from semi-structured interviews and visits at organization, identifying the tours to be met by two bus models: articulated and metropolitan. In this context, two different models were fitted to meet the travel , and analyzed separately. The results defined a required total of twelve metropolitan buses and four articulated buses to meet the company and timetable requirements and all constraints were satisfied, detecting the need of perform six deadheading trips (without passengers) to meet the need for demand bus for each table in the daily trips. With the results, a comparison was made between the old programming system adopted by the organization to fulfill the timetable, identifying the reduction of a metropolitan bus, while fulfilling the constraint of autonomy that each bus can travel 400 kilometers. Some improvements were identified by observing the resulting route network, being discussed at the end of the research and guiding for a new works in the future.

Made available in DSpace on 2014-12-17T14:58:24Z (GMT). No. of bitstreams: 1 JoaoDBS_DISSERT.pdf: 2950294 bytes, checksum: b123f316a60d2e367696c4d97c359a71 (MD5) Previous issue date: 2013-11-13 / Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior / The development of non-linear controllers gained space in the theoretical ambit and of practical applications on the moment that the arising of digital computers enabled the implementation of these methodologies. In comparison with the linear controllers more utilized, the non -linear controllers present the advantage of not requiring the linearity of the system to determine the parameters of control, which permits a more efficient control especially when the system presents a high level of non-linearity. Another additional advantage is the reduction of costs, since to obtain the efficient control through linear controllers it is necessary the utilization of sensors and more refined actuators than when it is utilized a non-linear controller. Among the non-linear theories of control, the method of control by gliding ways is detached for being a method that presents more robustness, before uncertainties. It is already confirmed that the adoption of compensation on the region of residual error permits to improve better the performance of these controllers. So, in this work it is described the development of a non-linear controller that looks for an association of strategy of control by gliding ways, with the fuzzy compensation technique. Through the implementation of some strategies of fuzzy compensation, it was searched the one which provided the biggest efficiency before a system with high level of nonlinearities and uncertainties. The electrohydraulic actuator was utilized as an example of research, and the results appoint to two configurations of compensation that permit a bigger reduction of the residual error / O desenvolvimento de controladores n?o lineares ganharam espa?o nos ?mbitos te?rico e de aplica??es pr?ticas no momento que o surgimento de computadores digitais possibilitou a implementa??o destas metodologias. Em compara??o aos controladores lineares mais utilizados, os controladores n?o lineares apresentam a vantagem de n?o necessitarem da lineariza??o do sistema para determinar os par?metros de controle, o que permite um controle mais eficiente principalmente quando o sistema apresenta elevado grau de n?o linearidade. Outra vantagem adicional ? a redu??o dos custos, uma vez que para obter o controle eficiente atrav?s dos controladores lineares ? necess?ria a utiliza??o de sensores e atuadores mais refinados do que quando se utiliza um controlador n?o linear. Dentre as teorias de controle n?o linear, o m?todo de controle por modos deslizantes se destaca por ser um m?todo que apresenta maior robustez frente ?s incertezas. J? ? comprovado que a ado??o de t?cnicas de compensa??o na regi?o do erro residual permite melhorar ainda mais o desempenho desses controladores. Assim, neste trabalho ? descrito o desenvolvimento de um controlador n?o linear que busca a associa??o da estrat?gia de controle por modos deslizantes com a t?cnica de compensa??o fuzzy. Mediante a implementa??o de algumas estrat?gias de compensa??o fuzzy, buscou-se aquela que proporcionasse maior efici?ncia frente a um sistema com elevado grau de n?o linearidades e incertezas. O atuador eletrohidr?ulico foi utilizado como exemplo de estudo, e os resultados apontam para duas configura??es de compensa??o que permitem uma maior redu??o do erro residual

Dans cette thèse, nous étudions des rétroactions visant à stabiliser des systèmes quantiques en temps discret soumis à des mesures quantiques non-destructives (QND), ainsi que la stabilité des filtres quantiques à temps continu. Cette thèse comporte deux parties. Dans une première partie, nous généralisons les méthodes mathématiques sous-jacentes à une rétroaction quantique en temps discret testée expérimentalement au Laboratoire Kastler Brossel (LKB) de l'École Normale Supérieure (ENS) de Paris. Plus précisément,nous contribuons à un algorithme de contrôle qui a été utilisé lors de cette expérience récente de rétroaction quantique. L'expérience consiste en la préparation et la stabilisation à la demande d'états nombres de photons (états de Fock) d'un champ de micro-ondes au sein d'une cavité supraconductrice. Pour cela, nous concevons des filtres à temps-réel permettant d'estimer les états quantiques malgré des imperfections et des retards de mesure, et nous proposons une loi de rétroaction assurant la stabilisation d'un état cible prédéterminé. Cette rétroaction de stabilisation est obtenue grâce à des méthodes Lyapunov stochastique et elle repose sur un filtre estimant l'état quantique. Nous prouvons qu'une telle stratégie de contrôle se généralise à d'autres systèmes quantiques en temps discret soumis à des mesures QND. Dans une seconde partie, nous considérons une extension du résultat obtenu pour des filtres quantiques en temps discret au cas des filtres en temps continu. Dans ce but, nous démontrons la stabilité d'un filtre quantique associé à l'équation maîtresse stochastique usuelle découlant par un processus de Wiener. La stabilité signifie ici que la “distance”entre l'état physique et le filtre quantique associé décroit en moyenne. Cette partie étudie également la conception d'un filtre optimal en temps continu en présence d'imperfections de mesure. Pour ce faire, nous étendons la méthode utilisée précédemment pour construire les filtres quantiques en temps discret tolérants aux imperfections de mesure. Enfin,nous obtenons heuristiquement des filtres optimaux généraux en temps continu, dont la dynamique est décrite par des équations maîtresses stochastiques découlant à la fois par processus de Poisson et Wiener. Nous conjecturons que ces filtres optimaux sont stables. / In this thesis, we study measurement-based feedbacks stabilizing discrete-time quantum systems subject to quantum non-demolition (QND) measurements and stability of continuous-time quantum filters. This thesis contains two parts. In the first part, we generalize the mathematical methods underlying a discrete-time quantum feedback experimentally tested in Laboratoire Kastler Brossel (LKB) at Ecole Normale Supérieure (ENS) de Paris. In fact, we contribute to a control algorithm which has been used in this recent quantum feedback experiment. This experiment prepares and stabilizes on demand photon-number states (Fock states) of a microwave field in a superconducting cavity. We design real-time filters allowing estimation of the state despite measurement imperfections and delays, and we propose a feedback law which ensures the stabilization of a predetermined target state. This stabilizing feedback is obtained by stochastic Lyapunov techniques and depends on a filter estimating the quantum state. We prove that such control strategy extends to other discrete-time quantum systems under QND measurements. The second part considers an extension, to continuous-time, of a stability result for discrete-time quantum filters. Indeed, we prove the stability of a quantum filter associated to usual stochastic master equation driven by a Wiener process. This stability means that a “distance” between the physical state and its associated quantum filter decreases in average. Another subject that we study in this part is related to the design of a continuous-time optimal filter, in the presence of measurement imperfections. To this aim, we extend a construction method for discrete-time quantum filters with measurement imperfections. Finally, we obtain heuristically generalized continuous-time optimal filters whose dynamics are given by stochastic master equations driven by both Poisson and Wiener processes. We conjecture the stability of such optimal filters.

No description available.

[pt] Desenvolver e construir uma prótese ou órtese com fácil adaptação para o usuário ainda é um grande desafio na área de engenharia em geral. Além disso, o uso de elementos eletromecânicos insere a autonomia e a portabilidade como fatores de dificuldade na construção. Outro ponto é que variações de fatores humanos, como espasticidade, tônus muscular ou alterações decorrentes de doenças como paralisia cerebral ou lesão nervosa, interferem na construção do aparelho. Deste modo, a construção de uma órtese é um trabalho desafiador e multidisciplinar, que envolve uma análise profunda e detalhada desde a aplicação até a construção propriamente dita. O uso de técnicas de indústria 4.0 para tornar a órtese confortável, leve e de facil uso é fundamental para isso, assim como a análise e processamento de biosinais e o controle, fazendo com que cada etapa estaja ligada e ajustada para que o funcionamento esteja correto. Esta tese tem como objetivo avaliar os métodos teóricos e experimentais de construção e avaliação dinâmica de uma bio-órtese de membros superiores utilizando o conceito de indústria 4.0, processos de manufatura digital, otimização multiestrutural, processamentos de biossinais e técnicas de controle não linear. Este estudo foi motivado pelo avanço do uso da manufatura digital no campo da biomedicina, pelo grande desafio sob o ponto de vista de controle, pela variabilidade que esses processos podem ter na construção de órteses na melhoria da qualidade de vida das pessoas com deficiência. / [en] Developing and building a prosthesis or orthosis with easy adaptation for the user is still a major challenge in the engineering area in general. In addition, the use of electromechanical elements inserts autonomy and portability as factors of difficulty in construction. Another point is that variations in human factors, such as spasticity, muscle tone or changes resulting from diseases such as cerebral palsy or nerve damage, interfere with the construction of the device. Therefore, the construction of an orthosis is a challenging and multidisciplinary job, which involves a deep and detailed analysis from the application to the actual construction. The use of Industry 4.0 techniques to make the orthosis comfortable, lightweight, and easy to use is fundamental to this, as is the analysis and processing of biosignals and control, making sure that each step is connected and adjusted so that it functions correctly. This aims to evaluate the theoretical and experimental methods of construction and dynamic evaluation of a bio-orthosis of upper limbs using the concept of industry 4.0, digital manufacturing processes, multi-structural optimization, bio-signal processes and non-linear control techniques. This study was motivated by the advancement of the use of digital manufacturing in the field of bio-medicine, by the great challenge from the point of view of control, by the variability that these processes can have in the construction of orthoses in improving the quality of life of people with disabilities.