Les actionneurs électropneumatiques sont très utilisés dans l'industrie automobile car ils offrent de grands avantages, en termes d'encombrement, de puissance élevée et de simplicité de commande. Ces actionneurs sont utilisés plus particulièrement pour le contrôle des Turbocompresseurs à Géométrie Variable (TGV). Le TGV joue un rôle très important dans les performances de la boucle d'air du moteur, en particulier sur la qualité de l'air à l'admission et à l'échappement. Les nouvelles réglementations gouvernementales concernant les émissions polluantes des véhicules ont poussé les équipementiers automobiles à s'intéresser davantage au contrôle du Turbocompresseur à Géométrie Variable. Ces exigences ne peuvent pas être realisées à travers des techniques classiques de contrôle de type PID. En effet, le contrôle doit tenir compte de la complexité du modèle et de ses incertitudes ainsi que des exigences en termes de performances statiques et dynamiques et du nombre limité de mesures. De plus, il faut également tenir compte des conditions agressives dans lesquelles travaillent l'actionneur, notamment la température, les forces de frottement et les forces aérodynamiques à l'entrée du turbo. Dans le cadre de cette thèse, ce sont tous ces aspects qui ont motivé notre travail de modélisation et de commande robuste de l'actionneur électropneumatique du turbo. Dans un premier temps, nous avons établi un modèle de simulation de l'actionneur. Nous avons commencé par élaborer un modèle physique détaillé de l'actionneur, en prenant en compte les caractéristiques non linéaires provenant de la compressibilité de l'air et du frottement. Ensuite, deux modèles des forces aérodynamiques qui agissement sur l'actionneur ont été proposés. Le modèle global de l'actionneur a été validé expérimentalement et une analyse de sensibilité expérimentale a été menée sur plusieurs actionneurs afin d'identifier les paramètres ayant le plus d'impact sur les performances de l'actionneur. Dans un second temps, nous avons proposé une simplification du modèle obtenu dans le but de le rendre utilisable pour le contrôle, tout en préservant ses caractéristiques statiques et dynamiques. Enfin, nous nous sommes intéressés à la résolution du problème de commande robuste par retour de sortie de l'actionneur. Les algorithmes de contrôle et d'estimation élaborés ont été validés d'abord par des simulations, puis expérimentalement sur un banc d'essai moteur. / The choice of technology for automotive actuators is driven by the need of high power to size ratio. In general, electro-pneumatic actuators are preferred for application around the engine as they are compact, powerful and require simple controlling devices. Specially, Variable Geometry Turbochargers (VGTs) are almost always controlled with electro-pneumatic actuators. This is a challenging application because the VGT is an important part of the engine air path and the latter is responsible for intake and exhaust air quality and exhaust emissions control. With government regulations on vehicle pollutant emissions getting stringent by the year, VGT control requirements have also increased. These regulations and requirements can only be fulfilled with precise dynamic control of the VGT through its actuator. The demands on actuator control include robustness against uncertainty in operating conditions, fast and smooth positioning without vibration, limited number of measurements. Added constraints such as nonlinear dynamic behavior of the actuator, friction and varying aerodynamic forces in the VGT render classical control methods ineffective. These are the main problems that form the core of this thesis.In this work, we have addressed the above mentioned problems, using model based control complemented with robust control methods to overcome operational uncertainties and parametric variations. In the first step, a detailed physical model of an electro-pneumatic actuator has been developed; taking into account the nonlinear characteristics originating from air compressibility and friction. Means to compensate for aerodynamic force have been studied and implemented in the next step. These include model parametric adaptation and one dimensional CFD (Computational Fluid Dynamics) modeling. The complete model has been experimentally validated and a sensitivity analysis has been conducted to identify the parameters which have the greatest impact upon the actuator's behavior. The detailed simulation model has then been simplified to make it suitable for control purposes while keeping its essential behavioral characteristics (i.e. transients and dynamics). Next, robust controllers have been developed around the model for the control objective of accurate actuator positioning in presence of operational uncertainty. An important constraint in commercial actuators is that they provide output feedback only, as they are only equipped with low-cost position sensors. This hurdle has been overcome by introducing observers in the control loop, which estimate other system states from the output feedback. The estimation and control algorithms have been validated in simulation and experimentally on diesel engine test benches.

Les effets d’extrémité jouent un rôle important dans la modélisation et la commande de la Machine Linéaire à Induction (MLI). Ces phénomènes augmentent significativement la non-linéarité du modèle de la machine et génèrent plusieurs difficultés pour contrôler et observer ses états avec de bonnes performances. Cette thèse aborde trois problématiques distinctes : la commande robuste de la MLI, l’estimation de la vitesse et du flux de la MLI et le contrôle robuste à base d’observateur en utilisant la théorie du mode glissant d’ordre supérieur.Dans la première partie de la thèse, trois contrôleurs robustes assurant la poursuite de trajectoire de la vitesse et du flux pour la MIL ont été développés : le Super Twisting (ST), le Super Twisting Adaptatif (STA) et le Twisting Adaptatif (TA). Ces commandes ont été testées en simulations et leurs performances ont été démontrées. Ainsi, le ST assure un contrôle continu avec convergence à temps fini de l’erreur à zéro malgré les perturbations, sous l’hypothèse que les bornes des incertitudes sont connues. Cette hypothèse est relaxée dans le cas du TA et du STA grâce à leurs propriétés adaptatives.Dans la deuxième partie de la thèse, un nouveau modèle du MLI a été proposé et son observabilité a été démontrée. Ensuite un Observateur par Mode Glissant d’Ordre Deux (MGOD) et un Observateur par Mode Glissant d’Ordre Supérieur (MGOS) ont été synthétisé afin d’estimer la vitesse et le flux du MLI, uniquement en utilisant la mesure des tensions et des courants statorique. La stabilité des deux observateurs a été prouvée par une approche de Lyapunov et leurs performances ont été démontrées à travers des simulations.Dans la dernière partie de la thèse, deux commandes par rejet actif des perturbations sont synthétisées. Ainsi et dans un premier temps, le modèle de la MLI est décomposé en deux sous-systèmes du second ordre. Ensuite, deux contrôleurs (le twisting et le super-twsiting) ont été synthétisés afin d’assurer la poursuite du flux et de la vitesse. Le MGOS est utilisé pour estimer les dérivées du flux et de la vitesse, ainsi que pour l’estimation en temps réel de la perturbation. Les contrôleurs quant à eux assurent la compensation des perturbations et la poursuite des trajectoires du flux et de la vitesse. La stabilité et la convergence des deux commandes proposées ont été prouvées et leurs performances démontrées par simulation. / Dynamic end effects play an important role in the Linear Induction Machine (LIM) control. They increase significantly the nonlinearity of the machine model and generate several difficulties to control and observe states with good performances. This thesis addresses three distinctissues: LIM robust control, LIM speed and flux estimation and observer-based robust control using higher order sliding mode theory.In the first part, to achieve speed and flux tracking,Super Twisting Controller (STC), Adaptive Super Twisting Controller (ASTC), and Adaptive Twisting Controller (ATC) were proposed and implemented into LIM system with great performance, i.e. finite time convergence and robustness properties. Among them, STC ensures continuous control with finite time convergence of the error to zero despite disturbances, under the assumption that their bounds are known. ATC and ASTC can deal with unknown bounded disturbance thanks to their adaptive properties.In the second part, a novel simplified LIM model was proposed and its observability has been proved. Then, Second Order Sliding Mode Observer (SOSMO) and Adaptive High Order Sliding Mode Observer (HOSMO) were proposed to estimate LIM speed, only by using the measured stator voltages and stator currents. SOSMO observer is based on the super twisting algorithm and its stability has been proved with Lyapunov’s theory, which can guarantee finite time convergence with less chattering. Adaptive HOSMO strategy combines speed adaptive algorithm and HOSMO method together to estimate rotor fluxes and speed simultaneously.In the third part, the LIM is viewed as two second order subsystems. Moreover, only the speed and the flux are supposed to be measured. Based on that two differentcontrollers based on HOSMO were presented in order to achieve flux and speed tracking. In both controllers, the idea of active disturbance rejection control is applied. Hence, the HOSMO is used to estimate the derivatives of the flux and the speed, as well as the disturbance. Then, in order to deal with the uncertainty in the measured variables, two different SM controllers are proposed. Firstly, the TC is applied in the LIM. However, the control signal in this case is discontinuous. Then, in order to provide a continuous control signal, the TC is replaced with STC. The stability and convergence of proposed TC-HOSMO and STC-HOSMO approaches were given and simulation validated their performances.

This thesis discusses the modeling of a micro-grid with photovoltaic (PV)-wind-fuel cell (FC) hybrid energy system and its operations. The system consists of the PV power, wind power, FC power, static var compensator (SVC) and an intelligent power controller. Wind and PV are primary power sources of the system, and an FC-electrolyzer combination is used as a backup and a long-term storage system. A simulation model for the micro-grid control of hybrid energy system has been developed using MATLAB/Simulink. A SVC was used to supply reactive power and regulate the voltage of the hybrid system. To achieve a fast and stable response for the real power control, the intelligent controller consists of a Radial Basis Function Network-Sliding Mode Control (RBFNSM) and a General Regression Neural Network (GRNN) for maximum power point tracking (MPPT). The pitch angle of wind turbine is controlled by RBFNSM, and the PV system uses GRNN, where the output signal is used to control the DC/DC boost converters to achieve the MPPT.

The need for high performance circuits in systems with low-voltage and low-power requirements has exponentially increased during the few last years due to the sophistication and miniaturization of electronic components. Most of these circuits are required to have a very good efficiency behavior in order to extend the battery life of the device. This dissertation addresses two important topics concerning very high efficiency circuits with very high performance specifications. The first topic is the design and implementation of class D audio power amplifiers, keeping their inherent high efficiency characteristic while improving their linearity performance, reducing their quiescent power consumption, and minimizing the silicon area. The second topic is the design and implementation of switching voltage regulators and their controllers, to provide a low-cost, compact, high efficient and reliable power conversion for integrated circuits. The first part of this dissertation includes a short, although deep, analysis on class D amplifiers, their history, principles of operation, architectures, performance metrics, practical design considerations, and their present and future market distribution. Moreover, the harmonic distortion of open-loop class D amplifiers based on pulse-width modulation (PWM) is analyzed by applying the duty cycle variation technique for the most popular carrier waveforms giving an easy and practical analytic method to evaluate the class D amplifier distortion and determine its specifications for a given linearity requirement. Additionally, three class D amplifiers, with an architecture based on sliding mode control, are proposed, designed, fabricated and tested. The amplifiers make use of a hysteretic controller to avoid the need of complex overhead circuitry typically needed in other architectures to compensate non-idealities of practical implementations. The design of the amplifiers based on this technique is compact, small, reliable, and provides a performance comparable to the state-of-the-art class D amplifiers, but consumes only one tenth of quiescent power. This characteristic gives to the proposed amplifiers an advantage for applications with minimal power consumption and very high performance requirements. The second part of this dissertation presents the design, implementation, and testing of switching voltage regulators. It starts with a description and brief analysis on the power converters architectures. It outlines the advantages and drawbacks of the main topologies, discusses practical design considerations, and compares their current and future market distribution. Then, two different buck converters are proposed to overcome the most critical issue in switching voltage regulators: to provide a stable voltage supply for electronic devices, with good regulation voltage, high efficiency performance, and, most important, a minimum number of components. The first buck converter, which has been designed, fabricated and tested, is an integrated dual-output voltage regulator based on sliding mode control that provides a power efficiency comparable to the conventional solutions, but potentially saves silicon area and input filter components. The design is based on the idea of stacking traditional buck converters to provide multiple output voltages with the minimum number of switches. Finally, a fully integrated buck converter based on sliding mode control is proposed. The architecture integrates the external passive components to deliver a complete monolithic solution with minimal silicon area. The buck converter employs a poly-phase structure to minimize the output current ripple and a hysteretic controller to avoid the generation of an additional high frequency carrier waveform needed in conventional solutions. The simulated results are comparable to the state-of-the-art works even with no additional post-fabrication process to improve the converter performance.

The main objective of the present thesis focuses on the integration of the in-wheel electric motors into the conception and control of road vehicles. The present thesis is the subject of the grant 186-654 (2010-2013) between the Laboratory of Signals and Systems (L2S-CNRS) and the French Institute of Petrol and New Energies (IFPEN). The thesis work has originally started from a vehicular electrification project, equipped with in-wheel electric motors at the rear axle, to obtain a full electric urban use and a standard extra-urban use with energy recovery at the rear axle in braking phases. The standard internal combustion engines have the disadvantage that complex estimation techniques are necessary to compute the instantaneous engine torque. At the same time, the actuators that control the braking system have some delays due to the hydraulic and mechanical circuits. These aspects represent the primary motivation for the introduction and study of the integration of the electric motor as unique propelling source for the vehicle. The advantages brought by the use of the electric motor are revealed and new techniques of control are set up to maximize its novelty. Control laws are constructed starting from the key feature of the electric motor, which is the fact that the torque transmitted at the wheel can be measured, depending on the current that passes through the motor. Another important feature of the electric motor is its response time, the independent control, as well as the fact that it can produce negative torques, in generator mode, to help decelerate the vehicle and store energy at the same time. Therefore, the novelty of the present work is that the in-wheel electric motor is considered to be the only control actuator signal in acceleration and deceleration phases, simplifying the architecture of the design of the vehicle and of the control laws. The control laws are focused on simplicity and rapidity in order to generate the torques which are transmitted at the wheels. To compute the adequate torques, estimation strategies are set up to produce reliable maximum friction estimation. Function of this maximum adherence available at the contact between the road and the tires, an adequate torque will be computed in order to achieve a stable wheel behavior in acceleration as well as in deceleration phases. The critical issue that was studied in this work was the non-linearity of the tire-road interaction characteristics and its complexity to estimate when it varies. The estimation strategy will have to detect all changes in the road-surface adherence and the computed control law should maintain the stability of the wheel even when the maximum friction changes. Perturbations and noise are also treated in order to test the robustness of the proposed estimation and control approaches.

Este trabalho aborda o problema de controle ótimo por modos deslizantes via função penalidade para sistemas de tempo discreto. Para resolver este problema será desenvolvido uma estrutura matricial alternativa baseada no problema de mínimos quadrados ponderados e funções penalidade. A partir desta nova formulação é possível obter a lei de controle ótimo por modos deslizantes, as equações de Riccati e a matriz do ganho de realimentação através desta estrutura matricial alternativa. A motivação para propormos essa nova abordagem é mostrar que é possível obter uma solução alternativa para o problema clássico de controle ótimo por modos deslizantes. / This work introduces a penalty function approach to deal with the optimal sliding mode control problem for discrete-time systems. To solve this problem an alternative array structure based on the problem of weighted least squares penalty function will be developed. Using this alternative matrix structure, the optimal sliding mode control law of, the matrix Riccati equations and feedback gain were obtained. The motivation of this new approach is to show that it is possible to obtain an alternative solution to the classic problem of optimal sliding mode control.

Le travail présenté dans cette thèse a pour objectif d'apporter une contribution aux méthodes de commande et d'observation des machines asynchrones destinées à la traction électrique. Dans ce contexte, plusieurs algorithmes ont été développés et implémentés. Après une présentation rapide de la commande vectorielle classique, de nouvelles approches de commande non linéaire sont proposées : il s'agit plus précisément de la commande backstepping classique et sa variante avec action intégrale. Une deuxième partie est consacrée à l'observation et à l'estimation des paramètres et des états de la machine, basée sur des structures MRAS-modes glissants d'une part et sur des structures de filtrage synchrone d'autre part. Une analyse détaillée du problème de fonctionnement à basse vitesse nous a conduit à proposer une solution originale dans le cadre d'une commande sans capteur mécanique. Le problème de la dégradation du couple en survitesse a été traité par un algorithme de défluxage basé sur la conception d'un contrôleur de tension. Enfin, nous avons proposé un algorithme d'optimisation afin de minimiser les pertes dans l'ensemble Onduleur-Machine / The work presented in this thesis aims to contribute to the control and observation of the induction machines for electric traction. Several algorithms have been developed and implemented. After a fast presentation of the classical vector control, new approaches of non-linear control are proposed : the classical backstepping and integral backstepping. A second part deals with the observation and the estimation of parameters and states of the machine, based on MRAS-Sliding Mode structures on one hand and on synchronous filtering structures on the other hand. A detailed analysis of the operation at low speed led us to propose an original solution for a Sensorless control. The torque degradation in field weakening zone was treated by a voltage regulation controller. Finally, we proposed losses minimization algorithm for the Inverter-Machine set

Orientador: Falcondes José Mendes de Seixas / Resumo: O foco principal deste trabalho é a investigação de métodos de controle capazes de rejeitar perturbações, incertezas e influências degenerativas do atraso no problema referente ao controle vetorial por campo orientado do Motor de Indução Trifásico (MIT), através de um modelo matemático não linear deste. Dá-se ênfase à utilização do método de controle Proporcional-Integral em conjunto com o Controle com Estrutura Variável e Modos Deslizantes, sendo que este tem como principal característica a rejeição de perturbações e incertezas. São realizadas análises da robustez da estabilidade e também das influências que as incertezas e atrasos exercem sobre o comportamento dinâmico deste sistema. Para corroborar com as análises, são feitas simulações utilizando exemplos numéricos num sistema linear de ordem dois e aplicações no MIT através de um modelo matemático não linear. / Abstract: This work deals the investigation of control methods capable of rejecting perturbations, uncertainties and degenerative influence of input time-delay in the Three-phase Induction Motor (TIM) vector control problem, through a nonlinear mathematical model. The main focus is the use of the Proportional-Integral control method in conjunction with the Variable Structure Control with Sliding Mode, which has as main characteristic the rejection of perturbations and uncertainties. Analyzes are performed on the stability robustness and also on the influence that the uncertainties and input time-delay on the dynamic behavior of this system. In order to corroborate with the analyzes simulations are made using numerical examples of two-order linear system and applications in a non-linear mathematical model of a Three-phase Induction Motor. / Doutor

Nesta Dissertação são propostos dois esquemas de controle para sistemas não-lineares com atraso. No primeiro, o objetivo é controlar uma classe de sistemas incertos multivariáveis, de grau relativo unitário, com perturbações não-lineares descasadas dependentes do estado, e com atraso incerto e variante no tempo em relação ao estado. No segundo, deseja-se controlar uma classe de sistemas monovariáveis, com parâmetros conhecidos, grau relativo arbitrário, atraso arbitrário conhecido e constante na saída. Admitindo-se que o atraso na entrada pode ser deslocado para a saída, então, o segundo esquema de controle pode ser aplicado a sistemas com atraso na entrada. Os controladores desenvolvidos são baseados no controle por modo deslizante e realimentação de saída, com função de modulação para a amplitude do sinal de controle. Além disso, observadores estimam as variáveis de estado não-medidas. Em ambos os esquemas de controle propostos, garante-se propriedades de estabilidade globais do sistema em malha fechada. Simulações ilustram a eficácia dos controladores desenvolvidos. / Two control schemes for nonlinear time-delay systems are proposed in this thesis. The purpose of the first scheme is to control a class of uncertain multivariable systems, with relative degree one, nonlinear unmatched state dependent disturbances, and uncertain time-varying state delay. The purpose of the second scheme is to control a class of single-input-single-output systems, with known parameters, arbitrary relative degree, with constant and known arbitrary output delay. Assuming that input delays can be transferred to the output, so the second scheme can be applied to systems with input time-delay. The developed controllers are based on sliding mode control and output feedback, with modulation function to the control signal amplitude. Furthermore, observers estimate unmeasured state variables. In both schemes, global stability properties of the closed loop system are guaranteed. Simulations illustrate the effectiveness of the proposed approaches.

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / This master thesis presents a current sliding mode observer for voltage sensorless grid connected converters. To perform the grid synchronization a sliding mode current observer in stationary axes αβ is proposed. Aiming its implementation in digital signal processors or microcontroller both the synchronism and control are developed in discrete time domain. Firstly the line currents are measured, then the transformation to stationary axes is carried out and the sliding mode current observer is proposed. Based on a Fortescue discrete component theory an algorithm to separation of sequence positive phase is proposed aiming to obtained the positive grid angular position to realized the synchronous coordinates axes transformation. The current control is carried out by two PI controllers designed in a discrete time domain. The good performance of the proposed method is proven through the simulation and experimental results. / Esta dissertação apresenta o controle de corrente em eixos síncronos de conversores conectados a rede de energia elétrica sem o uso de sensores de tensão de linha. Para realizar o sincronismo com a rede elétrica é proposto um observador de corrente por modos deslizantes em eixos de coordenadas estacionárias αβ. Tanto o controle como o sincronismo são desenvolvidos em tempo discreto visando sua implementação em processador digital de sinais ou microcontrolador. Primeiramente são medidas as correntes de duas fases do sistema, então é realizada a transformação para eixos estacionários e proposto o observador de corrente por modos deslizantes. Com o auxílio de um algoritmo baseado na teoria das componentes discretas de Fortescue para a separação de sequência de fase positiva, é obtida posição angular elétrica da rede visando a transformação para eixos de coordenadas síncronas. O controle das correntes é realizado através de dois controladores PI projetados em tempo discreto. Através de resultados de simulação e experimentais obtidos é comprovado o bom desempenho do método proposto.