Os escorregamentos de taludes de corte rodoviários verificados na região entre as cidades de Jarinu e Campo Limpo Paulista, ambas no estado de São Paulo, são derivados da atuação conjunta do intemperismo, da presença de estruturas reliquiares, e sua geometria, e das técnicas construtivas. Dentre estes fatores, as estruturas reliquiares (foliação e fraturas) desempenham o papel mais importante, pois os escorregamentos ocorrem quando há incompatibilidade entre as atitudes das estruturas e a geometria dos taludes de corte facilitando os escorregamentos, principalmente quando a face de taludes é paralela ou subparalela à foliação e esta mergulha na direção da estrada. O levantamento destas estruturas, utilizando-se em conjunto produtos de sensoriamento remoto, que possibilita a elaboração de uma análise geométrica regional, que também se aplica em escala de afloramento, pois as estruturas geológicas, em qualquer escala, apresentam feições em comum. Os produtos gerados são mapas de forma estrutural, de traços de fraturas e o estabelecimento de setores homogêneos baseados nas diferentes direções da foliação. Nos vários taludes estudados, são elaborados estereogramas que permitem a visualização espacial das descontinuidades. Com base nestes produtos, são feitas previsões de instabilidades, através de uma simulação de três direções de traçados rodoviários, onde são avaliadas as possibilidades de ocorrência de instabilidades. Os resultados obtidos em dados regionais são confrontados com os dados extraídos em campo nos vários taludes estudados, para a obtenção da aplicabilidade da metodologia utilizada. / The sliding of highways cut slopes verified between Jarinu and Campo Limpo Paulista, both in São Paulo state, region are originated of action ensemble of weathering, relicts structures presence, geometric and the constructive characteristics. Among them, the relict structures (foliation and fractures) perform the very important hole, because the sliding is effective when there is incompatibility between spacial attitudes of structures and the geometry of cut slopes. In the great number, the geometry of cut slopes facility the sliding, mainly when the slopes surface is parallel or sub parallel to foliation, diverging to the highway bed. The investigation of structures together with remote sensing images enables the elaboration of a geometrical analysis, applicable in outcrop scale, as geological structures in any scale, ranging from microscopical up to regional, have common features. The mapping of joints and foliation were made and well-defined sectors were separated, on the basis of different foliation attitudes. Stereographic nets were made for all slopes studied and the efficiency of graphical stability analysis in saprolitos was estimated, where there is a significant action of erosion processes. Lastly, the possibility of slides and erosional processes within the several sectors is evaluated, along three possible different highway directions. The predicted results, based on regional data, are compared to field data, obtained in the slopes, in order to confirm the applicability of the method under investigation.

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / Métodos de otimização que utilizam condições de otimalidade de primeira e/ou segunda ordem são conhecidos por serem eficientes. Comumente, esses métodos iterativos são desenvolvidos e analisados à luz da análise matemática do espaço euclidiano n-dimensional, cuja natureza é de caráter local. Consequentemente, esses métodos levam a algoritmos iterativos que executam apenas as buscas locais. Assim, a aplicação de tais algoritmos para o cálculo de minimizadores globais de uma função não linear,especialmente não-convexas e multimodais, depende fortemente da localização dos pontos de partida. O método de Otimização Global Topográfico é um algoritmo de agrupamento, que utiliza uma abordagem baseada em conceitos elementares da teoria dos grafos, a fim de gerar bons pontos de partida para os métodos de busca local, a partir de pontos distribuídos de modo uniforme no interior da região viável. Este trabalho tem dois objetivos. O primeiro é realizar uma nova abordagem sobre método de Otimização Global Topográfica, onde, pela primeira vez, seus fundamentos são formalmente descritos e suas propriedades básicas são matematicamente comprovadas. Neste contexto, propõe-se uma fórmula semi-empírica para calcular o parâmetro chave deste algoritmo de agrupamento, e, usando um método robusto e eficiente de direções viáveis por pontos-interiores, estendemos o uso do método de Otimização Global Topográfica a problemas com restrições de desigualdade. O segundo objetivo é a aplicação deste método para a análise de estabilidade de fase em misturas termodinâmicas,o qual consiste em determinar se uma dada mistura se apresenta em uma ou mais fases. A solução deste problema de otimização global é necessária para o cálculo do equilíbrio de fases, que é um problema de grande importância em processos da engenharia, como, por exemplo, na separação por destilação, em processos de extração e simulação da recuperação terciária de petróleo, entre outros. Além disso, afim de ter uma avaliação inicial do potencial dessa técnica, primeiro vamos resolver 70 problemas testes, e então comparar o desempenho do método proposto aqui com o solver MIDACO, um poderoso software recentemente introduzido no campo da otimização global. / Optimization methods that use optimality conditions of first and/or second order are known to be efficient. Commonly, such iterative methods are developed and analyzed in the light of knowledge concerning the mathematical analysis in n-dimensional Euclidean spaces, whose nature is of local character. Consequently, these methods lead to iterative algorithms that perform only local searches. Thus, the application of such algorithms to the calculation of global minimizers of a non-linear function, especially non-convex and multimodal, depends strongly on the location of the starting points. The Topographical Global Optimization method is a clustering algorithm, which uses an ingenious approach based on elementary concepts of graph theory, in order to generate good starting points for local search methods, from points distributed uniformly in the interior of the feasible set. The purpose of this work is two-fold. The first is a revisit to the Topographical Global Optimization method, where, for the first time, its foundations are formally described and its basic properties are mathematically proven. In this context, we propose a semi-empirical formula for computing the key parameter of this clustering algorithm, and, using a robustand efficient direction interior-point method, we extend the use of the Topographical Global Optimization method to problems with inequality constraints. The second objective is the application of this method to the phase stability analysis of mixtures, a difficult and important global optimization problem of the chemical engineering thermodynamics. Furthermore, in order to have an initial assessment of the power of this technique,first we solve 70 test problems, and then compare the performance of the method considered here with the MIDACO solver, a powerful software recently introduced in the field of global optimization.

Made available in DSpace on 2014-12-17T14:54:46Z (GMT). No. of bitstreams: 1 JosenaldeBO.pdf: 1494350 bytes, checksum: 7c76ccebcfe52ebc97b3be9b7982ebd0 (MD5) Previous issue date: 2007-12-14 / In this thesis, it is developed the robustness and stability analysis of a variable structure model reference adaptive controller considering the presence of disturbances and unmodeled dynamics. The controller is applied to uncertain, monovariable, linear time-invariant plants with relative degree one, and its development is based on the indirect adaptive control. In the direct approach, well known in the literature, the switching laws are designed for the controller parameters. In the indirect one, they are designed for the plant parameters and, thus, the selection of the relays upper bounds becomes more intuitive, whereas they are related to physical parameters, which present uncertainties that can be known easier, such as resistances, capacitances, inertia moments and friction coefficients. Two versions for the controller algorithm with the stability analysis are presented. The global asymptotic stability with respect to a compact set is guaranteed for both cases. Simulation results under adverse operation conditions in order to verify the theoretical results and to show the performance and robustness of the proposed controller are showed. Moreover, for practical purposes, some simplifications on the original algorithm are developed / Nesta tese ? desenvolvida a an?lise de estabilidade e robustez ? din?mica n?o modelada e ?s perturba??es externas de um controlador adaptativo por modelo de refer?ncia e estrutura vari?vel aplicado a plantas incertas, monovari?veis, lineares e invariantes no tempo com grau relativo unit?rio. O projeto de tal controlador ? baseado na abordagem indireta do controle adaptativo. Na abordagem direta, j? amplamente conhecida na literatura, as leis chaveadas s?o projetadas diretamente para os par?metros do controlador. Na abordagem indireta, as mesmas s?o projetadas para os par?metros da planta e, conseq?entemente, o dimensionamento das amplitudes dos rel?s torna-se mais intuitivo, tendo em vista estarem associadas a par?metros f?sicos, os quais apresentam incertezas que podem ser conhecidas mais facilmente, tais como resist?ncias, capacit?ncias, momentos de in?rcia e coeficientes de atrito. S?o apresentadas duas vers?es para o algoritmo do controlador, sendo suas an?lises de estabilidade desenvolvidas, assim como resultados de simula??o sob condi??es de opera??o adversas para verificar os resultados te?ricos obtidos e ilustrar o desempenho e a robustez do controlador proposto. A estabilidade assint?tica global com respeito a um conjunto compacto ? garantida em ambos os casos. Adicionalmente, para fins de aplicabilidade pr?tica, s?o desenvolvidas algumas simplifica??es no algoritmo original

Submitted by Luciana Ferreira (lucgeral@gmail.com) on 2018-05-03T11:57:05Z No. of bitstreams: 2 Dissertação - Pedro Felipe Tavares do Amaral - 2018.pdf: 5863877 bytes, checksum: 084454dc18411f245114eb910cfa2474 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) / Approved for entry into archive by Luciana Ferreira (lucgeral@gmail.com) on 2018-05-03T13:20:55Z (GMT) No. of bitstreams: 2 Dissertação - Pedro Felipe Tavares do Amaral - 2018.pdf: 5863877 bytes, checksum: 084454dc18411f245114eb910cfa2474 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) / Made available in DSpace on 2018-05-03T13:20:55Z (GMT). No. of bitstreams: 2 Dissertação - Pedro Felipe Tavares do Amaral - 2018.pdf: 5863877 bytes, checksum: 084454dc18411f245114eb910cfa2474 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) Previous issue date: 2018-02-05 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES / In the present work, studies about the nonlinear static and dynamic behavior of a spherical membrane are presented. This membrane is composed by a hyperelastic, incompressible homogeneous and isotropic material, which is defined by either of the two distinct constitutive models: Mooney-Rivlin or the Neo-Hookean model. The equilibrium equations are obtained from the large-strain theory, by utilizing a variational formulation and by subjecting the membrane to an uniformly distributed internal radial pressure differential. From the nonlinear static analysis, internal membrane tensions and strains are obtained. From the dynamic analysis, the frequency-amplitude relation, the linear stability analysis, the time response, bifurcation diagrams, resonance curves and basins of attraction are obtained. As a first step, there is an analysis on a membrane composed by the same experimental material, which is described by the two different constitutive models presented in this work. It is observed that the dynamic responses are considerably distinct, due to the difference between the geometrical nonlinearities that each constitutive model insert on the equilibrium equation. The Neo-Hookean model has a lower pre-stretching limit, and its attraction basins are more eroded and irregular than the Mooney-Rivlin, that is still stable on regions of larger vibration amplitudes. Then, the influence of the Mooney-Rivlin parameter (α) is evaluated, and it is found that this parameter is the main source of the differences between the constitutive models, modifying the stability, nonlinear vibrations and also influencing on the loss or gain of the global rigidity of the membrane. / Neste trabalho são apresentados estudos dos comportamentos não lineares, estático e dinâmico, de uma membrana de geometria esférica composta por um material hiperelástico, incompressível, homogêneo e isotrópico definido por um entre esses dois modelos constitutivos: Mooney-Rivlin ou Neo-Hookeano. As equações de equilíbrio são obtidas a partir da teoria de grandes deformações, utilizando uma formulação variacional e considerando a membrana esférica submetida a uma pressão interna na direção radial uniformemente distribuída. A partir da análise não linear estática, encontram-se as tensões e as extensões radiais da membrana e da análise dinâmica obtêm-se as relações frequência-amplitude, a análise não linear da estabilidade, as respostas no tempo, os diagramas de bifurcação, as curvas de ressonância e as bacias de atração da membrana. Primeiramente, analisa-se a membrana composta por um mesmo material experimental e descrita pelos dois modelos hiperelásticos avaliados nesta dissertação. Observa-se que as respostas dinâmicas são consideravelmente distintas entre si devido à diferença entre as não linearidades geométricas que cada modelo constitutivo insere na equação de equilíbrio, sendo que o modelo Neo-Hookeano apresenta menor limite de pré-carregamento com bacias de atração mais erodidas e menos uniformes quando comparado ao modelo de Mooney-Rivlin, que ainda apresenta estabilidade em regiões de maior amplitude de vibração. Posteriormente, avalia-se a influência do parâmetro do material do tipo Mooney-Rivlin (α), que é a principal fonte das diferenças entre os modelos constitutivos, na estabilidade e nas vibrações não lineares da membrana esférica, observando-se que o parâmetro influência na perda ou no ganho de rigidez global do problema.

Conselho Nacional de Desenvolvimento CientÃfico e TecnolÃgico

Este trabalho aborda o escoamento incompressível ao redor de um cilindro circular. A tese que se quer defender, com base em experimentos numéricos, é: A equação de Landau pode ser obtida a partir das equações de Navier-Stokes por uma análise de estabilidade não-linear global. A teoria produz um procedimento bem-definido para determinação dos coeficientes da equação de Landau, permitindo assim a sua interpretação como um modelo simplificado (equações reduzidas de Navier-Stokes) para a predição das forças aplicadas pelo fluido ao cilindro, que podem ser comparados com resultados experimentais. O modelo não-linear se baseia em uma teoria assintótica que, como se sabe, tem sua faixa de validade no espaço de parâmetros determinada a posteriori, por meio da própria comparação com dados de laboratório. Resultados na faixa 46 <= Re <= 80 são apresentados. Descobriu-se, que a faixa de aplicabilidade da teoria como aqui exposta é restrita, não excedendo em muito o valor crítico do número de Reynolds. Argumentos são expostos para justificar esta afirmação e possíveis maneiras de modificar a teoria para estender esta faixa são apresentadas. São reportados, ainda, teoria e resultados sobre um novo tipo de condição de contorno,denominado impedância fluida, que permite reduzir o tamanho do domínio de cálculo necessário para simulação de escoamentos externos, comparativamente à comumente utilizada condição de outflow. Neste caso, abordou-se a faixa 20 <= Re <= 600. / This work adresses the incompressible flow around a circular cylinder. What we want to prove, based on numerical experiments, reads: The Landau equation can be derived from the Navier-Stokes equations by means of a global nonlinear stability analysis. The theory leads to a procedure for calculating numerically the coefficients of these equation, thus permitting their interpretation as a simplified model - reduced Navier-Stokes equation - for the prediction of the forces applied by the fluid on the cylindrical structure, which can be compared against experimental data. The nonlinear model is based on an asymptotic theory which, as is known, has its validity range in the parameter space determined a posteriori. The focus lies in the range 46 <= Re <= 80. It was found that the theorys applicability range as presented here is restricted to a small neighborhood of Rec. This affirmation in justified and possible means of modifying the theory in order to enlarge this range are proposed. Theory and results concerning a new type of boundary condition called fluid impedance are also reported, permitting the reduction of the domain size necessary for simulating external flows, comparatively to the commonly used outflow condition. In this case, the range 20 <= Re <= 600 was considered.

Cette thèse a pour objectif d'améliorer la compréhension de la dynamique d'une interaction entre une onde de choc droite ou oblique et une couche limite laminaire ou turbulente. En particulier, nous nous sommes intéressés aux mécanismes responsables de l'apparition d'oscillations auto-entretenues basses fréquences. Ce phénomène survient dans de nombreux cas applicatifs comme dans des entrées d'air d'avions supersoniques, autour d'un profil d'aile en régime transsonique et au sein de tuyère en régime de sur-détente. La première partie de ce mémoire traite des différentes études réalisées pour déterminer la phénoménologie de ce type de dynamique. Dans un deuxième temps, nous expliquons la stratégie retenue pour effectuer notre étude qui consiste à développer un outil d'étude des instabilités, adapté à des écoulements turbulents présentant une interaction entre une onde de choc et une couche limite. Le développement d'un outil CFD linéarisé couplé à une méthode de résolution d'un problème aux valeurs propres par une approche dite sans matrice ou de « time-stepping », a permis la réalisation d'une telle étude. Après une étape de validation de notre outil, nous avons étudié des cas d'écoulements présentant une interaction entre une onde de choc et une couche limite. Trois cas en particulier ont été traités. Le premier cas correspond à une interaction entre une onde de choc oblique impactant une couche limite laminaire se développant sur une plaque plane. Ce cas est généralement qualifié dans la littérature de cas de « réflexion de choc ». Nous montrons qu'un tel écoulement est globalement stable et que sa dynamique peut être caractérisée par des mécanismes de réceptivité et par la réponse de l'écoulement vis-à-vis de perturbations extérieures. Les deux autres cas abordés dans ce travail ont été le cas d'un écoulement transsonique autour d'un profil d'aile de type NACA0012 en régime d'entrée en tremblement aérodynamique et un cas de tuyère transsonique plane de type Sajben en régime de sur-détente. Dans le premier cas, l'analyse de stabilité nous permet de mettre en évidence le phénomène de « buffet » sur le profil NACA0012, ce qui montre que le phénomène est lié à une instabilité globale linéaire . Dans le second cas, l'analyse de stabilité ne permet pas d'expliquer le phénomène auto-entretenues basses fréquences, et montre que l'écoulement est linéairement globalement stable. Dans ce cas, la dynamique est convective, transitoire et pilotée par des mécanismes de réceptivité. / The general purpose of this study is to provide a better understanding of the dynamics of an interaction between a shock wave and a laminar or turbulent boundary layer. In particular, we were interested in mechanisms responsible for the emergence of low-frequency self-sustained oscillations. This phenomenon arises in numerous industrial cases as in air inlets of supersonic aircrafts, around a profile of wing in transonic regime and within over-extended nozzle. The first part of this report handles various studies carried out to determine the phenomenology of this kind of dynamics. Secondly, we explain the strategy adopted to make our study which consists in developing a tool of study of the instabilities adapted to turbulent flows including an interaction between a shock wave and a boundary layer. The development of a linearized CFD tool coupled with a method of resolution of a eigenvalue problem by a free-matrix approach ( " time-stepping " approach), allowed the realization of such a study. After a stage of validation of our tool, we studied cases of flows including an interaction between a shock wave and a boundary layer. Three cases in particular were handled. The first case corresponds to an interaction enter an oblique shock wave impacting on a laminar boundary layer developing on a flat plate. This case is generally qualified in the literature of case as " reflected shock wave". We show that such a flow is globally stable and that the dynamics of such a flow behaves as a selective noise amplifier, the dynamic is mainly driven by receptivity mechanisms and by the response of upstream white nose disturbance. Two other cases have been studied on this work, the case of a transonic flow around a profile wing of NACA0012 type around the onset of buffet phenomenon and the case of transonic nozzle of Sajben type on over-extended regime. In the first case, the global stability analysis allows us to highlight the buffet phenomenon of on the profile NACA0012, what shows that the phenomenon is linked to a linear global instability. In the second case, the analysis of stability does not allow to explain the self-sustained low frequencies phenomenon, and shows that the flow is linearly globally stable. In this case, the dynamics is convective, passing and piloted by receptivity mechanisms.

Dans cette thèse, on a étudié l’évolution de l’interface par électro-osmose entre deux couches de fluides dans un canal microfluidique. Les applications de ce problème concernent le mélange et le transport, sans contact avec des actionneurs, de fluides en micro-canal. De nombreuses questions restent toutefois posées lorsque le champ est oscillant en temps, notamment vis à vis de la stabilité de l'interface entre les deux fluides. Une analyse de stabilité linéaire basée sur une perturbation à l’interface a été réalisée pour un film mince d'électrolyte sous des champs électriques continus (constants) et alternatifs (dépendant du temps). Une analyse asymptotique avec une hypothèse de grande longueur d’onde des équations d'Orr-Sommerfeld a été appliquée afin de déterminer les seuils de stabilité paramétriques d'un film mince aqueux. L’accent a été mis sur les effets de la tension de surface, de la pression de disjonction pour l'interaction gaz-liquide-substrat, de l'amplitude et de la fréquence du champ électrique appliqué, ainsi que du potentiel zêta du substrat et de la surface libre. Une analyse comparative des profils de vitesse de l’état de base avec et sans contraintes de Maxwell à l’interface, a montré que les gradients de vitesse étaient importants à l'interface liquide-liquide avec les contraintes de Maxwell. De tels gradients sont essentiels à l'instabilité interfaciale sous l’action d’un champ électrique périodique car ils peuvent atténuer ou amplifier les ondes à l’interface. Parallèlement, un dispositif expérimental a été conçu et monté afin de caractériser l’écoulement électroosmotique dans un micro-canal rectangulaire. Avec l'aide d'une analyse PTV (« Particle Tracking Velocimetry »), les distributions de vitesse ont été obtenues et comparées aux prédictions théoriques. Cette comparaison a permis d’estimer le potentiel zêta du PDMS utilisé, valeur conforme à la valeur indiquée dans la littérature. / Since the past decade, use of electro-osmotic flow (EOF) as an alternative flow mechanism in microdevices is becoming more popular due to its less bulky and low maintenance system design. However, one of the biggest shortcomings for its usage in mainstream applications is that it requires the concerned liquid to be electrically conductive. One idea can be to use the flow of conductive fluids to transport non-conductive liquids passively via interfacial shear transfer. Such an idea can has numerous applications in a wide range of fields like bio-chemical processing (e.g. lab-on-a-chip reactors, mixers, etc.), to oil extraction from porous rock formations. One of the significant characteristics of micro-scale flows is high surface to volume ratio, which significantly highlights the role of multi-phase interfaces in such dynamics. The presence of a fluid-fluid interface in an EOF necessitates the characterization of the parameters responsible for hydrodynamic instability of such systems. The present work focuses on the role of steady and time-dependent electric stress (Maxwell stress), capillary force and disjoining pressure on fluid-fluid interfacial instability. A linear stability analysis of interfacial perturbation was performed for a thin film of electrolyte under DC and AC electric fields. Through long wave asymptotic analysis of the Orr-Sommerfeld equations, parametric stability thresholds of a thin aqueous film explored. Further, a set of experiments were performed in order to characterize the EOF in a rectangular microchannel. With the help of a Particle Tracking Velocimetry analysis, velocity distributions were obtained which agreed well to the theoretical values. This was further used to estimate PDMS zeta potential, which was found to be within the reported values in the existing literature. Liquid-liquid interfacial deformation was also explored under a time-periodic EOF and a wide range of the magnitudes of capillary force, and diffusive and convective transport.

Le présent document a pour objet la modélisation transitoire non linéaire du comportement vibratoire des systèmes de frein aéronautiques. Le but est de reproduire numériquement l’apparition et le niveau des vibrations au cours du temps, afin de les maîtriser et d’adapter la conception du frein. Les essais de freinage mettent en évidence deux modes de vibration que sont le whirl et le squeal. Si les niveaux de ces vibrations deviennent trop importants, la structure de la roue et du train d’atterrissage peut être endommagée. Afin d’éviter de tels dommages, la conception du frein doit être adaptée. Pour réaliser cela, Messier-Bugatti-Dowty doit disposer d’un modèle capable de prédire les niveaux de vibration du frein au cours du temps pendant la phase de freinage. Le modèle doit avoir une précision suffisante, être en lien avec la maquette numérique et ne doit pas exiger de recalage. Un premier travail vise à améliorer le modèle éléments finis existant qui se révèle être trop imprécis. Une étude portant sur les effets gyroscopiques permet d’évaluer leur impact sur la fréquence et la stabilité des modes de whirl. Une modélisation plus complète du bâti d’essai améliore la précision de la fréquence du mode de squeal. Enfin, le mode de whirl est mieux simulé grâce au développement d’un modèle de pneumatique à partir de son analyse modale. Ce modèle est ensuite réduit afin de réaliser une intégration temporelle. Une sous-structuration permet de séparer l’ensemble des disques du frein, où le frottement et la non-linéarité se situent, du reste de la structure considérée comme linéaire. Trois techniques de réduction de l’ensemble des disques sont exposées. On évalue leur représentativité par rapport au modèle non-réduit en comparant les fréquences et la stabilité des modes propres. La première méthode est une représentation nodale de l’ensemble des disques. Les équations décrivant la non-linéarité et le frottement sont analytiques. Pour la deuxième méthode, la non-linéarité est déplacée à l’extrémité de l’ensemble des disques pour la découpler du frottement. La troisième méthode, plus ambitieuse et complexe, conserve à la fois l’emplacement de la nonlinéarité aux interfaces frottantes et la géométrie des disques. Une technique de réduction modale permet d’abaisser le nombre de degrés de liberté non linéaires. Pour clore ce rapport, des simulations transitoires sont calculées à partir des modèles réduits. Des études d’influences sont réalisées. Les paramètres étudiés sont le type d’algorithme d’intégration temporelle, l’amortissement introduit, la loi non linéaire, la pression hydraulique d’entrée et le coefficient de frottement. Leurs impacts sur les niveaux et la durée d’apparition des vibrations est évalué. / This report deals with the non-linear transient simulation of the dynamic behaviour of aeronautic brake systems. The objective is to reproduce the occurrence and level of vibrations versus time in order to control and adjust design consequently. The braking tests highlight two eigenmodes, which are called whirl and squeal. If the level of these vibrations becomes too high, the structures of the wheel and the landing gear may be damaged. To avoid damage, the design has to be adjusted. To achieve this, Messier-Bugatti-Dowty requires a model that is able to predict the levels of vibrations of the brake when it is braking. This model must have an adequate accuracy, be linked to the digital mockup and not require tuning. First, the existing finite element model has to be improved because its initial accuracy is not acceptable. A study about gyroscopic effects allows to assess their impact on the frequency and the stability of whirl modes. A complete modelling of the test frame improves the squeal modes’ frequency accuracy. At last, the whirl modes are better simulated due to the development of a tyre model based on modal analysis data. Then, the finite element model is reduced in order to perform a temporal integration. A substructuring allows to separate the set of brake discs (heat sink), where friction and non-linearities are located, from the rest of the structure which is considered linear. Three heat sink reduction techniques are proposed. Their representativeness are estimated compared to the non-reduced model. The first technique is a nodal description of the heat sink. The equations of friction and non-linearity are analytical. For the second technique, the non-linearity is displaced to the extremity of the heat sink to uncouple it from friction. The third technique, more ambitious and complex, keeps the location and non-linearity in friction interfaces and discs geometry. A reduction technique enables to decrease the number of non-linear degrees of freedom. As a conclusion, transient simulations are computed from reduced models. Sensitivity studies are performed. Studied parameters are the type of integration solver, introduced damping, non-linearities, hydraulic pressure, and friction coefficient. Their impacts on level and duration of occurrence of vibrations is estimated.

Ces travaux portent sur la commande et l’analyse de la stabilité d’un système électropneumatique constitué d’un axe linéaire commandé par deux servodistributeurs régulant le débit massique entrant dans chaque chambre de l’actionneur. La problématique générale est motivée par l’apparition d’un phénomène de redécollage sur ce système électropneumatique difficilement pris en compte par les études actuelles en automatique. Ce problème, rencontré depuis de nombreuses années, concerne toutes les commandes linéaires et non linéaires mono et multidimensionnelles étudiées au laboratoire. Il se traduit par des mouvements saccadés du vérin au voisinage de l’équilibre. Ce phénomène est dû à la présence de frottements secs et aux dynamiques des pressions dans les chambres pneumatiques de l’actionneur, qui continuent à évoluer (intégrer le débit massique entrant délivré par les servodistributeurs), même après l’équilibre mécanique. La première partie de ce mémoire propose une commande non linéaire commutée afin d’éviter le phénomène de redécollage de l’actionneur électropneumatique notamment vis-à-vis des variations de frottements secs qui peuvent à tout moment causer ce phénomène. Cette technique est finalement mise en œuvre et son efficacité est constatée. La plus grande partie de ce mémoire traite l’analyse de l’actionneur électropneumatique avec sa loi de commande commutée. La présence de frottements secs et l’application d’une loi de commande commutée nous a amené à concilier une démarche d’analyse de stabilité, en considérant une classe de systèmes commutés appelée systèmes affines par morceaux. La principale difficulté de cette démarche réside dans l’obtention de fonctions de Lyapunov adéquates, qui se transforme en un problème d’optimisation sous contraintes LMI (Linear Matrix Inequality) en utilisant la S-procédure. Afin d’analyser la stabilité d’un système PWA (PieceWise Affine), la première démarche proposée permet le calcul d’une fonction de Lyapunov quadratique par morceaux sous la forme d’un problème d’optimisation sous contraintes LMI, en imposant des conditions suffisantes de stabilité. Ces dernières permettent, contrairement aux méthodes classiques, d’assurer la convergence de trajectoires d’état non pas vers un point d’équilibre, mais vers un ensemble des points d’équilibre d’un système PWA. L’approche proposée permet aussi l’étude de la robustesse vis-à-vis des variations paramétriques dans le système. Nous proposons aussi une deuxième approche pour la construction d’un type de fonctions de Lyapunov dites polynomiales par morceaux, via l’utilisation des "sum of square" et de la "power transformation", afin d’analyser la stabilité d’un ensemble de points d’équilibre d’un système PWA, en présence de phénomènes de glissement et de variations paramétriques. Cette approche propose des conditions suffisantes moins conservatives que celles imposées par les fonctions de Lyapunov quadratique par morceaux. En effet, sur des exemples de systèmes PWA présentant de dynamiques discontinues sur les frontières entre les cellules, pouvant générer à tout moment des phénomènes de glissement, ces dernières s’avèrent inefficaces et ne permettent pas d’assurer la stabilité des systèmes PWA en présence de ces phénomènes. Par conséquent, les résultats sur la fonction de Lyapunov quadratique par morceaux sont étendus pour pouvoir calculer des fonctions de Lyapunov polynomiales par morceaux d’ordre supérieur, en résolvant un problème d’optimisation sous contraintes LMI. Ces dernières permettent de garantir des conditions plus générales et moins conservatives par rapport à celles développées dans la littérature. Ces deux approches ont été appliquées afin d’analyser la stabilité de l’ensemble des points d’équilibre du système électropneumatique, en considérant à la fois un modèle de frottements sous la forme d’une saturation et un autre sous la forme d’un relais présentant une dynamique discontinue. [...] / This work focuses on the control and stability analysis of an electro-pneumatic system, i.e. a linear pneumatic cylinder controlled by two servo valves regulating the mass flow entering each chamber of the actuator. The general problem is motivated by the appearance of stick-slip on the electro-pneumatic system, hardly taken into account by the current studies in automatic control. This problem, encountered throughout the years, concerns all mono- and multidimensional linear and non-linear controls systems studied at the laboratory. In pneumatic cylinders, the phenomenon consists in a displacement of the rod a while after it has come to a rest ; this is due to the fact that the force acting on the rod initially becomes smaller that the threshold which is necessary for a motion, and then this threshold is overcome later on. In this case, stick-slip is caused by the presence of dry friction and by the pressure dynamics in the chambers, which continue to evolve (integrating the net incoming mass flow from the servovalves) even after the rod has stopped. The first part of this thesis proposes a nonlinear switching control law in order to avoid stick-slip on pneumatic cylinder, taking into account with the variations of dry friction that may occur at any time causing this phenomenon. This technique is implemented and its effectiveness is recognized. The greatest part of this thesis deals with the stability analysis of the pneumatic cylinder with its switched control law. The presence of dry friction and the application of a switched control law requires an appropriate method for approaching the stability analysis ; this method is based on considering the closed-loop system as belonging to a class of switched systems called piecewise affine systems (PWA). The main difficulty in this approach lies in obtaining adequate Lyapunov functions for proving stability, which turns into an optimization problem under LMI constraints (Linear Matrix Inequality) using the S-procedure. In order to analyze the stability of a PWA system, a first method is proposed allowing the computation of a piecewise quadratic Lyapunov function through an optimization problem under LMI constraints. The methods takes into account, in contrast to conventional methods, that the states might converge not to a single point but to a set of equilibrium points. The proposed approach allows also the study of robustness with respect to parametric variations in the system. A second method is also proposed for the construction of a type of Lyapunov functions called piecewise polynomial, using the “sum of squares” and “power transformation” techniques. This approach proposes less conservative sufficient conditions than those imposed by the piecewise quadratic Lyapunov functions, yielding a more succesfull stability test when for PWA systems featuring sliding modes and parametric variations. In fact, on PWA systems with discontinuous dynamics (which can generate sliding phenomena), piecewise quadratic Lyapunov functions might prove ineffective to prove the stability. Therefore, the results on piecewise quadratic Lyapunov functions are extended in order to compute piecewise polynomial Lyapunov functions of higher order, by solving an optimization problem under LMI constraints. These functions are more general and allow less conservative conditions compared to those formerly developed in the literature. Both of these methods have been applied to the stability analysis of the set of equilibrium points of the pneumatic cylinder, considering first a friction model in saturation form and then a model in relay form with a discontinuous dynamics. The application of the methods is successful, i.e. the robust stability is proven under dry friction threshold variations, with possibility of sliding modes.