An Adaptive Cruise Controller (ACC) is an extension of an ordinary cruise controller. In addition to maintaining a desired set velocity, an ACC can also maintain a desired time gap to the vehicle ahead. For this end, both the engine andthe brakes are controlled. The purpose with this thesis has been to develop control strategies for an ACC used in heavy vehicles. The focus of the work has been the methods used for switching between the use of engine and brake. Two different methods have been studied, a hybrid controller and an MPC-controller. For the hybrid controller, the main contribution has been to use the influence of the surroundings on the acceleration of the truck. This consists of several parts such as wind drag, road slope and rolling resistance. The estimated influence of the surroundings is used as a switch point between the use of engine and brakes. Ideally, these switch points give bumpless actuator switches. The interest in the MPC-controller as an alternative solution was to achieve automatic actuator switching, thus with no explicitly defined switch points. The MPC-controller is based on a model of the system including bounds on the control signals. Using this knowledge, the MPC-controller will choose the correct actuator for the current driving situation. Results from simulations show that both methods solve the actuator switch problem. The advantages with the hybrid controller are that it is implementable in a truck with the hardware used today and that it is relatively simple to parameterise. A drawback is that explicit switch points between the uses of the different actuators have to be included. The advantages with the MPC-controller are that no explicit switch points have to be introduced and that constraints and time delays on signals in the system can be handled in a simple way. Among the drawbacks, it can be mentioned that the variant of MPC, used in this thesis, is too complex to implement in the control system currently used in trucks. One further important drawback is that MPC demands a mathematical model of the system.

To further improve performances of machine systems, mechatronics offers some opportunities. Traditionally, mechatronics deals with how to integrate mechanics and electronics without a systematic approach. This thesis generalizes the concept of mechatronics into a new concept called hybrid intelligent machine system. A hybrid intelligent machine system is a system where two or more elements combine to play at least one of the roles such as sensor, actuator, or control mechanism, and contribute to the system behaviour. The common feature with the hybrid intelligent machine system is thus the presence of two or more entities responsible for the system behaviour with each having its different strength complementary to the others. The hybrid intelligent machine system is further viewed from the systems structure, behaviour, function, and principle, which has led to the distinction of (1) the hybrid actuation system, (2) the hybrid motion system (mechanism), and (3) the hybrid control system. <p>This thesis describes a comprehensive study on three hybrid intelligent machine systems. In the case of the hybrid actuation system, the study has developed a control method for the true hybrid actuation configuration in which the constant velocity motor is not mimicked by the servomotor which is treated in literature. In the case of the hybrid motion system, the study has resulted in a novel mechanism structure based on the compliant mechanism which allows the micro- and macro-motions to be integrated within a common framework. It should be noted that the existing designs in literature all take a serial structure for micro- and macro-motions. In the case of hybrid control system, a novel family of control laws is developed, which is primarily based on the iterative learning of the previous driving torque (as a feedforward part) and various feedback control laws. This new family of control laws is rooted in the computer-torque-control (CTC) law with an off-line learned torque in replacement of an analytically formulated torque in the forward part of the CTC law. This thesis also presents the verification of these novel developments by both simulation and experiments. Simulation studies are presented for the hybrid actuation system and the hybrid motion system while experimental studies are carried out for the hybrid control system.

Conventional isolation models deal with massless isolators, which tend to overestimate the isolator performance because they neglect the internal resonances (IRs) due to the inertia of the isolator. Previous researches on the IR problem is not adequate because they only discussed this problem in terms of vibration based on single degree-of-freedom (SDOF) models. These studies did not reveal the importance of the IRs, especially from the perspective of the noise radiation. This dissertation is novel compared to previous studies in the following ways: (a) a three-DOF (3DOF) model, which better represents practical vibration systems, is employed to investigate the importance of the IRs; (b) the IR problem is studied considering both vibration and noise radiation; and (c) passive and hybrid control approaches using dynamic vibration absorbers (DVAs) to suppress the IRs are investigated and their potential demonstrated. The 3DOF analytical model consists of a rigid primary mass connected to a flexible foundation through three isolators. To include the IRs, the isolator is modeled as a continuous rod with longitudinal motion. The force transmissibility through each isolator and the radiated sound power of the foundation are two criteria used to show the effects and significance of the IRs on isolator performance. Passive and hybrid DVAs embedded in the isolator are investigated to suppress the IRs. In the passive approach, two DVAs are implemented and their parameters are selected so that the IRs can be effectively attenuated without significantly degrading the isolator performance at some other frequencies that are also of interest. It is demonstrated that the passive DVA enhanced isolator performs much better than the conventional isolator in the high frequency range where the IRs occur. The isolator performance is further enhanced by inserting an active force pair between the two passive DVA masses, forming the hybrid control approach. The effectiveness and the practical potential of the hybrid system are demonstrated using a feedforward control algorithm. It is shown that this hybrid control approach not only is able to maintain the performance of the passive approach, but also significantly improve the isolator performance at low frequencies. / Ph. D.

Cette thèse contribue au contrôle de la myopie dans les systèmes flexibles de production (SFP). La myopie apparaît lorsque des entités décisionnelles prennent des décisions locales à partir d’une quantité d’information limitée. Cette prise de décision permet de réagir rapidement aux aléas mais induit une performance globale non optimale. Ainsi, ce phénomène doit être contrôlé afin d’obtenir des architectures de pilotage plus performantes. Après une étude du phénomène de myopie dans d’autres domaines, nous définissons la myopie dans les SFP. Un état de l’art sur les différents types d’architectures permet de retenir les architectures de pilotage hybride mixant hiérarchie et hétérarchie pour contrôler la myopie. Une typologie des architectures de pilotage hybride est ensuite réalisée avant qu’une nouvelle architecture ne soit proposée : ORCA. Après avoir été présentée, ORCA est déclinée au pilotage des SFP (ORCA-FMS). ORCA-FMS combine deux approches: un modèle linéaire (ILP) et une approche par champs de potentiel. ORCA-FMS est ensuite appliquée au cas d’étude de la cellule flexible de l’AIP PRIMECA de Valenciennes. Premièrement un modèle de simulation, le plus proche possible du cas d’étude réel est présenté. Il permet d’éprouver l’architecture dans l’environnement de simulation NetLogo. Deuxièmement, afin de valider la pertinence des comportements observés en simulation, l’architecture est mise en œuvre sur la cellule réelle à l’aide du concept de produit actif. Les équipements industriels utilisés pour cette mise en œuvre, le protocole expérimental, ainsi que les résultats obtenus sont détaillés et discutés. / This thesis deals with the control of myopia in Flexible Manufacturing Systems (FMS). Myopia arises when decisional entities take local decisions using limited amount of information. This decision making targets a fast reactivity under perturbations but compromises the overall performance. Thus this phenomenon should be controlled to obtain more efficient control architectures. After a presenting the related literature in myopia in other domains, myopic behavior in FMS is defined. An analysis of state-of-the-art regarding different types of control architectures determined that hybrid control architectures, mixing hierarchy and heterarchy, are the best option to control myopia. Therefore, a thorough study on hybrid control architectures is presented. Afterwards, a new architecture is proposed: ORCA. ORCA first described and then applied to FMS control (ORCA-FMS). ORCA-FMS combines two approaches: a linear model (ILP) and a potential fields approach. ORCA-FMS is then applied to the case study of the flexible cell of Valenciennes’ AIP PRIMECA. First, a simulation model, as close as possible to the real case study is presented. It allows testing the architecture in the simulation environment NetLogo. Then, to validate the behaviors observed in simulation, the architecture is implemented on the real cell using the active product concept. The industrial equipment used for the implementation, the experimental protocol and the results are detailed and discussed.

Les systèmes électroniques commutés sont de plus en plus utilisés dans plusieurs domaines domestiques ou industriels: les écrans à cristaux liquides, les appareils électroménagers, l'éclairage, les ordinateurs personnels, les centrales électriques, les véhicules de transport et ainsi de suite. L'efficacité des opérations de toutes les applications dépend du travail essentiel réalisé par des systèmes électroniques à commutation, dont le comportement est déterminé par une interconnexion et un contrôle appropriés des dispositifs analogiques et numériques. Comme motivation de ce travail, nous considérons les convertisseurs DC-DC de puissance. Cette thèse contribue à fournir des solutions aux problèmes de contrôle hybrides et non linéaires des plusieurs types de convertisseurs de puissance. Dans la première partie nous intéressons au problème de la régulation de la tension des convertisseurs de puissance fonctionnant dans le mode de conduction discontinue. Deux convertisseurs de puissance sont considérés: le convertisseur boost et le convertisseur buck-boost. L'objectif de commande est la génération d'une orbite périodique. Notre principale contribution est un algorithme simple et robuste qui donne des formules explicites pour les temps de commutation sans approximations. Les résultats de simulation et expérimentaux sont présentés. Dans la deuxième partie une classe de convertisseurs de puissance qui peut être globalement stabilisé avec un contrôleur PI a été identifiée. Par ailleurs, nous allons prouver que l'observateur I&I peut être combiné avec le contrôleur PI tout en préservant les propriétés de stabilité asymptotique globale de la boucle fermé. La classe se caractérise par une inégalité matricielle linéaire simple. Le nouveau contrôleur est illustré avec le convertisseur très - populaire, et difficile à contrôler, le SEPIC, pour lequel les résultats de simulation et expérimentaux sont présentés. / Switched electronic systems are used in a huge number of everyday domestic and industrial utilities: liquid crystal displays, home appliances, lighting, personal computers, power plants, transportation vehicles and so on. Efficient operations of all such applications depend on the essential “hidden work" done by switched electronic systems, whose behavior is determined by a suitable interconnection and control of analog and digital devices. As a motivation of this work, we consider the DC-DC power converters. This thesis contributes to provide hybrid and nonlinear control problem solutions to several types of power converters. In the first part we are interested in the problem of voltage regulation of power converters operating in discontinuous conducting mode. Two power converters are considered: the boost converter and the buck-boost converter. The system does not admit a (continuous--time) average model approximation, hence is a hybrid system where the control objective is the generation of a periodic orbit and the actuator commands are switching times. Our main contribution is a simple robust algorithm that gives explicit formulas for the switching times without approximations. Simulation and experimental results that illustrate the robustness of the scheme to parameter uncertainty, as well as performance comparisons with current practice, are presented. In the second part a class of power converters that can be globally stabilized with an output-feedback PI controller has been identified. Moreover, we will prove that the I&I observer can be combined with the PI controller preserving the GAS properties of the closed-loop. The class is characterized by a simple linear matrix inequality. The new controller is illustrated with the widely-popular, and difficult to control, single-ended primary inductor converter, for which simulation and experimental results are presented.

Com o advento da geração distribuída foi permitido aos sistemas de distribuição a possibilidade de operação de forma ilhada dos sistemas interligados de grande porte. Apesar de suas vantagens, do ponto de vista técnico, ainda existe uma série de desafios que necessitam ser superados para a plena aplicação desse conceito. Um desses desafios é definido pela transição dos modos operativos dos geradores distribuídos durante o processo de ilhamento. Da forma em que é reportada na literatura, infere-se que tal transição é realizada de um modo inadequado, amplificando os transitórios observados nas grandezas do gerador distribuído - e por consequência, da rede em que o mesmo se conecta - durante o processo de ilhamento, o que não é desejável. No contexto apresentado, a principal contribuição desta pesquisa está em propor uma estrutura híbrida de controle a ser aplicada aos sistemas de excitação de geradores síncronos que operam em sistemas de distribuição que permitem a operação ilhada de determinadas porções de suas redes. A principal característica da estrutura proposta está em atenuar os transitórios das variáveis do gerador controlado durante o processo de ilhamento. Além disso, o arranjo da estrutura proposta estabelece um compromisso entre a potência reativa e a tensão terminal do gerador controlado, quando o mesmo opera em paralelo com os sistemas interligados de grande porte. Nessa condição, o sistema de controle mantém a potência reativa próxima da referência ajustada atendendo a uma faixa adequada de valores de tensão terminal. / With the advent of distributed generation, the possibility of autonomous operation regarding the bulk power systems was allowed to the distribution systems. Despite its advantages, from the technical point of view, there are lots of challenges that need to be overcome for the full application of this concept. One of these challenges is the transition of distributed generators operating modes during the islanding process. Based in the literature survey, it is inferred that transition is performed in a wrong way, which amplifies the transients in controlled generator quantities and consequently, of the network connected to it during the islanding process, which is undesirable. In this context, the main contribution of this research is the proposal of a hybrid control structure to be applied to the excitation systems of synchronous generators that operate in distribution systems whose islanded operation of determined portions of its grids is permitted. The main characteristic of the proposed structure is the attenuation of transients of the controlled generator quantities during the islanding process. Furthermore, the design of this structure provides a compromise between the generator reactive power and terminal voltage when it operates in parallel with the bulk power systems. That way, the control system maintains the reactive power close to the adjusted reference attending an appropriate range of terminal voltage values.

Cette thèse s’intéresse à la commande et l’observation d’une classe de systèmes linéaires à commutations (SLC). La classe considérée regroupe les systèmes pouvant être représentés par un modèle Hamiltonien à ports. Récemment, plusieurs travaux ont utilisé la théorie des systèmes dynamiques hybrides pour traiter les problèmes de stabilité, de commandabilité et d’observabilité des systèmes linéaires à commutations. Cependant, certains verrous scientifiques demeurent et nécessitent d’être levés tels que la synthèse d’observateurs pour des SLC présentant des modes de fonctionnement inobservables ou la commande hybride de systèmes possédant un nombre réduit d’entrées de commutations et un nombre élevé de variables d’état à contrôler. Dans ce travail, nous nous intéressons à la synthèse d’observateurs s’appuyant sur la modélisation moyenne et la modélisation hybride de SLC ayant une topologie Hamiltonienne à ports particulière. Ce formalisme possède les outils nécessaires pour établir des preuves de stabilité des erreurs d’observation. Dans un premier temps, nous proposons un observateur non linéaire reposant sur le modèle moyen de la classe des SLC considérée. Ensuite, nous traitons le problème de synthèse d’un observateur hybride où nous proposons un observateur commuté prenant en compte les modes de fonctionnement inobservables. Le problème de la commande des SLC est abordé par la suite. Au départ, la théorie de Lyapunov est utilisée pour proposer deux lois de commandes : La première est synthétisée à partir du modèle moyen et la deuxième exploite le modèle hybride. Une commande optimale hybride est élaborée en utilisant le principe du maximum de Pontryagin et une approche utilisant la recherche d’arcs singuliers. Finalement, une commande prédictive hybride est établie à partir d’un modèle discrétisé du système. Des résultats de simulation et une mise en œuvre expérimentale sur un convertisseur DC-DC SEPIC sont donnés pour montrer l’efficacité des méthodes proposées. L’étude d’un tel circuit est motivée par sa topologie particulière qui contient à la fois un mode de fonctionnement observable et un mode de fonctionnement inobservable. En outre, il possède une seule entrée de commutations et quatre variables d’état ce qui lui vaut la réputation être difficile à commander. / This thesis is dedicated to the control and the observation of a class of switched linear systems (SLS). This class contains the systems that can be represented by a port-Hamiltonian model. A lot of works have been studied SLS for several years using an average modeling approach. Recently, various works have shown that hybrid system theory allows to cope with stabilization, controllability, and observability problems of switched linear systems. However, several problems are still open and need more development such as the design of hybrid observers for SLS that have unobservable modes or the control of systems with reduced number of switching inputs and numerous variable states to control. In this work, we are interested in the design of state observers for a particular class of SLS using both the average and the hybrid port-Hamiltonian models. This formalism has the necessary tools to study and establish the stability of the observation errors. At the beginning, a nonlinear observer based on the average modeling is proposed. Next, a hybrid observer is designed for switched linear systems. This observer takes into account the unobservable operating modes of the system. The second point of our work concerns the design of control laws for the considered class of SLS. At first, two Lyapunov-based control laws have been established using either an average model or a hybrid model of the system. A hybrid optimal control based on the maximum principle of Pontryagin and the computation of singular arcs has been also proposed. Finally, a hybrid predictive control based on a discrete model of the system is synthesized. Simulation results and an experimental implementation on a SEPIC converter are given to show the efficiency of the proposed methods. Our motivation to study such a converter is mainly due to its particular topology that includes observable and unobservable subsystems. It is also known to be difficult to be controlled because only one switching input is used to control four state variables.

Com o presente projeto se pretende desenvolver um protótipo de máquina de usinagem para atender a fabricação de pequenos lotes (10~20 peças), Esta máquina terá características intermediárias entre as máquinas universal (manual) e de controle numérico (CN); conjugando as vantagens funcionais destas duas: alta eficiência e flexibilidade. A máquina projetada terá uma operação manual (trajetória), e seu posicionamento será servo-assistido. Entenda-se \"desenvolver\" como: a) Propor uma estratégia de usinagem; b) Propor uma configuração de máquina que funcione segundo esta estratégia; c) desenvolver um protótipo e; d) validar a estratégia e a configuração através de testes no protótipo. A estratégia de posicionamento aqui proposta, é baseada em um posicionamento manual, ou seja, o operador define livremente o movimento da ferramenta com relação à peça a se fabricar. Porém, um computador monitora constantemente a posição da ferramenta e não permite a entrada desta numa região, nomeada \"Região Proibida\"; que corresponde ao perfil da peça. A região proibida é definida diretamente a partir de um desenho de CAD, dispensando o uso de alguma ferramenta computacional de geração automática de trajetória de ferramenta. Deste modo, o operador realiza a usinagem de desbaste. O acabamento é realizado automaticamente pelo computador, que faz com que a ferramenta contorne o perfil da peça, uma vez que o operador envia um sinal de partida. Uma possível configuração de máquina para alcançar esta estratégia é apresentada. E consiste de uma mesa XY servo controlada, adaptada a uma furadeira de bancada, onde operador comanda o movimento da mesa mediante um joystick. Através de ensaios de usinagem, o trabalho demonstra a eficácia da estratégia proposta. / Present project aims the development of a machine tool prototype for attend the manufacturing of small lots (10~20 pieces), This machine will have characteristics intermediate between the universal and the numerical control (CN) machines. The desired machine conjugates the functional advantages of both types of machines: high efficiency and flexibility. The machine, thus designed, will have a manual operation (the tool path is defined by the operator), and its positioning will be servoassisted. Here, \"to develop\" includes: a) to propose a machining strategy; b) to propose an arrangement of machine that works according to this strategy; c) to develop a prototype and; d) to validate the strategy and the arrangement through tests with the prototype. The positioning strategy, is based on a manual positioning, i.e., the operator defines freely the motion of the tool with respect to the work piece. However, a computer monitores constantly the tool position, not permitting the entrance of it inside the area, here called \"prohibited region\", corresponding to the profile of the part to be machined. Outside that region, the computer enables operator to move the tool as he wants. The prohibited region is defined directly from a CAD draft, eliminating the necessity of any kind of computer tools for generating automatically the tool path. Thus, the operator executes the rough machining. The finishing path is executed automatically by the computer that makes the tool contour the profile of the part, according to the start-up command given by the operator. In the work, one possible arrangement of machine to achieve this strategy is presented. It consists of servo controlled XY table and adjusted to a bench drill in which, the operator commands the table motion by means a joy-stick. By machining tests, this work shows the efficiency of the proposed strategy.

Com o advento da geração distribuída foi permitido aos sistemas de distribuição a possibilidade de operação de forma ilhada dos sistemas interligados de grande porte. Apesar de suas vantagens, do ponto de vista técnico, ainda existe uma série de desafios que necessitam ser superados para a plena aplicação desse conceito. Um desses desafios é definido pela transição dos modos operativos dos geradores distribuídos durante o processo de ilhamento. Da forma em que é reportada na literatura, infere-se que tal transição é realizada de um modo inadequado, amplificando os transitórios observados nas grandezas do gerador distribuído - e por consequência, da rede em que o mesmo se conecta - durante o processo de ilhamento, o que não é desejável. No contexto apresentado, a principal contribuição desta pesquisa está em propor uma estrutura híbrida de controle a ser aplicada aos sistemas de excitação de geradores síncronos que operam em sistemas de distribuição que permitem a operação ilhada de determinadas porções de suas redes. A principal característica da estrutura proposta está em atenuar os transitórios das variáveis do gerador controlado durante o processo de ilhamento. Além disso, o arranjo da estrutura proposta estabelece um compromisso entre a potência reativa e a tensão terminal do gerador controlado, quando o mesmo opera em paralelo com os sistemas interligados de grande porte. Nessa condição, o sistema de controle mantém a potência reativa próxima da referência ajustada atendendo a uma faixa adequada de valores de tensão terminal. / With the advent of distributed generation, the possibility of autonomous operation regarding the bulk power systems was allowed to the distribution systems. Despite its advantages, from the technical point of view, there are lots of challenges that need to be overcome for the full application of this concept. One of these challenges is the transition of distributed generators operating modes during the islanding process. Based in the literature survey, it is inferred that transition is performed in a wrong way, which amplifies the transients in controlled generator quantities and consequently, of the network connected to it during the islanding process, which is undesirable. In this context, the main contribution of this research is the proposal of a hybrid control structure to be applied to the excitation systems of synchronous generators that operate in distribution systems whose islanded operation of determined portions of its grids is permitted. The main characteristic of the proposed structure is the attenuation of transients of the controlled generator quantities during the islanding process. Furthermore, the design of this structure provides a compromise between the generator reactive power and terminal voltage when it operates in parallel with the bulk power systems. That way, the control system maintains the reactive power close to the adjusted reference attending an appropriate range of terminal voltage values.

This thesis presents a supervisory hybrid controller for the automatic operation and control of a wind energy conversion and battery storage system. The supervisory hybrid control scheme is based on a radically different approach of modeling and control design, proposed for the subject wind energy conversion and battery storage system. The wind energy conversion unit is composed of a 360kW horizontal axis wind turbine mechanically coupled to an induction generator through a gearbox. The assembly is electrically interfaced to the dc bus through a thyristor-controlled rectifier to enable variable speed operation of the unit. Static capacitor banks have been used to meet reactive power requirements of the unit. A battery storage device is connected to the dc bus through a dc-dc converter to support operation of the wind energy conversion unit during islanded conditions. Islanding is assumed to occur when the tiebreaker to the utility feeder is in open position. The wind energy conversion unit and battery storage system is interfaced to the utility grid at the point of common coupling through a 25km long, 13.8kV feeder using a voltage-sourced converter unit. A bank of static (constant impedance) and dynamic (induction motor) loads is connected to the point of common coupling through a step down transformer. A finite hybrid-automata based model of the wind energy conversion and storage system has been proposed that captures the different operating regimes of the system during grid-connected and in islanded operating modes. The hybrid model of the subject system defines allowable operating states and predefines the transition paths between these operating states. A modular control design approach has been adapted in which the wind energy conversion and storage system has been partitioned along the dc bus into three independent system modules. Traditional control schemes using linear proportional-plus-integral compensators have been used for each system module with suitable modifications where necessary in order to achieve the required steady state and transient performance objectives. A supervisory control layer has been used to combine and configure control schemes of the three system modules to suite the requirements of system operation during any one operating state depicted by the hybrid model of the system. Transition management strategies have been devised and implemented through the supervisory control layer to ensure smooth inter-state transitions and bumpless switching among controllers. It has been concluded based on frequency domain linear analysis and time domain electromagnetic transient simulations that the proposed supervisory hybrid controller is capable of operating the wind energy conversion and storage system in both grid-connected and in islanded modes under changing operating conditions including temporary faults on the utility grid.