https://sam.ensam.eu:443 The DSpace digital repository system captures, stores, indexes, preserves, and distributes digital research material. Sun, 12 Apr 2026 20:08:41 GMT 2026-04-12T20:08:41Z http://hdl.handle.net/10985/6759 Impact of Permanent Magnet Field on Inductance Variation of a PMLSM REMY, Ghislain; TOUNZI, Abdelmounaïm; BARRE, Pierre-Jean; HAUTIER, Jean-Paul; GOMAND, Julien Analytical models of Surface Mounted Permanent Magnet Linear Synchronous Motors are generally presented with constant inductances. However, the impact of powerful rare-earth PMs in the saturation phenomena cannot be neglected anymore. In this paper, a new non-linear model of PMLSM inductances is suggested. This model is defined as a function of the current value as well as of the magnet position. So, an analytical study, a finite-element analysis and experimental results are presented and confronted. Mon, 01 Jan 2007 00:00:00 GMT http://hdl.handle.net/10985/6759 2007-01-01T00:00:00Z REMY, Ghislain TOUNZI, Abdelmounaïm BARRE, Pierre-Jean HAUTIER, Jean-Paul GOMAND, Julien Analytical models of Surface Mounted Permanent Magnet Linear Synchronous Motors are generally presented with constant inductances. However, the impact of powerful rare-earth PMs in the saturation phenomena cannot be neglected anymore. In this paper, a new non-linear model of PMLSM inductances is suggested. This model is defined as a function of the current value as well as of the magnet position. So, an analytical study, a finite-element analysis and experimental results are presented and confronted. http://hdl.handle.net/10985/9276 Inversion-based control of electromechanical systems using causal graphical descriptions BARRE, Pierre-Jean; BOUSCAYROL, Alain; DELARUE, Philippe; DUMETZ, Eric; GIRAUD, Frédéric; HAUTIER, Jean-Paul; LEMAIRE-SEMAIL, Betty; SEMAIL, Eric; KESTELYN, Xavier Causal Ordering Graph and Energetic Macroscopic Representation are graphical descriptions to model electromechanical systems using integral causality. Inversion rules have been defined in order to deduce control structure step-bystep from these graphical descriptions. These two modeling tools can be used together to develop a two-layer control of system with complex parts. A double-drive paper system is taken as an example. The deduced control yields good performances of tension regulation and velocity tracking. Sun, 01 Jan 2006 00:00:00 GMT http://hdl.handle.net/10985/9276 2006-01-01T00:00:00Z BARRE, Pierre-Jean BOUSCAYROL, Alain DELARUE, Philippe DUMETZ, Eric GIRAUD, Frédéric HAUTIER, Jean-Paul LEMAIRE-SEMAIL, Betty SEMAIL, Eric KESTELYN, Xavier Causal Ordering Graph and Energetic Macroscopic Representation are graphical descriptions to model electromechanical systems using integral causality. Inversion rules have been defined in order to deduce control structure step-bystep from these graphical descriptions. These two modeling tools can be used together to develop a two-layer control of system with complex parts. A double-drive paper system is taken as an example. The deduced control yields good performances of tension regulation and velocity tracking. http://hdl.handle.net/10985/9574 Conception architecturale d’un système mécatronique d’assistance à opérateur par Bond - G raph TOURON, Matthieu; DIEULOT, Jean-Yves; BARRE, Pierre-Jean; GOMAND, Julien Les systèmes mécatroniques requièrent une forte intégration physique et fonctionnelle. Pour répondre au premier besoin, l’usage d’un outil de modélisation multiphysique tel que le Bond-Graph est nécessaire. Son extension à la modélisation fonctionnelle est possible si la description informationnelle des échanges fonctionnels peut être mise sous forme d’action- réaction. Les travaux exposés proposent une méthodologie de conception du niveau architectural d’un système mécatronique d’assistance à l’opérateur, basée sur une modélisation multi - physique et multi - domaine (physique et informationnel) de son cahier des charges Sun, 01 Jan 2012 00:00:00 GMT http://hdl.handle.net/10985/9574 2012-01-01T00:00:00Z TOURON, Matthieu DIEULOT, Jean-Yves BARRE, Pierre-Jean GOMAND, Julien Les systèmes mécatroniques requièrent une forte intégration physique et fonctionnelle. Pour répondre au premier besoin, l’usage d’un outil de modélisation multiphysique tel que le Bond-Graph est nécessaire. Son extension à la modélisation fonctionnelle est possible si la description informationnelle des échanges fonctionnels peut être mise sous forme d’action- réaction. Les travaux exposés proposent une méthodologie de conception du niveau architectural d’un système mécatronique d’assistance à l’opérateur, basée sur une modélisation multi - physique et multi - domaine (physique et informationnel) de son cahier des charges http://hdl.handle.net/10985/8963 Multi-physic system simplification method applied to a helicopter flight axis active control MARTIN, Mikael; BARRE, Pierre-Jean; GOMAND, Julien; MALBURET, François A helicopter flight axis control, which is a complex multi-physic system, is modelled using an energetic based graphical tool: the Energetic Macroscopic Representation. Elements of the system are mainly composed of passive technologies and their number tends to increase year after year to improve the pilots comfort by adding new functions. A new methodology is proposed to transform the system into a new active one by replacing some hydro-mechanical elements by a new controllable active mechanical source. The challenge is to simplify the flight control architecture while preserving the global behaviour of the system. Sun, 01 Jan 2012 00:00:00 GMT http://hdl.handle.net/10985/8963 2012-01-01T00:00:00Z MARTIN, Mikael BARRE, Pierre-Jean GOMAND, Julien MALBURET, François A helicopter flight axis control, which is a complex multi-physic system, is modelled using an energetic based graphical tool: the Energetic Macroscopic Representation. Elements of the system are mainly composed of passive technologies and their number tends to increase year after year to improve the pilots comfort by adding new functions. A new methodology is proposed to transform the system into a new active one by replacing some hydro-mechanical elements by a new controllable active mechanical source. The challenge is to simplify the flight control architecture while preserving the global behaviour of the system. http://hdl.handle.net/10985/9041 Complementary use of BG and EMR formalisms for multiphysics systems analysis and control CHIKHAOUI, Zeineb; GOMAND, Julien; MALBURET, François; BARRE, Pierre-Jean In this paper, a complex multiphysics system is modeled using two different energy-based graphical techniques: Bond Graph and Energetic Macroscopic Representation. These formalisms can be used together to analyze, model and control a system. The BG is used to support physical, lumped-parameter modeling and analysis processes, and then EMR is used to facilitate definition of a control structure through inversion-based methodology. This complementarity between both of these tools is set out through a helicopter flight control subsystem. Sun, 01 Jan 2012 00:00:00 GMT http://hdl.handle.net/10985/9041 2012-01-01T00:00:00Z CHIKHAOUI, Zeineb GOMAND, Julien MALBURET, François BARRE, Pierre-Jean In this paper, a complex multiphysics system is modeled using two different energy-based graphical techniques: Bond Graph and Energetic Macroscopic Representation. These formalisms can be used together to analyze, model and control a system. The BG is used to support physical, lumped-parameter modeling and analysis processes, and then EMR is used to facilitate definition of a control structure through inversion-based methodology. This complementarity between both of these tools is set out through a helicopter flight control subsystem. http://hdl.handle.net/10985/9775 Conception architecturale d’un système mécatronique d’assistance à opérateur par Bond-Graph TOURON, Matthieu; DIEULOT, Jean-Yves; BARRE, Pierre-Jean; GOMAND, Julien Les systèmes mécatroniques requièrent une forte intégration physique et fonctionnelle. Pour répondre au premier besoin, l’usage d’un outil de modélisation multi-physique tel que le Bond-Graph est nécessaire. Son extension à la modélisation fonctionnelle est possible si la description informationnelle des échanges fonctionnels peut être mise sous forme d’action-réaction. Les travaux exposés proposent une méthodologie de conception du niveau architectural d’un système mécatronique d’assistance à l’opérateur, basée sur une modélisation multi-physique et multi-domaine (physique et informationnel) de son cahier des charges. Sun, 01 Jan 2012 00:00:00 GMT http://hdl.handle.net/10985/9775 2012-01-01T00:00:00Z TOURON, Matthieu DIEULOT, Jean-Yves BARRE, Pierre-Jean GOMAND, Julien Les systèmes mécatroniques requièrent une forte intégration physique et fonctionnelle. Pour répondre au premier besoin, l’usage d’un outil de modélisation multi-physique tel que le Bond-Graph est nécessaire. Son extension à la modélisation fonctionnelle est possible si la description informationnelle des échanges fonctionnels peut être mise sous forme d’action-réaction. Les travaux exposés proposent une méthodologie de conception du niveau architectural d’un système mécatronique d’assistance à l’opérateur, basée sur une modélisation multi-physique et multi-domaine (physique et informationnel) de son cahier des charges. http://hdl.handle.net/10985/16781 A port-Hamiltonian framework for operator force assisting systems: Application to the design of helicopter flight controls TOURON, Matthieu; DIEULOT, Jean-Yves; BARRE, Pierre-Jean; GOMAND, Julien An energetic representation of helicopter flight controls, viewed as an Operator Assisting System, is proposed within the Port-Hamiltonian framework. The assisting controller modifies the dynamical behavior between the pilot stick and the swashplate, linked through a Continuous Variable Transmission, by enforcing force scaling and providing appropriate force feedback to the operator. Generic sufficient conditions are given on the assistance location and structure which allow the assisted system to be dissipative, hence providing nice stability and power scaling properties. Results are applied to the design of an assistance for a simplified flight control system. Simulations show the relevance of the method and are compared to real-life results. Mon, 01 Jan 2018 00:00:00 GMT http://hdl.handle.net/10985/16781 2018-01-01T00:00:00Z TOURON, Matthieu DIEULOT, Jean-Yves BARRE, Pierre-Jean GOMAND, Julien An energetic representation of helicopter flight controls, viewed as an Operator Assisting System, is proposed within the Port-Hamiltonian framework. The assisting controller modifies the dynamical behavior between the pilot stick and the swashplate, linked through a Continuous Variable Transmission, by enforcing force scaling and providing appropriate force feedback to the operator. Generic sufficient conditions are given on the assistance location and structure which allow the assisted system to be dissipative, hence providing nice stability and power scaling properties. Results are applied to the design of an assistance for a simplified flight control system. Simulations show the relevance of the method and are compared to real-life results. http://hdl.handle.net/10985/9227 Modeling Stiffness and Damping in Rotational Degrees of Freedom Using Multibond Graphs TOD, Georges; BARRE, Pierre-Jean; GOMAND, Julien; MALBURET, François A contribution is proposed for the modeling of mechanical systems using multibond graphs. When modeling a physical system, it may be needed to catch the dynamic behavior contribution of the joints between bodies of the system and therefore to characterize the stiffness and damping of the links between them. The visibility of where dissipative or capacitive elements need to be implemented to represent stiffness and damping in multibond graphs is not obvious and will be explained. A multibond graph architecture is then proposed to add stiffness and damping in hree rotational degrees of freedom. The resulting joint combines the spherical joint multibond graph relaxed causal constraints while physically representing three concatenated revolute joints. The mathematical foundations are presented, and then illustrated through the modeling and simulation of an inertial navigation system; in which stiffness and damping between the gimbals are taken into account. This method is particularly useful when modeling and simulating multibody systems using Newton-Euler formalism in multibond graphs. Future work will show how this method can be extended to more complex systems such as rotorcraft blades' connections with its rotor hub. Tue, 01 Jan 2013 00:00:00 GMT http://hdl.handle.net/10985/9227 2013-01-01T00:00:00Z TOD, Georges BARRE, Pierre-Jean GOMAND, Julien MALBURET, François A contribution is proposed for the modeling of mechanical systems using multibond graphs. When modeling a physical system, it may be needed to catch the dynamic behavior contribution of the joints between bodies of the system and therefore to characterize the stiffness and damping of the links between them. The visibility of where dissipative or capacitive elements need to be implemented to represent stiffness and damping in multibond graphs is not obvious and will be explained. A multibond graph architecture is then proposed to add stiffness and damping in hree rotational degrees of freedom. The resulting joint combines the spherical joint multibond graph relaxed causal constraints while physically representing three concatenated revolute joints. The mathematical foundations are presented, and then illustrated through the modeling and simulation of an inertial navigation system; in which stiffness and damping between the gimbals are taken into account. This method is particularly useful when modeling and simulating multibody systems using Newton-Euler formalism in multibond graphs. Future work will show how this method can be extended to more complex systems such as rotorcraft blades' connections with its rotor hub. http://hdl.handle.net/10985/9458 An Energetic Approach to Aeroelastic Rotorcraft-Pilot Couplings Analysis TOD, Georges; BARRE, Pierre-Jean; BOUDON, Benjamin; GOMAND, Julien; MALBURET, François This paper describes an energetic method using multibond graphs to model multi-physical systems. Its potential in building physical meaningful graphs that represent equivalent mathematical models of classic analytical approaches is shown. An application to the study of an aeroelastic rotorcraft-pilot coupling is studied by analyzing the passive pilot behavior in the cyclic control loop. A rotorcraft in hover flight is simulated and perturbed on its rolling motion axis. Depending on the rotorcraft characteristics air resonance may occur, and the pilot may involuntarily excite the cyclic lever, increasing the rolling motion of the fuselage to an unstable point. Future work will explore eventual alternative solutions to notch filters to avoid passive pilot reinjection at low fuselage frequency modes by controlling for example the actuators of the swashplate through model inversion using the bond graph method Tue, 01 Jan 2013 00:00:00 GMT http://hdl.handle.net/10985/9458 2013-01-01T00:00:00Z TOD, Georges BARRE, Pierre-Jean BOUDON, Benjamin GOMAND, Julien MALBURET, François This paper describes an energetic method using multibond graphs to model multi-physical systems. Its potential in building physical meaningful graphs that represent equivalent mathematical models of classic analytical approaches is shown. An application to the study of an aeroelastic rotorcraft-pilot coupling is studied by analyzing the passive pilot behavior in the cyclic control loop. A rotorcraft in hover flight is simulated and perturbed on its rolling motion axis. Depending on the rotorcraft characteristics air resonance may occur, and the pilot may involuntarily excite the cyclic lever, increasing the rolling motion of the fuselage to an unstable point. Future work will explore eventual alternative solutions to notch filters to avoid passive pilot reinjection at low fuselage frequency modes by controlling for example the actuators of the swashplate through model inversion using the bond graph method http://hdl.handle.net/10985/7734 Adaptation de la loi de mouvement aux systemes de positionnement à dynamique élevée BARRE, Pierre-Jean; BEAREE, Richard L’augmentation des performances des machines de positionnement passe par l’augmentation des accélérations et donc des sollicitations transmises à la structure de la machine. Ces contraintes sont susceptibles d’engendrer des déformations et des vibrations dégradant le suivi de profil ainsi que le positionnement final. Les commandes numériques avancées disposent de différentes formes de loi de movement à jerk limité, polynomiale...) qui ont un effet notable sur le compromis entre la durée du mouvement effectif et la précision attendue. L’objectif de cet article vise à démystifier cet effet en proposant une analyse comparative de l’influence de différents types de lois de mouvement sur les vibrations, ainsi que sur la durée du mouvement d’un axe soumis à un mode de déformation prépondérant. Mon, 01 Jan 2007 00:00:00 GMT http://hdl.handle.net/10985/7734 2007-01-01T00:00:00Z BARRE, Pierre-Jean BEAREE, Richard L’augmentation des performances des machines de positionnement passe par l’augmentation des accélérations et donc des sollicitations transmises à la structure de la machine. Ces contraintes sont susceptibles d’engendrer des déformations et des vibrations dégradant le suivi de profil ainsi que le positionnement final. Les commandes numériques avancées disposent de différentes formes de loi de movement à jerk limité, polynomiale...) qui ont un effet notable sur le compromis entre la durée du mouvement effectif et la précision attendue. L’objectif de cet article vise à démystifier cet effet en proposant une analyse comparative de l’influence de différents types de lois de mouvement sur les vibrations, ainsi que sur la durée du mouvement d’un axe soumis à un mode de déformation prépondérant.