SAM
https://sam.ensam.eu:443
The DSpace digital repository system captures, stores, indexes, preserves, and distributes digital research material.Sat, 18 Jan 2020 04:05:45 GMT2020-01-18T04:05:45ZAn innovative subdivision-ICP registration method for tool-path correction applied to deformed aircraft parts machining
http://hdl.handle.net/10985/7735
An innovative subdivision-ICP registration method for tool-path correction applied to deformed aircraft parts machining
BEAREE, Richard; DIEULOT, Jean-Yves; RABATE, Patrice
A new and fast registration algorithm has been proposed to update the tool-path of a deburring robot, intended to machining composite workpieces under gravity and clamping deformations. A Subdivision Iterative Closest Point algorithm, which considers different parts of the contour with respect to curvature, allows to obtain far better results than classical methods, without complicated assumptions or computations. The procedure has shown to be effective for porthole and nose-cone deburring. Experimental tests conducted on robotic milling workcell demonstrated the efficiency of the registration method.
Fri, 01 Jan 2010 00:00:00 GMThttp://hdl.handle.net/10985/77352010-01-01T00:00:00ZBEAREE, RichardDIEULOT, Jean-YvesRABATE, PatriceA new and fast registration algorithm has been proposed to update the tool-path of a deburring robot, intended to machining composite workpieces under gravity and clamping deformations. A Subdivision Iterative Closest Point algorithm, which considers different parts of the contour with respect to curvature, allows to obtain far better results than classical methods, without complicated assumptions or computations. The procedure has shown to be effective for porthole and nose-cone deburring. Experimental tests conducted on robotic milling workcell demonstrated the efficiency of the registration method.Economic supervisory predictive control of a hybrid power generation plant
http://hdl.handle.net/10985/11354
Economic supervisory predictive control of a hybrid power generation plant
DIEULOT, Jean-Yves; DAUPHIN-TANGUY, Geneviève; CHALAL, Lamine; COLAS, Frédéric
This work deals with the development of an economic supervisory predictive control method for the management of a hybrid renewable energy system. The hybrid cell integrates solar panels, a gas microturbine and a storage unit. Tuning the predictive controller is easy: the optimal criterion encom- passes the environmental, fuel, energy delivery and storage costs. Short time predictions of the solar power are embedded in the supervisor which yields smoother battery control and better power management. Real-time experiments are driven in a Hardware-in-the-Loop framework illustrating the relevance of the proposed supervisory predictive control design.
Thu, 01 Jan 2015 00:00:00 GMThttp://hdl.handle.net/10985/113542015-01-01T00:00:00ZDIEULOT, Jean-YvesDAUPHIN-TANGUY, GenevièveCHALAL, LamineCOLAS, FrédéricThis work deals with the development of an economic supervisory predictive control method for the management of a hybrid renewable energy system. The hybrid cell integrates solar panels, a gas microturbine and a storage unit. Tuning the predictive controller is easy: the optimal criterion encom- passes the environmental, fuel, energy delivery and storage costs. Short time predictions of the solar power are embedded in the supervisor which yields smoother battery control and better power management. Real-time experiments are driven in a Hardware-in-the-Loop framework illustrating the relevance of the proposed supervisory predictive control design.Conception architecturale d’un système mécatronique d’assistance à opérateur par Bond-Graph
http://hdl.handle.net/10985/9775
Conception architecturale d’un système mécatronique d’assistance à opérateur par Bond-Graph
TOURON, Matthieu; GOMAND, Julien; DIEULOT, Jean-Yves; BARRE, Pierre-Jean
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 GMThttp://hdl.handle.net/10985/97752012-01-01T00:00:00ZTOURON, MatthieuGOMAND, JulienDIEULOT, Jean-YvesBARRE, Pierre-JeanLes 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.Modeling of inertial and compliance parametric uncertainties in Port-Hamiltonian systems using LFR
http://hdl.handle.net/10985/9774
Modeling of inertial and compliance parametric uncertainties in Port-Hamiltonian systems using LFR
TOURON, Matthieu; GOMAND, Julien; DIEULOT, Jean-Yves; BARRE, Pierre-Jean
This paper presents a Linear Fractional Representation of a Port Hamiltonian System for which uncertainties are concentrated on the Hamitonian parameters. A basic block-diagram is provided and an illustration is shown on a hand-held cutting tool viewed as an effort multiplier.
Tue, 01 Jan 2013 00:00:00 GMThttp://hdl.handle.net/10985/97742013-01-01T00:00:00ZTOURON, MatthieuGOMAND, JulienDIEULOT, Jean-YvesBARRE, Pierre-JeanThis paper presents a Linear Fractional Representation of a Port Hamiltonian System for which uncertainties are concentrated on the Hamitonian parameters. A basic block-diagram is provided and an illustration is shown on a hand-held cutting tool viewed as an effort multiplier.Conception architecturale d’un système mécatronique d’assistance à opérateur par Bond - G raph
http://hdl.handle.net/10985/9574
Conception architecturale d’un système mécatronique d’assistance à opérateur par Bond - G raph
TOURON, Matthieu; GOMAND, Julien; DIEULOT, Jean-Yves; BARRE, Pierre-Jean
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 GMThttp://hdl.handle.net/10985/95742012-01-01T00:00:00ZTOURON, MatthieuGOMAND, JulienDIEULOT, Jean-YvesBARRE, Pierre-JeanLes 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 chargesEvent-triggered variable horizon supervisory predictive control of hybrid power plants
http://hdl.handle.net/10985/11885
Event-triggered variable horizon supervisory predictive control of hybrid power plants
DIEULOT, Jean-Yves; DAUPHIN-TANGUY, Geneviève; CHALAL, Lamine; COLAS, Frédéric
The supervision of a hybrid power plant, including solar panels, a gas microturbine and a storage unit operating under varying solar power profiles is considered. The Economic Supervisory Predictive controller assigns the power references to the controlled subsystems of the hybrid cell using a financial criterion. A prediction of the renewable sources power is embedded into the supervisor. Results deteriorate when the solar power is unsteady, owing to the inaccuracy of the predictions for a long-range horizon of 10 s.The receding horizon is switched between an upper and a lower value according to the amplitude of the solar power trend. Theoretical results show the relevance of horizon switching, according to a tradeoff between performance and prediction accuracy. Experimental results, obtained in a Hardware In the Loop (HIL) framework, show the relevance of the variable horizon approach. Power amplifiers allow to simulate virtual components, such as a gas microturbine, and to blend their powers with that of real devices (storage unit, real solar panels). In this case, fuel savings, reaching 15 %, obtained under unsteady operating conditions lead to a better overall performance of the hybrid cell. The overall savings obtained in the experiments amount to 12 %.
Wed, 01 Jan 2014 00:00:00 GMThttp://hdl.handle.net/10985/118852014-01-01T00:00:00ZDIEULOT, Jean-YvesDAUPHIN-TANGUY, GenevièveCHALAL, LamineCOLAS, FrédéricThe supervision of a hybrid power plant, including solar panels, a gas microturbine and a storage unit operating under varying solar power profiles is considered. The Economic Supervisory Predictive controller assigns the power references to the controlled subsystems of the hybrid cell using a financial criterion. A prediction of the renewable sources power is embedded into the supervisor. Results deteriorate when the solar power is unsteady, owing to the inaccuracy of the predictions for a long-range horizon of 10 s.The receding horizon is switched between an upper and a lower value according to the amplitude of the solar power trend. Theoretical results show the relevance of horizon switching, according to a tradeoff between performance and prediction accuracy. Experimental results, obtained in a Hardware In the Loop (HIL) framework, show the relevance of the variable horizon approach. Power amplifiers allow to simulate virtual components, such as a gas microturbine, and to blend their powers with that of real devices (storage unit, real solar panels). In this case, fuel savings, reaching 15 %, obtained under unsteady operating conditions lead to a better overall performance of the hybrid cell. The overall savings obtained in the experiments amount to 12 %.A port-Hamiltonian framework for operator force assisting systems: Application to the design of helicopter flight controls
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; GOMAND, Julien; BARRE, Pierre-Jean
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 GMThttp://hdl.handle.net/10985/167812018-01-01T00:00:00ZTOURON, MatthieuDIEULOT, Jean-YvesGOMAND, JulienBARRE, Pierre-JeanAn 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.Confidence Level Optimization of DG Piecewise Affine Controllers in Distribution Grids
http://hdl.handle.net/10985/17725
Confidence Level Optimization of DG Piecewise Affine Controllers in Distribution Grids
BUIRE, Jerome; COLAS, Frédéric; DIEULOT, Jean-Yves; DE ALVARO, Leticia; GUILLAUD, Xavier
Distributed generators (DGs) reactive powers are controlled to mitigate voltage overshoots in distribution grids with stochastic power production and consumption. Classical DGs controllers may embed piecewise affine laws with dead-band terms. Their settings are usually tuned using a decentralized method which uses local data and optimizes only the DG node behavior. It is shown that when short-term forecasts of stochastic powers are Gaussian and the grid model is assumed to be linear, nodes voltages can either be approximated by Gaussian or sums of truncated Gaussian variables. In the latter case, the voltages probability density functions (pdf) that are needed to compute the overvoltage risks or DG control effort are less straightforward than for normal distributions. These pdf are used into a centralized optimization problem which tunes all DGs control parameters. The objectives consist in maximizing the confidence levels for which voltages and powers remain in prescribed domains and minimizing voltage variances and DG efforts. Simulations on a real distribution grid model show that the truncated Gaussian representation is relevant and that control parameters can easily be updated even when extra DGs are added to the grid. The DG reactive power can be reduced down to 50% or node voltages variances can be reduced down to 30%.
Tue, 01 Jan 2019 00:00:00 GMThttp://hdl.handle.net/10985/177252019-01-01T00:00:00ZBUIRE, JeromeCOLAS, FrédéricDIEULOT, Jean-YvesDE ALVARO, LeticiaGUILLAUD, XavierDistributed generators (DGs) reactive powers are controlled to mitigate voltage overshoots in distribution grids with stochastic power production and consumption. Classical DGs controllers may embed piecewise affine laws with dead-band terms. Their settings are usually tuned using a decentralized method which uses local data and optimizes only the DG node behavior. It is shown that when short-term forecasts of stochastic powers are Gaussian and the grid model is assumed to be linear, nodes voltages can either be approximated by Gaussian or sums of truncated Gaussian variables. In the latter case, the voltages probability density functions (pdf) that are needed to compute the overvoltage risks or DG control effort are less straightforward than for normal distributions. These pdf are used into a centralized optimization problem which tunes all DGs control parameters. The objectives consist in maximizing the confidence levels for which voltages and powers remain in prescribed domains and minimizing voltage variances and DG efforts. Simulations on a real distribution grid model show that the truncated Gaussian representation is relevant and that control parameters can easily be updated even when extra DGs are added to the grid. The DG reactive power can be reduced down to 50% or node voltages variances can be reduced down to 30%.Convex formulation of confidence level optimization of DG affine reactive power controllers in distribution grids
http://hdl.handle.net/10985/17728
Convex formulation of confidence level optimization of DG affine reactive power controllers in distribution grids
BUIRE, Jérôme; DIEULOT, Jean-Yves; COLAS, Frédéric; GUILLAUD, Xavier; DE ALVARO, Léticia
Volatile productions and consumptions generate a stochastic behavior of distribution grids and make its supervision difficult to achieve. Usually, the Distributed Generators reactive powers are adjusted to perform decentralized voltage control. Industrial controllers are generally equipped with a local affine feedback law, which settings are tuned at early stage using local data. A centralized and more efficient tuning method should aim to maximize the probability that all the node voltages of distribution grids remain within prescribed bounds. When the characteristics of the stochastic power forecasts are known, the centralized algorithm allows to update the settings on a regular time basis. However, the method requires to solve stochastic optimization problem. Assuming that stochastic variables have Gaussian distributions, a procedure is given which guarantees the convergence of the stochastic optimization. Convex problems drastically reduce the difficulty and the computational time required to reach the global minimum, compared to nonconvex optimal power flow problems. The linear controllers with optimized parameters are compared to traditional control laws using simulations of a real distribution grid model. The results show that the algorithm is reliable and moreover fast enough. Hence, the proposed method can be used to update periodically the control parameters.
Wed, 01 Jan 2020 00:00:00 GMThttp://hdl.handle.net/10985/177282020-01-01T00:00:00ZBUIRE, JérômeDIEULOT, Jean-YvesCOLAS, FrédéricGUILLAUD, XavierDE ALVARO, LéticiaVolatile productions and consumptions generate a stochastic behavior of distribution grids and make its supervision difficult to achieve. Usually, the Distributed Generators reactive powers are adjusted to perform decentralized voltage control. Industrial controllers are generally equipped with a local affine feedback law, which settings are tuned at early stage using local data. A centralized and more efficient tuning method should aim to maximize the probability that all the node voltages of distribution grids remain within prescribed bounds. When the characteristics of the stochastic power forecasts are known, the centralized algorithm allows to update the settings on a regular time basis. However, the method requires to solve stochastic optimization problem. Assuming that stochastic variables have Gaussian distributions, a procedure is given which guarantees the convergence of the stochastic optimization. Convex problems drastically reduce the difficulty and the computational time required to reach the global minimum, compared to nonconvex optimal power flow problems. The linear controllers with optimized parameters are compared to traditional control laws using simulations of a real distribution grid model. The results show that the algorithm is reliable and moreover fast enough. Hence, the proposed method can be used to update periodically the control parameters.Coordinated control of active distribution networks to help a transmission system in emergency situation
http://hdl.handle.net/10985/17722
Coordinated control of active distribution networks to help a transmission system in emergency situation
MORIN, J.; COLAS, Frédéric; DIEULOT, Jean-Yves; GRENARD, S.; GUILLAUD, Xavier
This paper addresses the relevance of using reactive power from Medium Voltage (MV) networks to support the voltages of a High Voltage (HV) rural network in real-time. The selection and analysis of different optimal coordination strategies between the HV and several MV grids is investigated. The algorithms will control the reactive powers that can flow between HV/MV networks after a request from the Transmission Network Operator in case of an emergency situation such as a line outage. From a case study, the relevance of the coordination is enlightened and recommendations are given on how to tune and to combine the optimal algorithms with the advanced Volt Var Controllers of the distribution grids.
Mon, 01 Jan 2018 00:00:00 GMThttp://hdl.handle.net/10985/177222018-01-01T00:00:00ZMORIN, J.COLAS, FrédéricDIEULOT, Jean-YvesGRENARD, S.GUILLAUD, XavierThis paper addresses the relevance of using reactive power from Medium Voltage (MV) networks to support the voltages of a High Voltage (HV) rural network in real-time. The selection and analysis of different optimal coordination strategies between the HV and several MV grids is investigated. The algorithms will control the reactive powers that can flow between HV/MV networks after a request from the Transmission Network Operator in case of an emergency situation such as a line outage. From a case study, the relevance of the coordination is enlightened and recommendations are given on how to tune and to combine the optimal algorithms with the advanced Volt Var Controllers of the distribution grids.