Pierre-Jean Barre - Academia.edu (original) (raw)
Papers by Pierre-Jean Barre
This paper addresses the problem of modelling and control synthesis for a class of electromechani... more This paper addresses the problem of modelling and control synthesis for a class of electromechanical systems, which can be accurately decomposed into lumped constant parameters. The control design methodology presented in our former publications is based on a "natural" representation of the process and on two complementary inversion principles leading to a state control structure. This paper generalizes the concept of inversion and proposes a systematic method of control synthesis for the electromechanical processes, starting from a model based on the concept of localized energies and described by the Causal Ordering Graph (COG). We demonstrate that some control solutions, conventional or particular, can be expressed theoretically. The main interest is the systematic deductive aspect of the methodology, aiming at a faithful copy of the desired trajectories.
keshmiri.iut.ac.ir
... Borivoj Hanu, Libor Tùma A System Dynamics Modeling Approach of Ecological Motivation in Sus... more ... Borivoj Hanu, Libor Tùma A System Dynamics Modeling Approach of Ecological Motivation in Sustainable Supply Chains 48 Patroklos Georgiadis, Eleftherios Iakovou, Dimitrios Vlachos, Maria Besiou 3Dimensional Indicator Designed for Bulk Solid Observation 56 Ales Sliva ...
Journal Européen des Systèmes Automatisés, 2004
ABSTRACT This paper deals with the specific influence of the jerk value on the behaviour of indus... more ABSTRACT This paper deals with the specific influence of the jerk value on the behaviour of industrial high-speed systems. The physical relationships between the jerk maximum value, the vibratory level reached and the effective movement time are formalised on a axis-drive model taking account of the main control parameters and effects of a predominating deformation mode. Experimental tests conducted on three test-setups with different architectures and characteristics demonstrate the effectiveness of the suggested approach in estimating the evolution of the maximum residual oscillations.
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007
ABSTRACT An indirect iterative learning algorithm has shown to be able to update the parameters o... more ABSTRACT An indirect iterative learning algorithm has shown to be able to update the parameters of an acceleration feedback controller for flexible manipulators. The fine estimation of the masses of a chain of mass-spring-dampers units allows the simultaneous tuning of both the feedback controller and the trajectory generation. This algorithm has been validated on an industrial robot arm.
This paper is Part I of a two-part article. The control design of synchronous motors is now class... more This paper is Part I of a two-part article. The control design of synchronous motors is now classical, so it is helpful to present graphical tools of control design such as the Causal Ordering Graph (COG). In Part I, we present classical models of permanent magnet synchronous motors using the COG. These models are developed and analysed in the stationary reference frame, in Concordia's reference frame and in Park's reference frame. The Causal Ordering Graph representation of models reveals the nature of the interactions between currents and fluxes. Also, the torque expression of synchronous motors is presented as a non-bijective relation. In order to establish nonspecific models, an analogy between rotary and linear synchronous motor is presented. Afterwards, the specificities of linear motors are exposed. This property of models will be taken into account to generate controllers using the inversion principle of COG in Part II.
This paper is Part I of a two-part article. The control design of synchronous motors is now class... more This paper is Part I of a two-part article. The control design of synchronous motors is now classical, so it is helpful to present graphical tools of control design such as the Causal Ordering Graph (COG). In Part I, we present classical models of permanent magnet synchronous motors using the COG. These models are developed and analysed in the stationary reference frame, in Concordia's reference frame and in Park's reference frame. The Causal Ordering Graph representation of models reveals the nature of the interactions between currents and fluxes. Also, the torque expression of synchronous motors is presented as a non-bijective relation. In order to establish nonspecific models, an analogy between rotary and linear synchronous motor is presented. Afterwards, the specificities of linear motors are exposed. This property of models will be taken into account to generate controllers using the inversion principle of COG in Part II.
Analytical models of Surface Mounted Permanent Magnet Linear Synchronous Motors are generally pre... more 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. 1.
Under certain flight conditions, a rotorcraft fuselage motions and vibrations might interact with... more Under certain flight conditions, a rotorcraft fuselage motions and vibrations might interact with its pilot voluntary and involuntary actions leading to potentially dangerous dynamic instabilities known as rotorcraft-pilot couplings (RPCs). A better understanding of this phenomenon could be achieved by being able to reproduce the phenomenon during simulations. Design guidelines could be then obtained at an early stage of development of rotorcrafts improving flight safety for pilots and passengers. In this work, an upper limb musculoskeletal model using bond graphs is presented. It is then integrated in a larger aeroelastic rotorcraft bond graph model that allows simulating pilot-rotor-fuselage couplings under several flight conditions. Simulations are performed and compared to literature’s models and experimental data.
This paper presents an analysis of the force ripples of a permanent magnet linear synchronous mot... more This paper presents an analysis of the force ripples of a permanent magnet linear synchronous motor (PMLSM) with regards to the current magnitude. This approach takes into account the influence of the currents in the generation of the force ripples. A 2D- Finite Element Analysis is developed, and experimental results on a test bench validate the proposed model.
Industrial computer numerical controllers (CNC) in machine tools applications are classically com... more Industrial computer numerical controllers (CNC) in machine tools applications are classically composed of three cascaded closed loops: current, speed and position loop, from internal to external loop in that order. Typically, IP controllers are used in the closed current control loop. In order to increase the precision of such system, we propose to design for the current loop a new
Most machine tool applications operate with industrial computer numerical controllers (CNC). This... more Most machine tool applications operate with industrial computer numerical controllers (CNC). This kind of controllers is settled for three cascaded closed loops: current, speed and position loop, from the internal to the external loop respectively. More precisely, the current control loop is considered with IP controllers. In this paper, in order to enhance the precision of such system, we propose
WSEAS Transactions on Systems
The focus of this paper is on the problem of control synthesis for electromechanical systems. Thi... more The focus of this paper is on the problem of control synthesis for electromechanical systems. This paper generalizes the concept of inversion and proposes a systematic method of control synthesis for the electromechanical processes, starting from a model based on the concept of localized energies and described by the Causal Ordering Graph (COG). The control design methodology is based on two complementary inversion principles leading to a state feedback controller with prefilter (feedforward). We demonstrate that some control solutions, conventional or particular, can be expressed theoretically. The constraints imposed by the prefilter order on the movement law are discussed. The main interest is the systematic deductive aspect of the methodology, aiming at a faithful copy of the desired trajectories.
A Dual-Drive Moving Gantry Stage Robot can be modelled as a square MIMO system. However, it is us... more A Dual-Drive Moving Gantry Stage Robot can be modelled as a square MIMO system. However, it is usually considered as two independent SISO systems: classical industrial gantry control is achieved by two independent position controllers. This control structure does not take into account the mechanical coupling between the two actuators and leads to a reduction of the overall performances of the system. In this paper, a physical lumped parameters model of an industrial robot is proposed and experimentally identified. It is based on a structural, modal, and Finite Element Method analysis. Then, a physical model-based control structure is deduced. The solution is finally simulated and implemented on an experimental test bench. Results are compared to the performances of the initial industrial control and show an improvement of the overall performances.
2006 Proceeding of the Thrity-Eighth Southeastern Symposium on System Theory, 2006
The Permanent-magnet synchronous motors (PMSM) have been widely used in high-performance variable... more The Permanent-magnet synchronous motors (PMSM) have been widely used in high-performance variable speed drives. However, any non-ideal conditions, such as nonsinusoidal distributed rotor permanent magnet flux or the cogging effects, may bring on ripples in the output torque. In this paper, we propose to suppress the torque ripple of the PMSM in the stationary reference frame by using self-tuning multiple-frequency resonant controllers. This kind of controller is usually used to track the non-sinusoidal command and/or reject some kind of higher-order harmonic disturbances in AC current control system. We first present how to design the robust self-tuning resonant controller using pole assignment technique, in which the influence of unit time-delay is compensated. After that, the optimal excitation current waveforms are designed to suppress the torque ripples caused by the back-EMF harmonics. The torque ripples can be completely eliminated up to an arbitrary order. By using the self-tuning multiple-frequency resonant controllers, the regulated currents can perfectly track the optimal excitation currents, and the undesired torque ripple is therefore efficiently suppressed. The experimental results confirm the validity and effectiveness of the proposed method.
Conference Record of the 2004 IEEE Industry Applications Conference, 2004. 39th IAS Annual Meeting., 2004
ABSTRACT The traction system of the subway VAL 206 is ensured by DC machines connected in series.... more ABSTRACT The traction system of the subway VAL 206 is ensured by DC machines connected in series. A common chopper supplies the armature windings and a double-chopper supplies the field windings. Another power structure is suggested in order to increase performances during losses of adhesion. A specific control strategy is defined in order to obtain different torque on both machines despite their common armature current. An antislip control can thus be developed in applying the desired torque to each bogie at just the right time. This torque tracking strategy is validated on a 1.5 kW experimental set-up.
This paper addresses the problem of modelling and control synthesis for a class of electromechani... more This paper addresses the problem of modelling and control synthesis for a class of electromechanical systems, which can be accurately decomposed into lumped constant parameters. The control design methodology presented in our former publications is based on a "natural" representation of the process and on two complementary inversion principles leading to a state control structure. This paper generalizes the concept of inversion and proposes a systematic method of control synthesis for the electromechanical processes, starting from a model based on the concept of localized energies and described by the Causal Ordering Graph (COG). We demonstrate that some control solutions, conventional or particular, can be expressed theoretically. The main interest is the systematic deductive aspect of the methodology, aiming at a faithful copy of the desired trajectories.
keshmiri.iut.ac.ir
... Borivoj Hanu, Libor Tùma A System Dynamics Modeling Approach of Ecological Motivation in Sus... more ... Borivoj Hanu, Libor Tùma A System Dynamics Modeling Approach of Ecological Motivation in Sustainable Supply Chains 48 Patroklos Georgiadis, Eleftherios Iakovou, Dimitrios Vlachos, Maria Besiou 3Dimensional Indicator Designed for Bulk Solid Observation 56 Ales Sliva ...
Journal Européen des Systèmes Automatisés, 2004
ABSTRACT This paper deals with the specific influence of the jerk value on the behaviour of indus... more ABSTRACT This paper deals with the specific influence of the jerk value on the behaviour of industrial high-speed systems. The physical relationships between the jerk maximum value, the vibratory level reached and the effective movement time are formalised on a axis-drive model taking account of the main control parameters and effects of a predominating deformation mode. Experimental tests conducted on three test-setups with different architectures and characteristics demonstrate the effectiveness of the suggested approach in estimating the evolution of the maximum residual oscillations.
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007
ABSTRACT An indirect iterative learning algorithm has shown to be able to update the parameters o... more ABSTRACT An indirect iterative learning algorithm has shown to be able to update the parameters of an acceleration feedback controller for flexible manipulators. The fine estimation of the masses of a chain of mass-spring-dampers units allows the simultaneous tuning of both the feedback controller and the trajectory generation. This algorithm has been validated on an industrial robot arm.
This paper is Part I of a two-part article. The control design of synchronous motors is now class... more This paper is Part I of a two-part article. The control design of synchronous motors is now classical, so it is helpful to present graphical tools of control design such as the Causal Ordering Graph (COG). In Part I, we present classical models of permanent magnet synchronous motors using the COG. These models are developed and analysed in the stationary reference frame, in Concordia's reference frame and in Park's reference frame. The Causal Ordering Graph representation of models reveals the nature of the interactions between currents and fluxes. Also, the torque expression of synchronous motors is presented as a non-bijective relation. In order to establish nonspecific models, an analogy between rotary and linear synchronous motor is presented. Afterwards, the specificities of linear motors are exposed. This property of models will be taken into account to generate controllers using the inversion principle of COG in Part II.
This paper is Part I of a two-part article. The control design of synchronous motors is now class... more This paper is Part I of a two-part article. The control design of synchronous motors is now classical, so it is helpful to present graphical tools of control design such as the Causal Ordering Graph (COG). In Part I, we present classical models of permanent magnet synchronous motors using the COG. These models are developed and analysed in the stationary reference frame, in Concordia's reference frame and in Park's reference frame. The Causal Ordering Graph representation of models reveals the nature of the interactions between currents and fluxes. Also, the torque expression of synchronous motors is presented as a non-bijective relation. In order to establish nonspecific models, an analogy between rotary and linear synchronous motor is presented. Afterwards, the specificities of linear motors are exposed. This property of models will be taken into account to generate controllers using the inversion principle of COG in Part II.
Analytical models of Surface Mounted Permanent Magnet Linear Synchronous Motors are generally pre... more 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. 1.
Under certain flight conditions, a rotorcraft fuselage motions and vibrations might interact with... more Under certain flight conditions, a rotorcraft fuselage motions and vibrations might interact with its pilot voluntary and involuntary actions leading to potentially dangerous dynamic instabilities known as rotorcraft-pilot couplings (RPCs). A better understanding of this phenomenon could be achieved by being able to reproduce the phenomenon during simulations. Design guidelines could be then obtained at an early stage of development of rotorcrafts improving flight safety for pilots and passengers. In this work, an upper limb musculoskeletal model using bond graphs is presented. It is then integrated in a larger aeroelastic rotorcraft bond graph model that allows simulating pilot-rotor-fuselage couplings under several flight conditions. Simulations are performed and compared to literature’s models and experimental data.
This paper presents an analysis of the force ripples of a permanent magnet linear synchronous mot... more This paper presents an analysis of the force ripples of a permanent magnet linear synchronous motor (PMLSM) with regards to the current magnitude. This approach takes into account the influence of the currents in the generation of the force ripples. A 2D- Finite Element Analysis is developed, and experimental results on a test bench validate the proposed model.
Industrial computer numerical controllers (CNC) in machine tools applications are classically com... more Industrial computer numerical controllers (CNC) in machine tools applications are classically composed of three cascaded closed loops: current, speed and position loop, from internal to external loop in that order. Typically, IP controllers are used in the closed current control loop. In order to increase the precision of such system, we propose to design for the current loop a new
Most machine tool applications operate with industrial computer numerical controllers (CNC). This... more Most machine tool applications operate with industrial computer numerical controllers (CNC). This kind of controllers is settled for three cascaded closed loops: current, speed and position loop, from the internal to the external loop respectively. More precisely, the current control loop is considered with IP controllers. In this paper, in order to enhance the precision of such system, we propose
WSEAS Transactions on Systems
The focus of this paper is on the problem of control synthesis for electromechanical systems. Thi... more The focus of this paper is on the problem of control synthesis for electromechanical systems. This paper generalizes the concept of inversion and proposes a systematic method of control synthesis for the electromechanical processes, starting from a model based on the concept of localized energies and described by the Causal Ordering Graph (COG). The control design methodology is based on two complementary inversion principles leading to a state feedback controller with prefilter (feedforward). We demonstrate that some control solutions, conventional or particular, can be expressed theoretically. The constraints imposed by the prefilter order on the movement law are discussed. The main interest is the systematic deductive aspect of the methodology, aiming at a faithful copy of the desired trajectories.
A Dual-Drive Moving Gantry Stage Robot can be modelled as a square MIMO system. However, it is us... more A Dual-Drive Moving Gantry Stage Robot can be modelled as a square MIMO system. However, it is usually considered as two independent SISO systems: classical industrial gantry control is achieved by two independent position controllers. This control structure does not take into account the mechanical coupling between the two actuators and leads to a reduction of the overall performances of the system. In this paper, a physical lumped parameters model of an industrial robot is proposed and experimentally identified. It is based on a structural, modal, and Finite Element Method analysis. Then, a physical model-based control structure is deduced. The solution is finally simulated and implemented on an experimental test bench. Results are compared to the performances of the initial industrial control and show an improvement of the overall performances.
2006 Proceeding of the Thrity-Eighth Southeastern Symposium on System Theory, 2006
The Permanent-magnet synchronous motors (PMSM) have been widely used in high-performance variable... more The Permanent-magnet synchronous motors (PMSM) have been widely used in high-performance variable speed drives. However, any non-ideal conditions, such as nonsinusoidal distributed rotor permanent magnet flux or the cogging effects, may bring on ripples in the output torque. In this paper, we propose to suppress the torque ripple of the PMSM in the stationary reference frame by using self-tuning multiple-frequency resonant controllers. This kind of controller is usually used to track the non-sinusoidal command and/or reject some kind of higher-order harmonic disturbances in AC current control system. We first present how to design the robust self-tuning resonant controller using pole assignment technique, in which the influence of unit time-delay is compensated. After that, the optimal excitation current waveforms are designed to suppress the torque ripples caused by the back-EMF harmonics. The torque ripples can be completely eliminated up to an arbitrary order. By using the self-tuning multiple-frequency resonant controllers, the regulated currents can perfectly track the optimal excitation currents, and the undesired torque ripple is therefore efficiently suppressed. The experimental results confirm the validity and effectiveness of the proposed method.
Conference Record of the 2004 IEEE Industry Applications Conference, 2004. 39th IAS Annual Meeting., 2004
ABSTRACT The traction system of the subway VAL 206 is ensured by DC machines connected in series.... more ABSTRACT The traction system of the subway VAL 206 is ensured by DC machines connected in series. A common chopper supplies the armature windings and a double-chopper supplies the field windings. Another power structure is suggested in order to increase performances during losses of adhesion. A specific control strategy is defined in order to obtain different torque on both machines despite their common armature current. An antislip control can thus be developed in applying the desired torque to each bogie at just the right time. This torque tracking strategy is validated on a 1.5 kW experimental set-up.