Contrôle
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Item PID Controller Tuning using DE and PSO optimization techniques(2016) Alem, Mohamed Mounir.; Saidoun, Hakim; Ouadi, A. (Supervisor)The PID controllers are the most popular and widely used controllers in industry because of their simplicity; robustness and successful practical application that can provide excellent control performance despite the varied dynamic characteristics of plant .Determination or tuning of the PID parameters continues to be important as these parameters have a great influence on the stability and performance of the control system. Most of the processes are complex and nonlinear in nature resulting into their poor performance when controlled by traditional methods. The need for improved performance of the process has led to the development of optimal controllers. In this project, two modern heuristic techniques which are particle swarm optimization (PSO) and Differential evolution algorithm (DE) are used for tuning and optimizing PID parameters. A classical method, which is Ziegler and Nichols method, is also used. Finally, a comparison is made between classical method (ZN) and optimization methods (PSO and DE) are applied on high order system, the proposed methods were indeed more efficient and robust in improving the control performances of the PID algorithm.Item Robust Passivity-based control of active surge(2016) Malki, Mohammed Lamine; Yahamdi, Mohammed Amin; Boushaki, Razika (Supervisor)In this work, we address the stability of compression systems and the active control of surge, considering the Moore-Greitzer model with recycling valve. Despite considerable efforts to stabilize centrifugal compressors at efficient operating points, preventing surge is still a challenging problem. Here, a passivity-based control is suggested to robustly stabilize the used model for centrifugal compressors. In this project we have showed that we can use the recycle valve as an active surge actuator and the results were successful. After that, classical solution (the use of the PI controller) has been explored in addition to the use passivity-based control as a new type of controllers. Talking then in terms of performance and robustness, the passivity-based control has achieved these two goals. Simulation of the obtained results is done with Simulink.Item Identification of A distributed parameter system using the least squares technique(2016) Dahlouk, Abdelkader; Azzoug, El-Mehdi; Kouadri, Abdelmalek (Supervisor)The identification of such systems represents one of the important directions of theoretical and practical research, due to large class of applications; fluid flow systems, heat diffusion systems, etc. In this context, we consider the linear parametric identification of distributed parameters systems using the Least Square. Two numerical examples of heat transfer systems are presented where linear and nonlinear models are obtained from heat difference equation. The third application is about the identification of a heat conduction in a cement rotary kiln using experimental data. We anticipate that this work be intuitive for practical applications in the areas of controls and signal processing.Item Adaptive PID fuzzy logic control of the recycle compression systems(2016) Lahbiben, Yasmine; Ouacif, Hadjer; Boushaki, Razika (Supervisor)Centrifugal compressors play an integral role in the oil and gas industry, helping power the multiple processes that convert oil and gas into thousands of practical products. These types of compressors can encounter a very dangerous and detrimental problem called surge. This work deals with the study of Centrifugal compressor surge and its prevention. In order to avoid the surge occurrence and ensure compressor’s operation in the stable region with maximum efficiency, appropriate techniques are considered based on PID regulator. Classical PID controllers remain one of the simplest, most effective, robust, and easily certifiable control strategies. However, this simplicity comes with a price. Design tradeoffs between integral and derivative gain in a linear PID controller often make it difficult to achieve optimal performance. To solve this problem, the design of a multistage fuzzy PID controller is proposed in this thesis. The simulation results show the effectiveness of the multistage fuzzy PID controller in maintaining the speed and stability of the system.Item Design and implementation of automatic bottle filling system using PLC and SCADA(2016) Mohammed, Abdelmalek; Ould Amara, Mouloud; Ouadi, A. (Supervisor)This Project objective is to design and Implement a Programmable Logic Controller based automatic bottle filling using a Siemens SIMATIC S7-200 (CPU 226) PLC which acts as a field controller that runs the designed prototype by sensing the presence of bottle in a conveyor belt and then filling it accordingly up to a fixed level. In order to keep track of the overall process in real time, a four layers distributed Supervisory Control And Data Acquisition system was built to monitor and remotely control the bottle filling station over a local area network through an Human Machin Interface designed specifically for the proposed system that indicates the status of different process variables, displays alarms and log events. The SCADA system was deployed using LabVIEW software which makes the system cost efficient, flexible with an open environment and reliable solution for automation of small scale industries.Item Comparative study of block pole design and pole placement in a helicopter case(2016) Abahri, Ferial; Hariche, K. (Supervisor)One of the most popular techniques used to design the dynamics of a system is state feedback. In the case of multivariable systems, the feedback gain matrix permitting the assignment of the desired set of closed loop poles is not unique. Helicopters represent a good example of complex multi-input multi-output systems as they are inherently unstable, highly cross-coupled and very non-linear. The objective of this thesis is to compare and evaluate two design methodologies, based on canonical forms: block pole design and pole placement, for the case of a Lynx helicopter model at Hover. The study is conducted through the simulation of large number of possible state feedback gains .The initial condition response of these cases are plotted , the time response characteristics , gain matrices , performance and robustness measures are computed .These results are then compared to select the study cases with the smallest feedback gains and best time response and robustness performances .Item Optimal control of distributed parameter systems via orthogonal polynomials(2016) Akkouche, Said; Meddeb, Khaled; Kouadri, Abdelmalek (Supervisor)In this thesis, orthogonal polynomials are employed successfully to solve optimal control problem of distributed parameter systems. Three types of orthogonal polynomials are described and used to give approximate solutions, mainly, Legendre polynomials, Chebyshev polynomials and Bernstein polynomials. By the use of the particular properties of these orthogonal polynomials, the optimal control problem is simplified into the optimal control of a linear time invariant lumped-parameter system. Next, a directly computational formulation for evaluating the optimal control and trajectory of a linear distributed- parameter system is developed, unlike the variational iteration method, which allows iteratively to approximate the solution where the problems are initially approximated with possible unknowns. By means of orthogonal polynomials the solutions of optimal control problems are obtained, comparison with the variational method is made. Examples are applied to verify the convergence results and to illustrate the efficiency and the reliability of each method.Item PID controlller tuning using DE and PSO optimization techniques(2016) Alem, Mohamed Mounir; Saidoun, Hakim; Ouadi, Abderrahmane (Supervisor)The PID controllers are the most popular and widely used controllers in industry because of their simplicity; robustness and successful practical application that can provide excellent control performance despite the varied dynamic characteristics of plant .Determination or tuning of the PID parameters continues to be important as these parameters have a great influence on the stability and performance of the control system. Most of the processes are complex and nonlinear in nature resulting into their poor performance when controlled by traditional methods. The need for improved performance of the process has led to the development of optimal controllers. In this project, two modern heuristic techniques which are particle swarm optimization (PSO) and Differential evolution algorithm (DE) are used for tuning and optimizing PID parameters. A classical method, which is Ziegler and Nichols method, is also used. Finally, a comparison is made between classical method (ZN) and optimization methods (PSO and DE) are applied on high order system, the proposed methods were indeed more efficient and robust in improving the control performances of the PID algorithm.Item Active surge control of the compressor recycle system using feedback linearization(2016) Hemchi, Oussama; Tebba, Assam; Boushaki, Razika (Supervisor)Surge control in the centrifugal compressor recycle system is our main focus in this project. Surge is a term that is used for instability or oscillation through a compressor and is highly unwanted. The recycle system feeds compressed gas back to the intake via the recycle valve to ensure the safety of the system. A mathematical model of the recycle system which contains the compressor characteristic is extended and simulated in SIMULINK. The recycle system is proven to be stable as long as the slope of the compressor characteristic is negative. Two control techniques were used: The first is Surge Avoidance in which a PID controller keeps the operating point far from the unstable region and ensure the total safety of the system. The second method is Active Surge Control in which feedback linearization method is used to linearize the system then linear controllers were used to stabilize the system near the unstable region where efficiency is high.Item Optimization and Control of Recycle Compression systems using PSO algorithm and PID controller(2016) Idoughi, Achour; Abdennacer, RamdaniI; Boushaki, Razika (Supervisor)Centrifugal compressors are the most satisfactory and the widely used in oil and gas companies, however, stable operation of this type of compressors is limited towards low mass flows by the occurrence of an aerodynamic compressor flow instability called the surge. This instability can lead to severe damage of the machine due to large mechanical and thermal loads in the blading, and restrict its performance and efficiency. In this thesis, a method of controlling the stability of a compression system and optimising its efficiency was presented and developed. Before going through the controlling and the optimising parts of the work, elementary definitions of compressors and surge have been presented. A mathematical model of Greitzer has been used to model our compression system and, using Matlab Simulink, the compressor’s model has been built up. As most industries nowadays are using the PID controller to ensure the stability of compression systems, the classical solution (the use of the PID controller) to eliminate surge has been explored. To increase the output discharge pressure of the compressor, thus increase the compressor’s efficiency, the particle swarm-optimising algorithm (PSO) is introduced along with the PID controller to the Simulink model. The PID did stabilise the system in a short time. However, when using it, the compressor’s pressure ratio was quite low. This was overcame once using the PSO, where an acceptable pressure ratio was obtained.Item Kinect-based collision-free path planning for mobile manipulators(2016) Boulahya, Ala Eddine; Belaidi, Hadjira (Superviseur)The objective of this project is to generate, in off-line, a path (trajectory) without collision for a mobile base (mobile base with an arm) in an indoor environment which is complex dynamic and cluttered with obstacles the case of reaching tasks. The generated free path must joint an initial situation of the robot base, (XB, YB, ZB) init , to a predefined final position, (XB, YB, ZB) End . In order to move the form an initial situation to the final goal while avoiding any obstacles (using a technique of soft-computing), the robot will operate a kinect camera. The implementation and validation will be performed on the mobile manipulator RobuTer/ULM available at the DPR CDTA.Item Modeling, simulation and ontrol of as urbine in Combined cycle power plant(2016) Bacha, Sofiene; Djebbari, Sidali; Ouadi, A. (Supervisor)Gas turbines have become increasingly popular in the different power systems, due to their higher efficiency, especially when connected in a combined cycle setup. With increasing installations of gas turbines scheduled in different countries, the dynamics of the gas turbines become increasingly more important. The purpose of this work is understanding, modelling, and analyzing the behavior of 9FB General Electric gas turbine in the Combined Cycle Power Plant (CCPP) of Shariket Kahrabaa Hadjret Ennouss (SKH) with a view to investigate the power system problems. A description of the CCPP major parts is presented with specific description of the 9FB gas turbine and its combustion system. For modeling purpose, the parameters of Rowen’s model for the 9FB Heavy Duty Gas Turbine (HDGT) are derived and several simulated tests using Matlab/Simulink are executed. The way of obtaining the parameters are based on simple physical laws. It explains briefly how to extract the parameters of the model using the operational and performance data. Rowen’s model has provided a starting point for development of other models. Among these models, the Frequency Dependent model is taken to be under study since it is suitable for long-term simulation of power system dynamic performance involving abnormal frequency conditions.Item An improved thresholding technique for fault detection in a cement rotary Kiln(2016) Belaghdji, Abdelheq; Guellil, Abderrahmane; Kouadri, A. (Supervisor)On-line control of nonlinear nonstationarity processes using multivariate statistical methods has recently prompt a lot of interest due to its industrial practical importance. Indeed, basic process control methods do not allow monitoring of such processes. For this purpose, this study proposes a moving window real-time monitoring system based on a Principal Component Analysis scheme. A sliding window of a fixed length is used to determine an appropriate threshold. This thresholding technique will provide an accurate detection. At each one incoming observation, the developed on-line threshold will avoid false alarms and increase non detection faults. It will be shown through experimental results thatItem A Mathlab-based simulation of PV-System integrated into a grid(2016) Ghazli, Wissam Abdelfetah; Rouag, Fadi Elislam; Bourezg, A. (Supervisor)This project presents a simulation model of the electric part of a grid connected photovoltaic generator. The model contains a detailed representation of the main components of the system that are the solar array, Buck converter and the grid side inverter. A proper control of the DC/DC converter is developed in order to extract the maximum amount from the photovoltaic generator. The grid interface inverter transfers the energy drawn from the PV module into the grid by keeping common dc voltage constant. Modeling and control is carried out using the causal informational graph method. The simulation results under Matlab/Simulink show the control performance and dynamic behavior of grid connected photovoltaic system.Item PCA-Based approach for fault detection in cement rotary kiln(2016) Aribi, Yacine; Guermi, Hamza; Kouadri, Abdelmalek (Supervisor)Principal component analysis (PCA) is a well-known data dimensionality technique that is widely used in industrial processes detection fault. Dynamic PCA is acknowledged for its capability to cope with autocorrelation in time-series. False indications impose one of the greatest problems in the monitoring of many processes. A study is carried in the first part of this work in order to compare the performances of Static and Dynamic PCA approaches in cement rotary kiln. The issue of false indications in fault detection systems is investigated in the second part. A monitoring approach based on constant false alarms rate (CFAR) is proposed to reduce false detections. A piecewise constant threshold is developed for ..2 and .. statistics to limit the rate of false alarms to a given percentile at each time instant. A control chart constructed using the rate of false alarms per window is used to monitor the process. Finally, the proposed monitoring technique is tested on SPCA to confirm the ability of the proposed approach to result in zero false detections without imposing high delays or misdetections.Item Virtual measurement system for AC machine using labview(2016) Henniche, Feriel; Keddache, Nadia; Ouadi, Abderrahmane (Supervisor)It is widely accepted that contemporary scientific experimentation on electrical machines requires extensive measurements and acquisition of various data. In this project the development of virtual measurements system based on labview software environment is described. This system is able to perform an essentially large number of simultaneous electrical and mechanical physical variables measurements of an AC induction machine. In the studied case only voltages, currents (of the three phase system ),speed and torque are measured and recorded in real time , while power, reactive power, apparent power,total harmonic distortion…etc are calculated according to the IEEE(Institute of Electrical and Electronic Engineering) std 1945-2000. A graphical user interface is created to allow an accurate measurements display and data recording using TDMS function (Writes data to binary measurement files (.tdm or .tdms)).Item Identification of distributed parameter systems a neural network based approach(2016) Benhammada, Ibtissem; Kouadri, A. (Supervisor)In recent years, Advances in scientific computation and developments in spatially resolved sensor technology have critically enhanced the ability to develop modeling strategies, and experimental techniques for the study of the spatiotemporal response of distributed nonlinear systems. Usual alternatives for the modeling of these systems are some simplifying techniques that seek to capture the distributed system dynamics through lumped parameter models, they can be drastically under-resolved, and, miss important features of the true system response. Robust implementations of distributed system identification algorithms based on detailed spatiotemporal experimental data have, therefore, an important role to play. In this project, we present a methodology for the identification of distributed parameter systems, based on artificial neural network architectures.Item Design of an active disturbance rejection control for the ED-7220C robot arm(2017) Bouderhem, Mohamed el Amine; Kountar, Amira Nadjah; Guernane, Rida(supervisor)Nowadays, the vast majority of Industrial applications use industrial robot arms which impose the improvement and development of the control techniques that concerns robot manipulators systems. There are many control techniques that can be applied to do the control of manipulators. One of the control strategies is to deal with each joint of the manipulator as a single input/single output (SISO) system, i.e. decoupling the robotic system. This project reports the design of a decoupling control for the ED-7220C 5-axes robot arm position. The biggest challenge in this control problem is the absence of a practical dynamic model to be used in the control due to the lack of information about the physical parameters of this robot arm. Hence model based control techniques will most probably fail in achieving the goal of this project. The solution was to think of a model free control technique. One of the most recent model free control techniques is the extended state observer (ESO) based active disturbance rejection control (ADRC). In this project ESO based ADRC technique has been designed to control the ED-7220C robot manipulator.Item Kinect-based path planning and execution for autonomous mobile robot using ROS:case of robuter(2017) Guir, Dallel; Saighi, Souhila; Boushaki, Razika(supervisor)This project presents preliminary results of the application of two-Kinect cameras system on a two wheeled indoor mobile robot for off-line path planning and execution. In our approach, the robot makes use of depth information delivered by the vision system to accurately model its surrounding environment through image processing techniques. In addition, a Rapidly-exploring random tree is implemented to generate a collision-free path linking an initial configuration of the mobile robot (Source) to a final configuration (Target). After that, Piecewise Cubic Hermite Interpolating Polynomial is used to smooth the generated optimal path. Finally, a comparison between RRT and Genetic algorithm has been done.Item Direct torque control of iduction motor implementation based FPGA fed three level inverter(2017) Bencheikh, Fares; Douib, Lyamine; Metidji, Brahim(supervisor)This thesis presents the implementation of Direct Torque Control (DTC) of induction machine utilizing FPGA to handle the issue of controlling the induction motor, since it is considered as one of the most difficult system to control because of its nonlinearity. Therefore, the direct torque control is principally a non-linear control in which the inverter switching states are imposed through a separate control of stator flux and electromagnetic torque of the motor. Furthermore, a Direct Torque Control (DTC) has become a popular technique for the control of induction motor drives as it provides fast dynamic torque response and robustness to machine parameter variations. Hysteresis band control is one of the simplest and most popular technique used in DTC of induction motor drives. Moreover, it is based on measuring the currents and voltages on the motor, and there are no mechanical sensors to estimate the instantaneous values of electromagnetic torque and stator flux. Afterward, they will be compared to the two adjustable references. And it is directly possible to reduce torque and flux errors by using inverter states.