Sainte-Foy-lès-Lyon, France
Sainte-Foy-lès-Lyon, France

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Toumi D.,Université Ibn Khaldoun | Boucherit M.,Process Control Laboratory | Tadjine M.,Process Control Laboratory
Archives of Electrical Engineering | Year: 2012

This paper describes a fault-tolerant controller (FTC) of induction motor (IM) with inter-turn short circuit in stator phase winding. The fault-tolerant controller is based on the indirect rotor field oriented control (IRFOC) and an observer to estimate the motor states, the amount of turns involved in short circuit and the current in the short circuit. The proposed fault controller switches between the control of the two components of measured stator current in the synchronously rotating reference frame and the control of the two components of estimated current in the case of faulty condition when the estimated current in the short circuit is not destructive of motor winding. This technique is used to eliminate the speed and the rotor flux harmonics and to assure the decoupling between the rotor flux and torque controls. The results of the simulation for controlling the speed and rotor flux of the IM demonstrate the applicability of the proposed FTC.

Bouhired S.,Laboratoire Commande et Controle | Bouchoucha M.,Laboratoire Commande et Controle | Tadjine M.,Process Control Laboratory
2013 3rd International Conference on Systems and Control, ICSC 2013 | Year: 2013

This paper addresses the problem of global attitude control, in quaternion space for a small UAV equipped with a low cost IMU. The proposed controller is based on a new observer that estimates the true angular velocity from the biased measurements fed by a low cost IMU. The observer based controller is synthesized based on a single Lyapunov function and stability analysis shows that UAV attitude converges globally asymptotically towards the desired attitude trajectory. Simulation results including realistic robustness tests illustrate the effectiveness of the proposed controller. © 2013 IEEE.

Bouhired S.,Laboratoire Commande et Controle | Bouchoucha M.,Laboratoire Commande et Controle | Tadjine M.,Process Control Laboratory
2013 3rd International Conference on Systems and Control, ICSC 2013 | Year: 2013

In this work, the problem of quaternion-based global attitude stabilization is addressed, using the Backstepping technique. The proposed controller is conceived to be consistent in order to prevent the ambiguity in relating a given attitude to its two corresponding quaternions. The set of the two antipodal equilibrium error quaternions are rendered attractive and asymptotically stable. The error quaternion is then attracted by the nearest equilibrium in the set. In order to escape from the invariant and non attractive undesirable manifold, defined by attitude errors of 180o, the rigid-body attitude dynamics is augmented by a time varying dynamics. Simulation results illustrate the efficiency of the proposed controller, for attitude stabilization or tracking, even in the presence of a centred Gaussian noise, on angular velocity measurements. © 2013 IEEE.

Rezoug A.,Center de Developpement des Technologies | Rezoug A.,Process Control Laboratory | Hamerlain M.,Center de Developpement des Technologies | Tondu B.,INSA Toulouse | Tadjine M.,Process Control Laboratory
ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics | Year: 2011

In this paper, we propose the application of an Interval Type-2 Fuzzy Sliding Mode Controller IT2FSMC for 2 degrees of freedom robot arm actuated by pneumatic artificial muscles (PAM). A robust IT2FL controller based on the Lyapunov stability condition of sliding mode control SMC was adopted. The objectives of the control are: (1) to avoid the modelling problem in this type of robot, (2) to attenuate the chattering effect of the SMC, (3) to reduce the rules number of the fuzzy control, (4) to guarantee the stability and the robustness of the system and (5) to handle the uncertainties of the system. First joints of robot are approximated by adequately linear differential equations; next we present the proposed IT2FSM approach of control. In the last, this method has experimented and compared to an interval type-2 fuzzy controller IT2FC in order to demonstrate its effectiveness.

Kouchih D.,Blida University | Tadjine M.,Process Control Laboratory | Boucherit M.S.,Process Control Laboratory
Archives of Control Sciences | Year: 2013

This paper presents the synthesis of an adaptive observer which is used for the improvement of the direct torque control of induction motor drives. The observer detects stator flux components in two-phase stationary reference frame, rotor speed and stator resistance by measure of the stator terminal voltages and currents. The observer is adapted using a simple algorithm which does not imply a high computational load. Stability analysis based on Lyapunov theory is performed in order to guarantee the closed loop stability. Simulation tests under load disturbance and stator resistance variation are provided to evaluate the consistency and performance of the proposed control technique in the low and high speeds.

Ikonen E.,University of Oulu | Najim K.,Process Control Laboratory
European Control Conference, ECC 1999 - Conference Proceedings | Year: 2015

Wiener type of systems consist of linear dynamics followed by a static non-linear part. In this paper, a restricted class of Wiener systems is considered where the static mapping represents a steady-state model for the process. A Wiener model structure is suggested for the identification of MISO steady-state static systems with linear unit steady-state gain OE dynamics for each input. The derivatives required by gradient-based parameter estimation techniques are given. Example with MISO data from a pump-valve pilot plant, using sigmoid neural networks to model the non-linearities, illustrates the behaviour of the approach. © 1999 EUCA.

Henini N.,Process Control Laboratory | Nezli L.,Process Control Laboratory | Tabbache B.,British Petroleum | Tlemcani A.,Dr. Yahia Fares University Center of Médéa
International Review on Modelling and Simulations | Year: 2010

The objective of this work is to establish the independent vector control of multiphase multimotor systems supplied with only one VSI (voltage source inverter) controlled by a novel generalized algorithm of SVPWM (Space Vector Pulse Width Modulation) technique. The independent vector control is allowed by employing a suitable connection of stator windings of the motors. The SVPWM technique is adopted due to its flexibility for optimizing switching waveforms and its well adaptation for digital implementation. However, the multiphase VSIs are multi-dimensional systems; consequently, the SVPWM must be implemented in a multidimensional vector space. This paper develops a novel analysis of multiphase space vector to synthesize a required phase voltages for driving multiphase multi induction machines (IMs) with a minimum switch stress. Theoretical developments are verified for two pentaphase machines series connected. Moreover, this algorithm can be easily extended to an n-phase multi-machines system. Copyright © 2010 Praise Worthy Prize S.r.l. - All rights reserved.

Revathi P.,Process Control Laboratory | Saipriya K.,Process Control Laboratory | Kumar C.K.,Process Control Laboratory | Kumar T.,Process Control Laboratory
Journal of Radioanalytical and Nuclear Chemistry | Year: 2014

A method for the determination of dissolved tri butyl phosphate (TBP) in PUREX process aqueous streams by atomic emission spectrometry with inductively coupled plasma has been evolved. The phosphorous emission lines of 213.618 and 214.914 nm have been chosen and the possibility of determining dissolved TBP in these lines has been explored. Since presence of uranium which is inevitable in the process solution, and also present in macro level, the spectral and matrix interference of uranium on the determination of phosphorous has been investigated. The precision of the method was characterized by RSD of <5 % with a detection limit of 0.06 and 0.24 mg/L for phosphorous which in turn corresponds to detection limit of 0.5 and 2 mg/L for dissolved TBP in lines 213.618 and 214.914 nm respectively. © 2014 Akadémiai Kiadó.

Bellakehal S.,University Blaise Pascal | Andreff N.,University Blaise Pascal | Mezouar Y.,University Blaise Pascal | Tadjine M.,Process Control Laboratory
Meccanica | Year: 2011

The aim of this paper is to study force and position control of kinematic parallel machines. Relying on a recent work showing that computed torque control in Cartesian space is suitable for parallel structures, we propose a parallel force position control scheme of a parallel robot based on the visual servoing of the end effector pose. Simulation results show the efficiency of the proposed approach. © 2011 Springer Science+Business Media B.V.

Bellakehal S.,University Blaise Pascal | Andreff N.,University Blaise Pascal | Mezouar Y.,University Blaise Pascal | Tadjine M.,Process Control Laboratory
Mechanism and Machine Theory | Year: 2011

In this paper, force and position control of parallel kinematic machines are discussed. Cartesian space computed torque control is applied to achieve force and position servoing directly in the task space within a sensor-based control architecture. The originality of the approach resides in the use of a vision system as an exteroceptive pose measurement of a parallel machine tool for force control purposes. Three different mechanical structures with different degrees of freedom are considered to validate the approach. © 2011 Elsevier Ltd. All rights reserved.

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