Preface Chapter 1. Overview of Mechanical Transmission Problems Chapter 2. Reminders of Solid Mechanics

Transcription

1 Table of Contents Preface... xi Chapter 1. Overview of Mechanical Transmission Problems... 1 Pascal FONTAINE and Christian CUNAT 1.1. Technological aspects General structures of the machines Mechanisms and movement Engine-machine Particular movements Friction elements of tribology Bibliography Chapter 2. Reminders of Solid Mechanics Jean-François SCHMITT and Rachid RAHOUADJ 2.1. Reminders of dynamics Kinematics of a rigid body Kinetic elements for a rigid body Koenig s theorems Newtonian dynamics Application example: dynamic balance of a rigid rotor Analytical dynamics (Euler-Lagrange) Linear energies in the neighborhood of the balance for a non-damped discrete system Equilibrium configuration without group motion Equilibrium configuration with group motion Vibratory behavior of a discrete non-damped system around an equilibrium configuration Analytical study of the vibratory behavior of a milling machine table Positioning the problem... 53

2 vi Control Methods for Electrical Machines Setting up the model Direct resolution of the eigenvalue problem Cancellation of the stiff mode and reduction of the problem Bibliography Chapter 3. Towards a Global Formulation of the Problem of Mechanical Drive Christian CUNAT, Mohamed HABOUSSI and Jean François GANGHOFFER 3.1. Presentation of the mechanical drive modeling problem Brief review on continuum mechanics Conservation laws Principle of virtual powers (PVP) Thermomechanics of continuous mediums Notions on strain Some material behaviors: elementary analog models Variational formulations in mechanics of the structures Bibliography Chapter 4. Continuous-time Linear Control Frédéric KRATZ 4.1. Introduction PID controllers Overview Various structures Selection criteria for the adjustments Control mode PID controllers Adjustment by trial and error Ziegler-Nichols method Cohen-Coon method Methods based on previous knowledge of a system model Presentation of the Bode method Presentation of the Phillips and Harbor method Linear state feedback control systems Formulation of the control problem The structure of the control law Reconstruction of the state The controller as a combination of state feedback and an observer Design of feedback gain matrix F Optimal control Optimal regulator at continuous time Stochastic optimal regulator at continuous time

3 Table of Contents vii Discrete time optimal regulator Stochastic time optimal regulator LQG/H2 control Choice of a control Bibliography Chapter 5. Overview of Various Controls Frédéric KRATZ 5.1. Introduction Internal model controller Introduction Passage of the structure of regulation to that of control by internal model Properties of the control by internal model Implementation Predictive control Introduction General principles of predictive control Sliding control Introduction Structure of the control law Equivalent method control Bang-bang control Control-based fuzzy logic Introduction Structure of the controlled loop Representation of fuzzy controllers Basic concepts of fuzzy logic Fuzzification The inference mechanism Defuzzification Neural network control Introduction Formal neurons Neural networks Parsimonious approximation Implementation of neural networks Bibliography Chapter 6. Sliding Mode Control Rachid OUTBIB and Michel ZASADZINSKI 6.1. Introduction Illustrative example

4 viii Control Methods for Electrical Machines 6.3. Basic concepts General features of non-linear systems Existence of a sliding mode Chattering phenomena Determination of sliding dynamics Case of more than one commutation surface Direct Lyapunov method Affine systems with regard to control Linear systems Equivalent control method Invariance condition Existence conditions Sliding mode for a perturbed system Canonical forms Imposing a surface dynamic A classic surface dynamic A particular case: dynamic with pure discontinuities The choice of sliding surface Introduction A specific linear surface choice Conclusion Notations Bibliography Chapter 7. Parameter Estimation for Knowledge and Diagnosis of Electrical Machines Jean-Claude TRIGEASSOU, Thierry POINOT and Smaïl BACHIR 7.1. Introduction Identification using output-error algorithms Introduction Least-squares algorithm in output-error Principle of the output-error method in the general case Sensitivity functions Convergence of the estimator Variance of the estimator Implementation Parameter estimation with a priori information Introduction Bayesian approach Minimization of the compound criterion Deterministic interpretation Implementation Parameter estimation of the induced machine Introduction

5 Table of Contents ix Modeling in the three-phase frame Park s transformation Continuous-time state-space model Output-error identification Output-error identification and a priori information Fault detection and localization based on parameter estimation Introduction Principle of the method Simulations Numerical simulations Conclusion Bibliography Chapter 8. Diagnosis of Induction Machines by Parameter Estimation Smaïl BACHIR, Slim TNANI, Gérard CHAMPENOIS and Jean-Claude TRIGEASSOU 8.1. Introduction Induction motor model for fault detection Stator faults modeling in the induction motor Rotor fault modeling Global stator and rotor fault model Diagnosis procedure Parameter estimation Implementation Conclusion Bibliography Chapter 9. Time-based Coordination Michel DUFAUT and René HUSSON 9.1. Introduction Brief description system Functional structure Some ideas on the manipulator system models Various model types Geometric models Kinematic models Dynamic models Coordination of motion Why coordinate movements? Step response of a controlled shaft Speed representation in a point-to-point movement Partially specified trajectories Conclusion Bibliography

6 x Control Methods for Electrical Machines Chapter 10. Multileaf Collimators Sabine ELLES and Bruno MAURY Radiotherapy The medical prescription Linear accelerators Multileaf collimators Geometric characteristics of multileaf collimators Technical characteristics Readout systems for leaf position checking Leaf command system Accuracy of command and leaf positioning Intensity modulated radiotherapy How to realize a modulated intensity beam with a multileaf collimator Discretization into static elementary beams Discretization into dynamic beams Conclusion Bibliography Chapter 11. Position and Velocity Coordination: Control of Machine-Tool Servomotors Patrick BOUCHER and Didier DUMUR Open architecture systems Historical overview Principle and advantages Modular architecture example Structure and implementation of control laws Cascaded structure Polynomial structure of controllers Conclusion Application to machines-tools axis drive control Classic control scheme Cascaded velocity-position predictive control of synchronous motors Multivariable flux-position predictive control of asynchronous motors Conclusions Bibliography List of Authors Index