P. Sicard

Université du Québec à Trois-Rivières · Département de Génie Électrique et Génie Informatique (GÉGI)

The automatic voltage regulator (AVR) system has received much interest in the last decade. Efforts are made to find a parameter set for proportional–integral–derivative based (PID) controllers to obtain a fast onset time with minimal overshoot. To assure system stability and robustness, these characteristics must be considered during the optimizat...

his study proposes a cascaded voltage–current robust control strategy for a distributed generator (DG) in microgrids. The main objective of the proposed controller is to improve the performance and power quality of a DG by injecting simultaneously a good sinusoidal voltage/current to the different loads connected to the DG. The proposed cascaded vo...

This paper proposes a novel droop control based on Decoupled Trigonometric Saturated (DTS) controller for stable power sharing applied to meshed parallel inverter systems in islanded microgrids. The novel DTS control scheme is introduced to improve the power-sharing accuracy with a better stability and to provide a proper dynamic decoupling of acti...

The control of a cart-pendulum system consists to swing the pendulum up and to maintain it in its upright position. In many publications, one controller is used for the swing-up action and one for the stabilization mode. Both controllers are usually tuned separately and frequently by trial-and-error, as is the handling of system constraints. This p...

This paper proposes to tune two control structures with anti-windup for an electric vehicle (EV) with the simplified Ant Colony Optimization combined with a constrained Nelder-Mead method. The control structures are obtained from the backstepping control method and from the Inversion-Based Control strategy determined from the Energetic Macroscopic...

In this paper, an optimal gain tuning method for PID controllers is proposed using a novel combination of a simplified Ant Colony Optimization algorithm and Nelder–Mead method (ACO-NM) including a new procedure to constrain NM. To address Proportional-Integral-Derivative (PID) controller tuning for the Automatic Voltage Regulator (AVR) system, this...

For system design, analysis of global performance and energy management of electric vehicles, it is common to use the efficiency map of electric traction drive. The characterization of the efficiency map with high accuracy is then an important issue. In this paper an on-road method and an off-road method are compared experimentally to determine the...

A key issue of real-time applications is ensuring the operation by taking into account the stability constraints. For multi-source vehicles stability is impacted by the multi-source interactions. Backstepping control ensures stable control for most classes of nonlinear systems. Nevertheless, no Backstepping control in real-time has been yet propose...

The automatic voltage regulator system has received much interest in the last decade. Efforts are made to find a parameter set for PID controllers to obtain a fast onset time with minimal overshoot. To assure system stability and robustness, these characteristics must be considered during the optimization process. Cost functions with both time doma...

In this paper, a droop control strategy is presented for accurate power sharing between parallel connected inverters in an AC microgrid in autonomous mode. The proposed strategy is based on the droop control techniques P-f/Q-V and P-V/Q-f, with a virtual impedance and using monitored quantities directly at the inverter. This droop control approach...

The development of the control of a Fuel Cell/Supercapacitor system for Electric Vehicle must take into account the stability constraints related to the associations of its components. Numerous studies have achieved control and energy management of Fuel Cell/Supercapacitor Electric Vehicle but real-time applications are insufficient or the stabilit...

In the context of renewable energy sources integration, the use of microgrids (MGs) with multiple distributed generation (DG) based on voltage source inverters is the solution to significantly reduce the influence of the unpredictable nature of the renewable energy sources on the grid. This paper focuses on the problem of uncertainties and disturba...

The PWM signal generator is a key element in DC-AC conversion and AC drives. A new scheme based on the approximation of Space Vector Pulse Width Modulation is proposed to minimize the mathematical complexity involved with the SVPWM, while retaining its advantages. The proposition has been implemented on FPGA using Hardware Description Language VHDL...

In the automotive sector, Hardware-In-the-Loop (HIL) simulation is a useful step to develop new controls and energy management methods. We propose to develop a comprehensive and efficient full- scale power HIL simulation of a commercial electric vehicle using the graphical formalism of the Energetic Macroscopic Representation. This platform allows...

This paper presents a comparison between two thermal management strategies for cold startup of automotive Proton Exchange Membrane Fuel Cells (PEMFCs). A sub-freezing thermal model is developed with Energetic Macroscopic Representation (EMR) to evaluate power, energy and heating time requirements for the Keep-Warm and the Thaw at Start strategies....

In this paper, a dynamic algorithm for load sharing in multi-machine systems is proposed based on a principle of hierarchical operation of the motors. The motors share the load cooperatively according to the load variations and their power rating in order to save energy and optimize the performance of the drive system and the motors. The proposed a...

In this paper, a load sharing strategy based on control allocation with a modified pseudo inverse method is developed and used to generate virtual control inputs for the actuators of a flexibly coupled multi-motor system. The performance of the control allocation algorithm is compared with that of equal distribution. By taking into consideration co...

Optimal controller and anti-windup tuning can be identified to a hard optimization problem and be solved by metaheuristics. Since metaheuristics' performance is based on the balance between the diversification and intensification processes obtained by adjusting the method parameters, it is important to set it adequately to provide a high quality so...

An adaptive fuzzy logic control (FLC) scheme is presented for permanent magnet synchronous machines (PMSMs) as an alternative to conventional control techniques. Unlike other controllers, the proposed strategy achieves speed tracking without any current loop regulation, which yields reduced complexity. However, the absence of current control leads...

This paper presents a comprehensive modeling of a three-phase cage induction machine used as a self-excited squirrel-cage induction generator (SEIG), and discusses the regulation of the voltage and frequency of a self-excited SEIG based on the action of the static synchronous Compensator (STATCOM). The STATCOM with the proposed controller consists...

In recent years, it has been proven that one of the main issues in isolated applications is the importance of the dynamic characteristics assessment of three phase self-excited induction generator (SEIG). This paper presents a generalized state-space dynamic model using D-Q stationary reference frame of such a three phase SEIG. The values of self-e...

In this paper a new controller design method for inverter-based distributed energy resources in standalone microgrids is proposed. The objective of the design is to exploit the flexibility and fast dynamics of the voltage inverter. The proposed control method is composed of droop, voltage and current controllers. The droop controller is based on V-...

In this paper, a multi Fuel Cell (FC) system is added to the Tazzari Zero Electric Vehicle. With a fixed amount of hydrogen, the influence of the number of FCs is studied by simulation according to a strategy that maximizes the use of the batteries. The vehicle range has been extended from 90 to 109.4 km, depending on the number of FCs. However, th...

In this paper the drive control of a commercial Electric Vehicle (EV) equipped with a low power Range Extender (RE) Fuel Cell (FC) system is studied. By using backstepping control, the drive control of the RE-EV is deduced and compared to the Inversion Based-Control deduced from its Energetic Macroscopic Representation. From the modelling, the back...

In this paper, the traction system modeling of a commercial electric car is studied. Experimental data acquired during an on-road test drive are used to determine an efficiency map of the traction system. Using the deduced model, simulation results are compared to experimental results. The simulation tool using the proposed efficiency map method yi...

This paper presents a new Structured H∞ Design Method of proportional-integral (PI) controllers for Grid Feeding Connected Voltage Source Converters, based on MATLAB tools for tuning linear control systems in the frequency domain. The study consists in elaborating optimization of an H∞ robust control strategy for a Voltage Source Inverter (VSI) con...

Nonlinear controller tuning with anti-windup is not trivial since the parameters within the structure are interdependent. A global optimization-based tuning approach can handle this interdependence. A hybrid Ant Colony Optimization (ACO) and Nelder-Mead (NM) algorithm for controller and anti-windup tuning efficiently solves this problem. This paper...

This paper presents a power splitting algorithm in order to optimize the efficiency of a multi fuel cell system. Versus a single fuel cell, such a system is modular, allows a better efficiency curve and reduces the risk of general failure. The results of the algorithm are easy to implement into a real time controller. This work presents simulation...

The introduction of micro grids in distribution networks based on power electronics facilitates the use of renewable energy resources, distributed generation (DG) and storage systems while improving the quality of electric power and reducing losses thus increasing the performance and reliability of the electrical system. The main objective of this...

In this paper, a supervisory energy management strategy is presented for multiple battery units. The use of several energy storage devices such as batteries makes their maintenance costly and management a difficult task to undertake. The proposed supervisory approach aims to equilibrate the state of charge (SOC) and hence energy usage, which extend...

In this paper, an observer-based adaptive control strategy is presented for permanent magnet synchronous machines (PMSMs). The adaptive control scheme achieves accurate tracking using the machine's inverse dynamics and an observer to approximate disturbance and speed used as feedback. The adaptive controller is validated through a set of simulation...

The well-known Brocket's theorem revealed that nonholonomic systems, hopping robots, for example, can not be stabilized by smooth time-invariant state feedback controllers. In this manuscript, we propose a linear time-varying state feedback controller for stabilizing a nonholonomic hopping robot during flight mode in finite time. The current approa...

In this work, a fuzzy logic control system is proposed for PMSMs without knowledge of the machine's parameters. The scheme consists of two adaptive fuzzy controllers, respectively for velocity and direct current control. The control scheme stability is proven by the Lyapunov stability theory and its performance is validated through a set of simulat...

Optimal controller and anti-windup tuning for motion systems with flexible coupling and cascaded loops control structure is a practical and difficult problem; in particular when time scale separation is insufficient. Performances of an Ant Colony Optimization (ACO) based methodology and genetic algorithm (GA) are compared for global off-line tuning...

The range of electric parameters of Distributed Power Generation Systems (DPGSs) is wide and uncertain. The main objective of this paper is to propose H∞ controller design for the grid-forming problem using structured uncertainties to improve the performance of the system facing parametric uncertainties, and to obtain fast transient response with m...

High performance motor controllers usually require complex operations and long computation time, which makes the implementation task more complex. FPGA (Field Programmable Gate Array) implementation of controllers, including intelligent controllers, has many advantages: reprogrammable, convenient software tools, high efficiency and very high signif...

In this paper, a sensorless artificial neural network (ANN) speed control strategy of permanent magnet synchronous machines (PMSMs) is introduced as an alternative to conventional control techniques. The control strategy achieves accurate tracking by making use of ANN's learning capabilities to approximate the machine's nonlinear dynamics. On the o...

Many types of materials are manufactured or processed in the form of a sheet or a web (textile, paper, metal, etc.), which then couples the processing rolls and the associated motor drives. In Winding and web transport systems, the main concern is to control independently speed and tension in spite of disturbances such as radius variations and chan...

Optimal controller and anti-windup tuning for motion systems with flexible coupling and cascaded loops control structure is a practical and difficult problem, in particular when time scale separation is insufficient. An Ant Colony Optimization (ACO) based methodology for global off-line tuning of Proportional-Integral-Derivative (PID) controllers w...

A hybrid control system for PMSM that requires rough knowledge of the machine's quadrature inductance only is proposed. The scheme consists of an adaptive fuzzy speed controller and a sliding mode current controller. Lyapunov stability conditions are used to design the controllers that result into low sensitivity to torque disturbances and paramete...

The paper presents a control design oriented simulation model of a multi-stack Fuel Cell System (FCS). The aim of such a system is to improve performance, reliability and system integration versus a common single stack FCS. This paper is based on Energetic Macroscopic Representation principles and on preliminary works on FCS modeling and simulation...

Ant Colony Optimization allows simultaneous tuning of a large number of control parameters and provides flexibility in the choice of the performance criterion. An off-line tuning methodology is proposed for PID-type controllers and their associated anti-windup subsystem for cascaded loop control structures. Insight is given on the design process, o...

In this paper, we propose an adaptive friction compensation strategy for flexible-joint robotic manipulators, taking into account Coulomb friction for the actuator and the load. For such systems, the exact inverse model is unrealizable and only an approximation can be found. The proposed adaptive control strategy consists of a rigid-based linear in...

This paper introduces a simple adaptive control scheme for permanent magnet synchronous machines (PMSMs) as an alternative to classical control techniques. Unlike many adaptive controllers, the proposed strategy achieves tracking with a single adaptive parameter and with no currents loop regulation which yields reduced complexity. The control schem...

High performance motor controllers usually require complex operations and long computation time, which makes the implementation task more complex. The PWM signal generator is a key element in ac drives. This paper presents implementation on FPGA of a Space Vector Pulse Width Modulation (SVPWM) using Hardware Description Language VHDL and its co-sim...

In this paper, we propose an insulated gate bipolar transistor (IGBT) gate driver that provides an optimal gate signal to manage the IGBT switching mechanism, without the need of a feedback current measurement across the parasitic inductance of the circuit. Our approach is based on the Posicast method, which allows determining an optimal gate signa...

Optimal controller and anti-windup tuning is a difficult problem for practical motion systems with flexible coupling and cascaded loops control structure especially when time scale separation is insufficient. An Ant Colony Optimization (ACO) based methodology for global off-line tuning of Proportional-Integral-Derivative (PID) controllers with anti...

This paper presents a Proton Exchange Membrane Fuel Cell model suitable for water management analysis. In order to be integrated into a complete fuel cell vehicle simulation for real-time control and energy management designs, Energetic Macroscopic Representation is used. An experimental validation is performed and electric and gaseous behaviors ar...

This work presents a neural network based modeling strategy to precisely identify the thrusts of cold-gas thrusters deployed in a nano-satellite experimental test-bed developed at the Canadian Space Agency (CSA). Eight thrusters are used to control the planar motion of an emulated free-floating spacecraft supported by air-bearing. Calibration exper...

An adaptive control strategy has been developed for flexible-joint robotic manipulators in the presence of friction nonlinearities and external disturbances. As the exact inverse model is unrealizable for such systems, only an approximation can be found. The control strategy consists of a rigid linear in parameter model based feedforward controller...

In this paper, an adaptive vector control scheme is introduced for permanent magnet synchronous machines (PMSMs) as an alternative to classical control techniques. The adaptive control strategy capitalizes on the machine's inverse dynamics to achieve accurate tracking by using an observer to approximate disturbance in the form of friction and load...

Sensorless vector control is an instantaneous electromagnetic torque control technique applied to variable speed (AC) motor drives where the costly speed sensor is no longer used. It is characterized by its fast dynamic response and low cost. Sensorless variable speed drives incorporating induction machines immerged as a result of the progress in t...

Sensorless vector control is applied to variable speed (AC) motor drives where speed estimators and observers are used instead of the costly speed or position sensors. Eliminating speed and position sensors reduces hardware complexity and cost, increases the mechanical robustness and reliability of the drive, and leads to a better noise immunity. H...

In this paper, an adaptive control scheme is introduced for permanent magnet synchronous machines (PMSMs) as an alternative to classical control techniques. The adaptive control strategy capitalizes on the machine’s inverse dynamics to achieve accurate tracking by using an observer to approximate disturbance in the form of friction and load torque....

In this contribution, a control scheme based on multi input multi output Fuzzy Sliding Mode control (MIMO-FSMC) for linear speed regulation of multi-motors system is proposed. Once the decoupled model of the multi-motors system is obtained, a smooth control function with a threshold was chosen to indicate how far the state from to the sliding surfa...

In this paper, the mover speed control of a linear induction motor considering the end-effects compensation is proposed. Firstly, the indirect field oriented control LIM is derived taking into account the end effects. Then, speed control design with end-effects compensation using rotor-time constant estimation is investigated in order to estimate e...

In this paper, an adaptive fuzzy control scheme is in- troduced for permanent magnet synchronous machines (PMSMs). The adaptive control strategy consists of a Lyapunov stability- based fuzzy speed controller that capitalizes on the machine's in- verse model to achieve accurate tracking with unknown nonlinear system dynamics. As such, robustness to...

Web winding systems allow the operations of unwind-ing and rewinding of various products including plastic films, sheets of paper, sheets, and fabrics. These opera-tions are necessary for the development and the treat-ment of these products. Web winding systems generally consist of the same machine elements in spite of the di-versity of the transpo...

In this contribution, a control scheme based on multi input multi output Fuzzy Sliding Mode control (MIMO-FSMC) for linear speed regulation of multi-motors sys-tem is proposed. Once the decoupled model of the mul-ti-motors system is obtained, a smooth control function with a threshold was chosen to indicate how far the state from to the sliding sur...

In the present paper, the mover speed control of a linear induction motor (LIM) using a sliding mode control design is proposed, considering the end effects. First, the indirect field-oriented control LIM is derived, considering the end effects. The sliding mode control design is then investigated to achieve speed- and flux-tracking under load thru...

In this paper, we introduce an adaptive control methodology of piezoelectric actuators for microelectromechan- ical manipulation mechanisms. The adaptive control strat- egy capitalizes on the piezoelectric actuator's inverse model to design an adaptive controller using a Lyapunov-based adaptation technique. The controller achieves high precision mo...

This paper presents a fuzzy supervisory energy management system for multisource electric vehicles. The use of multiple energy storage devices such as batteries makes their management difficult and their maintenance costly. The proposed supervisory approach aims to equilibrate the state of charge (SOC) and hence energy usage, which extends the life...

In this paper, an adaptive neural network sensorless control scheme is introduced for permanent magnet synchronous machines (PMSMs). The control strategy consists of an adaptive speed controller that capitalizes on the machine’s inverse model to achieve accurate tracking, two artificial neural networks (ANNs) for currents control, and an ANN-based...

In this paper, a motion and balance control scheme is introduced for inverted pendulums using articial neural network (ANN). The control strategy uses a trade-off strategy to achieve motion tracking and balance control simultaneously with a single controller. Unlike other neural control strategies, no ofine learning or a priori system's dynamics kn...

In winding and web transport systems, which are complex and large scale interconnected dynamics systems with a demand for increasingly high level of performance, the objective is to ensure quality processing and rewinding of the product. A major problem in controlling such systems is that disturbances propagate through the system and affect both ve...

This paper introduces a robust artificial neural network (ANN) based nonlinear speed observer for permanent magnet synchronous machines (PMSMs). A multilayer perception is trained online using back-propagation learning algorithm to es- timate the rotor speed without any ap rioridynamics knowledge. Thus, the proposed observer is able to cope with hi...

An indirect Adaptive fuzzy excitation control (IAFLC) of power systems based on multi-input-multi-output linearization technique is developed in this paper. The power system considered in this paper consists of two generators and infinite bus connected through a network of transformers and transmission lines. The fuzzy controller is constructed fro...

This paper introduces an adaptive DC bus voltage control strategy for renewable energy systems, combining different energy storage devices, i.e., batteries, fuel cells, and supercapacitors. Multiple bidirectional DC-DC converters accurate control is achieved with no source voltage sensing, which reduces the number of sensors. Unlike many adaptive c...

ICEPS intelligent control and Electrical power Systems University of sidi bel Abbes 3 Groupe de recherche en électronique industrielle, École d'Ingénierie, Département de Génie électrique et Génie informatique, Université du Québec à Trois-Rivières, CANADA. Abstract: In this contribution, a control scheme based on multi input multi output Fuzzy Sli...

In this paper, we introduce an observer-based state of charge (SOC) estimator for batteries. The estimation strategy is based on the battery's state space model. This representation makes stability analysis easier for the proposed estimation tech- nique. Unlike other estimation strategies, only battery terminal voltage and current measurements are...

The Energetic Macroscopic Representation (EMR) has been imitated in 2000 to define control schemes of electric drives. Since 2002 this graphical tool has been introduced to teach drive control in France, then Canada, Switzerland and more recently China. A first paper has described a 5-ECTS unit for initiation level in a Master degree. A second pape...

This work treat the modeling and simulation of non-linear dynamic behavior of a web winding process during traction. We designate by a winding process any system applying the cycles of unwinding, transport, treatment, and winding to various flat products. This system knows several con-straints, such as the thermal effects caused by the frictions, a...

The objective of this paper is to propose a model to develop control laws and energy management of a fuel cell system and of a fuel cell vehicle. Water phenomena into the device have a great influence on the stack efficiency and on faulty conditions. Henceforth the gas supply model must be able to work with a multi-species gas mix and to describe b...

Multi-drive systems are frequently used in many industry applications such as in paper, textile, and plastic winding process. Adjustable speed drives are very sensitive to power quality problems in particular to voltage sags, short-duration reductions in the rms voltage. This paper presents a multi-drive management strategy to mitigate voltage sags...

Energetic Macroscopic Representation (EMR) and inversion-based control of an electromechanical system designed for virtual reality training for cyclists and for energy management studies are presented. The goal of virtual reality cyclist training is to bring the cyclist to feel the same behavior on a stationary bicycle as he would on the road. The...

In this manuscript, we propose an adaptive fuzzy logic controller for a DC-DC boost converter with parametric and load uncertainties. The control strategy aims to achieve accurate voltage tracking with unknown dynamics, highly parameter and load variations, and no current sensing. Therefore, robustness to uncertainties of large magnitudes is achiev...

In this paper, a sensorless neural network speed control strategy of permanent magnet synchronous machines (PMSMs) is introduced as an alternative to conventional control techniques. The control strategy achieves accurate tracking by making use of artificial neural network (ANN) learning capabilities to approximate the machine's nonlinear dynamics....

In this paper, we introduce an adaptive state of charge (SOC) estimator for batteries. The adaptive strategy consists of online parameters estimation. A Lyapunov-based stability analysis is presented for the proposed estimation technique. Unlike other estimation strategies, only battery terminal voltage and current measurements are required. A comp...

The objective of this work is to study the impact of the air supply of a fuel cell system on the humidification and water management issues. The first study consists in defining an indicator of the humidification state, which represents the output air moisture content and quantifies the quality of the water management. This indicator is evaluated b...

In this paper, an adaptive fuzzy logic based control scheme is introduced for the inverted pendulum motion and posture control problem. The adaptive control strategy consists of a Lyapunov stability-based online adaptation technique that leads to motion tracking and posture control. Unlike other control strategies, no a priori offline training, wei...

A new “model-free” control methodology is applied for the first time to power converters, and in particular to a buck converter, and to a Ćuk converter. We evaluate its performances regarding load and supply variations. Our approach, which utilizes “intelligent” PI controllers, does not require any converter identification while ensuring the stabil...

A simulation software, based on a SPICE kernel, is presented in order to study the interaction between power components and their drivers. It provides a complete environment to perform simulation of power electronics systems and their associated digital control laws. Efficient IGBT and diode models, which describe accurately a wide variety of IGBT...

In this paper, we introduce an artificial neural network (ANN) based motion control methodology of micro actuators for microelectromechanical systems (MEMS). The control strategy is based on a multilayer perception (MLP) trained online using a Lyapunov-based learning technique. The controller achieves high precision tracking under unknown system dy...