Дисертації з теми "DISTRIBUTED CONTROLLERS SYSTEM"

Distributed parameter systems (DPS) are systems defined on infinite dimensional spaces. This includes problems governed by partial differential equations (PDEs) and delay differential equations. In order to numerically implement a controller for a physical system we often first approximate the PDE and the PDE controller using some finite dimensional scheme. However, control design at this level will typically give rise to controllers that are inherently large-scale. This presents a challenge since we are interested in the design of robust, real-time controllers for physical systems. Therefore, a reduction in the size of the model and/or controller must take place at some point. Traditional methods to obtain lower order controllers involve reducing the model from that for the PDE, and then applying a standard control design technique. One such model reduction technique is balanced truncation. However, it has been argued that this type of method may have an inherent weakness since there is a loss of physical information from the high order, PDE approximating model prior to control design. In an attempt to capture characteristics of the PDE controller before the reduction step, alternative techniques have been introduced that can be thought of as controller reduction methods as opposed to model reduction methods. One such technique is LQG balanced truncation. Only recently has theory for LQG balanced truncation been developed in the infinite dimensional setting. In this work, we numerically investigate the viability of LQG balanced truncation as a suitable means for designing low order, robust controllers for distributed parameter systems. We accomplish this by applying both balanced reduction techniques, coupled with LQG, MinMax and central control designs for the low order controllers, to the cable mass, Klein-Gordon, and Euler-Bernoulli beam PDE systems. All numerical results include a comparison of controller performance and robustness properties of the closed loop systems.
Ph. D.

Thesis (DTech (Electrical Engineering))--Cape Peninsula University of Technology, 2016.
Majority of the industrial systems encountered are significantly non-linear in nature, so if they are synthesised and designed by linear methods, then some of salient features characterising of their performance may not be captured. Therefore designing a control system that captures the nonlinearities is important. This research focuses on the control design strategies for the Continuous Stirred Tank Reactor (CSTR) process. To control such a process a careful design strategy is required because of the nonlinearities, loop interaction and the potentially unstable dynamics characterizing the system. In these systems, linear control methods alone may not perform satisfactorily. Three different control design strategies (Dynamic decoupling, Decentralized and Input-output feedback linearization controller) are proposed and implemented .in the Matlab/Simulink platform and the developed strategies are then deployed to the design of distributed automation control system configuration using the IEC 61499 standard based functional block programming language. Twin CAT 3.1 system real-time and Matlab/Simulink (www.mathworks.com) environment are used to test the effectiveness of the models The simulation results from the investigation done between Simulink and TwinCAT 3 software (Beckhoff Automation) platforms in the case of the model transformation and closed loop simulation of the process for the considered cases have shown the suitability and the potentials of merging the Matlab/Simulink control function blocks into the TwinCAT 3.1 function blocks in real-time. The merits derived from such integration imply that the existing software and software components can be re-used. This is in line with one of the IEC 6144 standard requirements such as portability and interoperability. Similarly, the simplification of programming applications is greatly achieved. The investigation has also shown that the integration the of Matlab/Simulink models running in the TwinCAT 3.1 PLC do not need any modification, hence confirming that the TwinCAT 3.1 development platform can be used for the design and implementation of controllers from different platforms. Also, based on the steps required for model transformation the between the Matlab/Simulink to the TwinCAT 3 functional blocks, the algorithms of the control design methodologies developed, simulation results are used to verify the suitability of the controls to find whether the effective set-point tracking control and disturbance effect minimisation for the output variables can be achieved in real-time using the transformed Simulink blocks to the TwinCAT 3 functional blocks, then downloaded to the Beckhoff CX5020 PLC for real-time execution. Good set-point tracking control is achieved for the MIMO closed loop nonlinear CSTR process for the considered cases of the developed control methodologies. Similarly, the effects of disturbances are investigated. TwinCAT functional modules achieved good set-point tracking with these disturbances minimization under all the cases considered.

Much functionality of today's vehicles runs as software on embedded computer systems. This includes, for example, automatic climate control and engine control.

As the processors necessarily are located in diffent physical locations inside the vehicle wires must be drawn between processors that need to communicate. Therefore, it is typical to have one or several buses connecting the processors in an embedded computer network, thus creating a distributed system. As some parts of the system in the car have real-time properties, it is necessary to validate that the real-time properties are upheld in the distributed system.

This thesis presents the design and implementation of an adaptive cruise controller (ACC), which is a cruise controller that also keeps a minimum distance to the closest vehicle in front. Further, the performance of the ACC has been evaluated using an existing system-level simulator for distributed real-time systems together with metrics for Quality-of-Control (QoC).

The ACC has then been simulated under different scenarios. The scenarios include outside conditions, for example the slope of the road, the behaviour of the vehicle in front, and the desired velocity, as well as internal conditions as adding different amounts of extra load on the processors and the bus.

The results show that the functionality of the ACC starts deteriorating when the extra load on the nodes reaches high levels. When the extra load reaches very high levels, the ACC stops functioning completely. The results also show that the extra load on the bus has very little effect on the performance of the ACC.

Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2006.
The distributed control system network involves analog data acquisition nodes interconnected through CAN and USB protocol interfaces to form a network. The network is designed to be generically applicable to various control problems. This network of controllers was specifically utilised on a scaled-down electrostatic roll separator plant used in the mineral processing industry. A SISO and a MIMO regulator was designed to demonstrate the regulation of plant parameters. The MIMO regulator was employed in a scheme that optimises the plant yield automatically. Analog data acquisition nodes were designed and built especially for the purposes of this project. These nodes were installed on the electrostatic roll separator plant. PC based application software was written so that plant ID experiments could be performed. SISO and MIMO regulators along with a yield optimising scheme was designed and implemented in the application software. Both SISO and MIMO regulators successfully regulated plant outputs. The nonconducting mineral product grade was regulated by the SISO regulator. The non-conducting mineral product grade and conductor mineral mass flow was regulated by the MIMO regulator. The yield optimiser successfully employed the MIMO regulator to optimise the plant yield automatically.

Designing and implementing distributed systems which continue to provide specified services in the presence of processing site and communication failures is a difficult task. To facilitate their development, distributed systems have been built assuming that their underlying hardware components are Jail-controlled, i.e. present a well defined failure mode. However, if conventional hardware cannot provide the assumed failure mode, there is a need to build processing sites or nodes, and communication infra-structure that present the fail-controlled behaviour assumed. Coupling a number of redundant processors within a replicated node is a well known way of constructing fail-controlled nodes. Computation is replicated and executed simultaneously at each processor, and by employing suitable validation techniques to the outputs generated by processors (e.g. majority voting, comparison), outputs from faulty processors can be prevented from appearing at the application level. One way of constructing replicated nodes is by introducing hardwired mechanisms to couple replicated processors with specialised validation hardware circuits. Processors are tightly synchronised at the clock cycle level, and have their outputs validated by a reliable validation hardware. Another approach is to use software mechanisms to perform synchronisation of processors and validation of the outputs. The main advantage of hardware based nodes is the minimum performance overhead incurred. However, the introduction of special circuits may increase the complexity of the design tremendously. Further, every new microprocessor architecture requires considerable redesign overhead. Software based nodes do not present these problems, on the other hand, they introduce much bigger performance overheads to the system. In this thesis we investigate alternative ways of constructing efficient fail-controlled, software based replicated nodes. In particular, we present much more efficient order protocols, which are necessary for the implementation of these nodes. Our protocols, unlike others published to date, do not require processors' physical clocks to be explicitly synchronised. The main contribution of this thesis is the precise definition of the semantics of a software based Jail-silent node, along with its efficient design, implementation and performance evaluation.

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2004.
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Includes bibliographical references (p. 242-246).
by Ernst Scholtz.
Ph.D.

This report presents the work carried out aiming towardsdistributed control of electric drives through a networkcommunication medium with temporal constraints, i.e, Ethernet.A general analysis on time delayed systems is carried out,using state space representation of systems in the discretetime domain. The effect of input time delays is identified andis used in the preceding controller designs. The main hardwareapplication focused in this study is a Brushless DC servomotor, whose speed control loop is closed via a 10 MbpsSwitched Ethernet network. The speed control loop, which isapproximately a decade slower than the current control loop, isopened and interfaced to the network at the sensor/actuatornode. It is closed at the speed controller end at another nodein the same local area network (LAN) forming a distributedcontrol system (DCS).

The Proportional Integral (PI) classical controller designtechnique with ample changes in parameter tuning suitable fortime delayed systems is used. Then the standard Smith Predictoris tested, modified with the algebraic design techniqueCoefficient Diagram Method (CDM), which increases the systemdegrees of freedom. Constant control delay is assumed in thelatter designs despite the slight stochastic nature in thetiming data observations. Hence the poor transient performanceof the system is the price for the robustness inherited to thespeed controllers at the design stage. The controllability andobservability of the DCS may be lost, depending on the range inwhich the control delay is varying. However a state feedbackcontroller deploying on-line delay data, obtained by means ofsynchronizing the sensor node and controller node systemclocks, results in an effective compensation scheme for thenetwork induced delays. Hence the full state feedbackcontroller makes he distributed system transient performanceacceptable for servo applications with the help of poleplacement controller design.

Further, speed synchronizing controllers have been designedsuch that a speed fluctuation caused by a mechanical loadtorque disturbance on one motor is followed effectively by anyother specified motor in the distributed control network with aminimum tracking or synchronizing error. This type ofperformance is often demanded in many industrial applicationssuch as printing, paper, bagging, pick and place and materialcutting.

Keywords:Brushless DC Motor, Control Delay, DistributedMotion Control Systems, Proportional Integral Controller, SmithPredictor, Speed Synchronization, State Feedback Controller,Stochastic Systems, Switched-Ethernet, Synchronizing Error,Time Delayed Systems, Tracking Error

Spatially dynamic distributed systems have been attracting increasing attention from researchers in the field of system modelling and control since their introduction as an alternative to simple systems to meet the ever-greater requirements to make industrial systems more precise and energy-efficient and to overcome process complexities. An approach whereby complex systems with multi-dimensional parameters, inputs or outputs are simply disregarded or simplified with the help of convenient mathematical models is no longer feasible. Therefore, the purpose of the present study is to contribute to the advancement of both theoretical and empirical knowledge in this field through the means of theoretical analysis, application simulations and case studies. From a theoretical perspective, this study focuses primarily on the design methodology of control systems. To this end, the first step is identification of requirements from the applications, followed by the implementation of an original approach underpinned by data prediction for type-2 T-S fuzzy control with the purpose of making the control system design more convenient. With this aim in mind, the study creates an interface/platform to link or anticipate spatially dynamic distributed system output from lumped system data by taking advantage of the threedimensional character of type-2 fuzzy sets. Moreover, on the basis of a decoupled spatially dynamic distributed system, this study applies Mamdani-type and interval type-2 T-S type fuzzy control, and extends a discussion about the results of simulation and analysis. With regard to application examination, the study contributes to primarily with system analysis and modelling. Along with the progress of physical analysis, a MIMO model is customized for the plant by expanding from the lumped physical character to a distributed system. Furthermore, the coupling feature of the object is addressed based on the decoupling approach and the pole placement approach, while the SISO approach is expanded to a universally acknowledged MIMO approach and Matlab is used to produce the simulation results. As a conclusion, in this research, firstly a state space model was established to expand the SISO system into a MIMO system and the interacted inputs and outputs have been decoupled using decoupling method; and then a Mamdani-type fuzzy control was designed for temperature control and an Interval Type-2 fuzzy control was designed for pressure control, using a simple state-space model instead of a fuzzy model, accordance with the practical plant in use, and very satisfied, very robust control performances were obtained.

ITC/USA 2005 Conference Proceedings / The Forty-First Annual International Telemetering Conference and Technical Exhibition / October 24-27, 2005 / Riviera Hotel & Convention Center, Las Vegas, Nevada
As requirements for the amount of test data continues to increase, instrumentation engineers are under pressure to deploy data acquisition systems that reduce the amount of associated wiring and overall system complexity. Smart sensor buses have been long considered as one approach to address this issue by placing the appropriate signal conditioners close to their respective sensors and providing data back over a common bus. However, the inability to adequately synchronize the operation of the sensor bus to the system master, which is required to correlate analog data measurements, has precluded their use. The ongoing development and deployment of smart sensor buses has reached the phase in which integration into a larger data acquisition system environment must be considered. Smart sensor buses, such as IntelliBus™, have their own unique mode of operation based on a pre-determined sampling schedule, which however, is typically asynchronous to the operation of the (master or controller) data acquisition system and must be accounted for when attempting to synchronize the two systems. IRIG Chapter 4 type methods for inserting data into a format, as exemplified by the handling of MIL-STD-1553 data, could be employed, with the disadvantage of eliminating any knowledge as to when a particular measurement was sampled, unless it is time stamped (similar to the time stamping function that is provided to mark receipt of 1553 command words). This can result in excessive time data as each sensor bus can manage a large number of analog sensor inputs and multiple sensor buses must be accommodated by the data acquisition system. The paper provides an example, using the Boeing developed IntelliBus system and the L3 Communications - Telemetry East NetDAS system, of how correlated data can be acquired from a smart sensor bus as a major subsystem component of a larger integrated data acquisition system. The focus will be specifically on how the IntelliBus schedule can be synchronized to that of the NetDAS formatter. Sample formats will be provided along with a description of how a standalone NetDAS stack and an integrated NetDAS-IntelliBus system would be programmed to create the required output, taking into account the unique sampling characteristics of the sensor bus.

This thesis explores the potential for providing processes with control over their resource allocation in a general-purpose distributed system. Rather than present processes with blind explicit control or leave the decision to the operating system, a compromise, called process-centric resource allocation is proposed whereby processes have informed control of their resource allocation, while the operating system ensures fair consumption. The motivations for this approach to resource allocation and its background are reviewed culminating in the description of a set of desired attributes for such a system. A three layered architecture called ERA is then proposed and presented in detail. The lowest layer, provides a unified framework for processes to choose resources, describe their priority and describes the range of available resources. A resource information mechanism, used to support choices of distributed resources then utilises this framework. Finally, experimental demonstrations of process-centric resource allocation are used to illustrate the third layer. This design and its algorithms together provide a resource allocation system wherein distributed resources are shared fairly amongst competing processes which can choose their resources. The system allows processes to mimic traditional resource allocations and perform novel and beneficial resource optimisations. Experimental results are presented indicating that this can be achieved with low overhead and in a scalable fashion.

Dependable and Fault-tolerant computing is actively being pursued as a research area since the 1980s in various fields involving development of safety-critical applications. The ability of the system to provide reliable functional service as per its design is a key paradigm in dependable computing. For providing reliable service in fault-tolerant systems, dynamic reconfiguration has to be supported to enable recovery from errors (induced by faults) or graceful degradation in case of service failures. Reconfigurable Distributed applications provided a platform to develop fault-tolerant systems and these reconfigurable architectures requires an embedded network that is inherently fault-tolerant and capable of handling movement of tasks between nodes/processors within the system during dynamic reconfiguration. The embedded network should provide mechanisms for deterministic message transfer under faulty environments and support fault detection/isolation mechanisms within the network framework. This thesis describes the design, implementation and validation of an embedded networking layer using Controller Area Network (CAN) to support reconfigurable embedded systems.

In this dissertation, a framework for the development and analysis of low-cost monitoring and control systems for a set of distributed nodes comprising of dissimilar controllers is presented. The ability to connect multiple disparate processors, is possible due to the use of a secure minimalistic custom communication protocol. This architecture allows the use of mobile devices to interact with the main features of the system for monitoring and control. The server is at the core the overall framework, which enables the transparent development of data acquisition, processing and control models using a software interface. These models automatically translate to functional systems executed by all microprocessors available to the system. The framework contains software libraries that allows the integration of neural networks and fuzzy logic that permit the implementation of intelligent data acquisition and control systems.

The random behavior of the underlying communication network is modeled in real-time to automatically compensate for the delays and lost packages in the execution of control actions.

The framework enables a mapping of system inputs and outputs to state variables. These variables can then be used to form a system model to enable classical control theory analysis, such as controllability, observability and stability test.

The underlying idea of the Semantic Web is that web content should be expressed not only in natural language but also in a language that can be unambiguously understood, interpreted and used by software agents, thus permitting them to find, share and integrate information more easily. The central notion of the Semantic Web's syntax are ontologies, shared vocabularies providing taxonomies of concepts, objects and relationships between them, which describe particular domains of knowledge. A vocabulary stores words, synonyms, word sense definitions (i.e. glosses), relations between word senses and concepts; such a vocabulary is generally referred to as the Controlled Vocabulary (CV) if choice or selection of terms are done by domain specialists. A facet is a distinct and dimensional feature of a concept or a term that allows a taxonomy, ontology or CV to be viewed or ordered in multiple ways, rather than in a single way. The facet is clearly defined, mutually exclusive, and composed of collectively exhaustive properties or characteristics of a domain. For example, a collection of rice might be represented using a name facet, place facet etc. This thesis presents a methodology for producing mappings between Controlled Vocabularies, based on a technique called \Hidden Semantic Matching". The \Hidden" word stands for it not relying on any sort of externally provided background knowledge. The sole exploited knowledge comes from the \semantic context" of the same CVs which are being matched. We build a facet for each concept of these CVs, considering more general concepts (broader terms), less general concepts (narrow terms) or related concepts (related terms).Together these form a concept facet (CF) which is then used to boost the matching process.

The underlying idea of the Semantic Web is that web content should be expressed not only in natural language but also in a language that can be unambiguously understood, interpreted and used by software agents, thus permitting them to find, share and integrate information more easily. The central notion of the Semantic Web's syntax are ontologies, shared vocabularies providing taxonomies of concepts, objects and relationships between them, which describe particular domains of knowledge. A vocabulary stores words, synonyms, word sense definitions (i.e. glosses), relations between word senses and concepts; such a vocabulary is generally referred to as the Controlled Vocabulary (CV) if choice or selection of terms are done by domain specialists. A facet is a distinct and dimensional feature of a concept or a term that allows a taxonomy, ontology or CV to be viewed or ordered in multiple ways, rather than in a single way. The facet is clearly defined, mutually exclusive, and composed of collectively exhaustive properties or characteristics of a domain. For example, a collection of rice might be represented using a name facet, place facet etc. This thesis presents a methodology for producing mappings between Controlled Vocabularies, based on a technique called \Hidden Semantic Matching". The \Hidden" word stands for it not relying on any sort of externally provided background knowledge. The sole exploited knowledge comes from the \semantic context" of the same CVs which are being matched. We build a facet for each concept of these CVs, considering more general concepts (broader terms), less general concepts (narrow terms) or related concepts (related terms).Together these form a concept facet (CF) which is then used to boost the matching process.

Through the work of researchers and the development of commercially availableproducts, automated guidance has become a viable option for agricultural producers.Some of the limitations of commercially available technologies are that they onlyautomate one function of the agricultural vehicle and that the systems are proprietary toa single machine model.The objective of this project was to evaluate a controller area network (CAN bus)as the basis of an automated guidance system. The prototype system utilized severalmicrocontroller-driven nodes to act as control points along a system wide CAN bus.Messages were transferred to the steering, transmission, and hitch control nodes from atask computer. The task computer utilized global positioning system data to determinethe appropriate control commands.Infield testing demonstrated that each of the control nodes could be controlledsimultaneously over the CAN bus. Results showed that the task computer adequatelyapplied a feedback control model to the system and achieved guidance accuracy levelswell within the range sought. Testing also demonstrated the system's ability tocomplete normal field operations such as headland turning and implement control.

A single-phase, buck-boost based, dual-output AC-DC converter is studied in this thesis. The converter has two DC outputs with opposite polarities, which share the same ground with the input power line. The power stage performance, including the input filter, is studied and procedure to select power components is given. The circuit model is analyzed to develop appropriate control. Zerocrossing distortion of the source input current is addressed and a solution is proposed. Experimental results are satisfactory in that a high power factor line current results for steady-state operation.

Distributed Generators (DGs) are sensible to voltage sags, so the protection devices must trip fast to disconnect the faulted part of the grid. The DG disconnection will not be desirable in the near future with a large penetration, so it will be necessary to lay down new requirements that should be based on avoiding unnecessary disconnections. Therefore, to prevent unnecessary tripping when inverter-based DGs are connected to the Medium Voltage (MV) grid, reliable and effective protection strategies need to be developed, considering the limited short-circuit current contribution of DG. The initial goal of this study is to employ different possible control strategies for a grid-connected inverter according to the Spanish grid code and to analyze the output voltage behavior during symmetrical and unsymmetrical voltage sags. The analytical development of the proposed strategies shows the impacts of the sag on currents, voltages, active and reactive powers. Another goal of this research is to propose a protection strategy based on Artificial Intelligence for a radial or ring distribution system with high DG penetration. The protection strategy is based on three different algorithms to develop a more secure, redundant, and reliable protection system to ensure supply continuity during disturbances in ring and radial grids without compromising system stability. In order to classify, locate and distinguish between permanent or transient faults, new protection algorithms based on artificial intelligence are proposed in this research, allowing network availability improvement disconnecting only the faulted part of the system. This research introduces the innovative use of directional relay based on a communication system and Artificial Neural Network (ANN). The first algorithm, Centralize algorithm (CE), collects the data from all the PDs in the grid in the centralized controller. This algorithm detects the power flow direction and calculates the positive-sequence current of all the PDs in the grid. Significant benefits of this system are that it consolidates the entire systems security into a single device, which can facilitate system security control. However, the CE will not pinpoint the exact location of the fault if there is any loss of information due to poor communication. Therefore, the systems redundancy can be improved by cooperating with a second algorithm, the Zone algorithm (ZO). ZO algorithm is based on zone control using peer-to-peer connectivity in the same line. The faulty line in that zone may be identified by combining the two PDs data on the same line. The most relevant advantage of this algorithm is its flexibility to adapt to any grid modification or disturbance, even if they are just temporary, unlike the CE, which is fixed to the existing grid configuration. The third protection algorithm, Local algorithm (LO), has been proposed without depending on the communication between the PDs; then, the protection system can work properly in case of a total loss of communication. Each PD should be able to detect if the fault is located in the protected line or another line by using only the local information of the PD. According to the type of fault and based on local measurements at each PD of abc voltages and currents, different algorithms will be applied depending on the calculation of the sequence components. The main advantage of this algorithm is the separate decision of each PD, and avoiding communication problems. In case of radial grids, both mechanical breakers and Solid State Relays (SSRs) are used to verify the protection strategies, and in the case of ring grids, mechanical breakers are used, due to the limitations in required voltage difference of SSR. The proposed protection algorithms are compared with conventional protections (Overcurrent and Differential) protections to validate the contribution of the proposed algorithms, especially in reconfigurable smart grids.
El objetivo inicial de este estudio es emplear diferentes estrategias de control posibles para un inversor conectado a la red segun el código de red español y analizar el comportamiento de la tensión de salida durante caídas de tensión simétricas y asimétricas. El desarrollo analítico de las estrategias propuestas muestra los impactos de los huecos de tensión en las corrientes, tensiones, potencias activas y reactivas. Otro objetivo de esta investigación es proponer una estrategia de protecclón basada en lnteligencia Artificial para una red del Sistema de Distribución, radial o en anillo, con elevada penetración de Generación Distribuida. La estrategia de protección se basa en tres algoritmos diferentes para desarrollar un sistema de protección más seguro, redundante, y fiable, que asegure la continuidad de suministro durante perturbaciones en redes radiales o en anillo sin comprometer la estabilidad del sistema. Para clasificar, localizar y distinguir entre faltas permanentes o transitorias, se proponen en este trabajo nuevos algoritmos de protección basados en inteligencia artificial, permitiendo la mejora de la disponibilidad de la red, al desconectar sólo la parte del sistema en falta. Esta investigación introduce la innovación del uso del rele direccional basado en un sistema de comunicación y Redes Neuronales Artificiales (ANN). El primer algoritmo, Algoritmo Central (CE), recibe los datos de todos los PDs de la red en un control central. Este algoritmo detecta la dirección de flujo de cargas y calcula la corriente de secuencia positiva de todos los PDs de la red. El entrenamiento de ANNs incluye variaciones en la corriente de cortocircuito y la dirección del flujo de potencia en cada PD. Los beneficios mas significativos de este sistema son que concentra la seguridad total del sistema en un único dispositivo, lo que puede facilitar el control de la seguridad del sistema. Sin embargo, el CE no determinara con precisión la localización exacta de la falta si hay alguna perdida de información debida a una pobre comunicación. Por lo tanto, la redundancia del sistema se puede mejorar cooperando con un segundo algoritmo, el algoritmo de Zona (ZO). El algoritmo ZO se basa en un control de zona usando la conectividad entre dispositivos de protección de una misma línea. La línea en falta en esa zona puede identificarse combinando los datos de los dos PDs de la misma línea.. La ventaja mas relevante de este algoritmo es su flexibilidad para adaptarse a cualquier modificación de la red o perturbación, incluso si sólo son temporales, a diferencia del CE, que se ha adaptado para la configuración de la red existente. El tercer algoritmo de protección, algoritmo Local (LO), ha sido propuesto sin dependencia de la comunicación entre PDs; por lo tanto, el sistema de protección puede operar correctamente en el caso de una pérdida total de comunicación. Cada PD debe poder detectar si la falta esta ubicada en la línea protegida o en otra línea, utilizando sóIo la información local del PD. Según el tipo de falta, y en base a medidas locales en cada PD, de tensiones y corrientes abc, se aplican diferentes algoritmos en función del cálculo de las componentes simétricas. La principal ventaja de este algoritmo es la actuación por separado de cada PD, evitando los problemas de comunicación. En el caso de las redes radiales, se utilizan tanto interruptores mecánicos como réles de estado sóIido (SSR) para verificar las estrategias de protección, y en el caso de las redes en anillo se utilizan interruptores mecánicos, debido a las limitaciones de tensión para su conexión. Los algoritmos de protección propuestos se comparan con protecciones convencionales (Sobrecorriente y Diferencial) para validar la contribución de los algoritmos propuestos, especialmente en redes inteligentes reconfigurables.
Enginyeria Elèctrica

The distributed generation (DG) today attracts a large interest due to an even increasing demand of energy and the growth of awareness about the impact of conventional energy sources on the environment. Photovoltaic (PV) and wind power are two of the most promising renewable energy technologies. Fuel cell (FC) systems also show enormous potential in future DG applications, due to a fast technology development, high efficiency, environment friendliness and modularity. Hybrid systems encompassing wind, photovoltaic and FC generators are today revised as a viable solution to overcome the inner unreliability of renewable energy sources. The modelling and control of a hybrid wind/PV/FC DG system is addressed in this dissertation. Dynamic models for the main system components, namely: wind and PV energy generators, fuel cell, electrolyser, power electronic interfaces, battery, hydrogen storage tank, gas compressor, are developed and verified by experimental tests and simulation studies. Five different architectures of stand-alone hybrid power systems are considered, exploiting connections through DC and AC buses. Each configuration is managed through a specific control methodology. Based on suitable dynamic models, the five proposed stand-alone hybrid energy system configurations have been simulated using the MATLAB/Simulink/SimPowSysTM software environment. A comparison among those configurations has been performed on the basis of purposely developed performance indexes. According to obtained results the high voltage DC bus (HVDC) configuration reaches the best score among the five configurations. A Fuzzy logic based management of a stand-alone hybrid generator based on high voltage DC bus configuration has been developed to dynamically optimize the power flows among the different energy sources. The performances of the proposed strategy are evaluated by simulation in different operating conditions. The results confirm the effectiveness of the proposed strategy. A further goal of the thesis has been the development of a probabilistic approach to size step-up transformers for grid-connected wind farms. This approach is mainly based on the evaluation of the Loss of Produced Power Probability index (LPPP); the costs of the wind farm equipments are also taken into consideration.

There is a growing trend for many large enterprises and other users to acquire their own optical networks. These customer-owned and managed networks bring cost saving benefits as well as management challenges, especially in the security aspect. In this thesis, a distributed network management system based on Service Oriented Architectures for customer-owned optical networks is presented. The system realizes User-Controlled Lightpath Provisioning and provides users the ability to make end-to-end connections across multiple administrative domains. However, the current version of the system does not meet the security requirements of UCLP. This thesis also presents the research work on how to overcome the security challenge in customer-owned optical network management. The security requirements of the system are analyzed and the major difficulties are identified. Different access control models and security technologies are investigated. An access control mechanism based on Attribute Certificate is chosen for the future implementation of the UCLP system.

Today, small distributed power generation (DG) systems are becoming more common as the need for electric power increases. Small DG systems are usually built close to the end-user and they take advantage of using different energy sources such as wind and solar. A few examples are hybrid cars, solar houses, data centers, or hospitals in remote areas where providing clean, efficient and reliable electric power is critical to the loads. In such systems, the power is distributed from the source side to the load side via power electronic converters in the system. At low and medium power applications, the task is often left to single phase inverters where they are the only interface between sources connected to DC bus and loads connected to an AC bus. Much has been done for the control of single phase inverters in the past years; however, due to the requirements of stand alone systems and the time-varying nature of the converter, its controller design is still quite difficult, and especially so if its critical functionality within the system is taken into consideration. Part of the challenge is also due to the fact that the load is not known at all time, further complicating the controller design. This thesis proposes a different method of control for single phase inverters used in low and medium power DG systems. The new control method takes advantage of the well-known DQ transformation and analysis mostly employed for three phase convertersâ analysis and control design. Providing a time-invariant model of single phase inverters is the main feature of DQ transformation. In addition to that, control design of the inverter in DQ frame becomes similar to those of DC-DC and three phase converters making it easier to achieve superior performance under different operation conditions while achieving a robust controller. The transformation requires at least two independent phases for each state variable in the system; thus a second phase must be created. This thesis proposes the creation of an imaginary circuit based on the real circuit of the inverter to provide the second required phase for transformation. The state variables of the imaginary circuit are obtained by differentiating the state variables of the main inviterâ s circuit. The differentiation can be implemented in DSP so there is no need for additional hardware in the system, making it more attractive and cost effective method. The DQ controller not only provides superior transient response, it also provides zero steady-state error as well as low output voltage THD under nonlinear load operation. The entire controller can be implemented in a digital control board which is becoming more common in power electronics converters within the past decade. Analysis and design of a DQ controller for a 2.5kW single phase full-bridge inverter is presented in this study with the final results implemented in a FPGA/DSP based digital controller board.
Master of Science

Digitální Fly-by-Wire systém je novým přístupem k řídícímu systému letadla, na jehož základě firma Honeywell - HTS CZ začala výzkumný projekt s názvem “Next Generation Distributed Fly-by-Wire System” a tato práce je jeho součástí. Řídící plochy letadla jsou řízeny dvěma nebo třemi elektrohydraulickými (či elektrickými) servy a každé servo je ovládáno nezávislou řídící jednotkou. Díky provozním tolerancím systému a drobným odchylkám vstupních dat v řídících jednotkách, dostává každé servo mírně odlišné povely a rozdíl v poloze serv vede k namáhání řídící plochy i k namáhání serv. Hlavním cílem této práce je navrhnout algoritmus, který bude eliminovat rozdíly mezi polohami jednotlivých serv, a tudíž sníží sílu, která namáhá řídící plochu, na přípustnou mez. Implementace řídícího systému letadla byla do detailu analyzována a algoritmus redukce síly na kontrolní ploše letadla byl navržen a implementován v prostředí Simulink. Iterační kriteriální ladící metoda byla vyvinuta a za účelem co nejlepšího nastavení algoritmu redukce síly. Práce také analyzuje vliv časových zpoždení na sběrnici na kvalitu algoritmu redukce síly.

Power electronics applications in high power are normally large, expensive, spatially distributed systems. These systems are typically complex and have multiple functions. Due to these properties, the control algorithm and its implementation are challenging, and a different approach is needed to avoid customized solutions to every application while still having reliable sensor measurements and converter communication and control.

This thesis proposes a synchronous digital control architecture that allows for the communication and control of devices via a fiber optic communication ring using digital technology. The proposed control architecture is a multidisciplinary approach consisting of concepts from several areas of electrical engineering. A review of the state of the art is presented in Chapter 2 in the areas of power electronics, fieldbus control networks, and digital design. A universal controller is proposed as a solution to the hardware independent control of these converters. Chapter 3 discusses how the controller was specified, designed, implemented, and tested. The power level specific hardware is implemented in modules referred to as hardware managers. A design for a hardware manager was previously implemented and tested. Based on these results and experiences, an improved hardware manager is specified in Chapter 4. A fault tolerant communication protocol is specified in Chapter 5. This protocol is an improvement on a previous version of the protocol, adding benefits of improved synchronization, multimaster support, fault tolerant structure with support for hot-swapping, live insertion and removals, a variable ring structure, and a new network based clock concept for greater flexibility and control. Chapter 6 provides a system demonstration, verifying the components work in configurations involving combinations of controllers and hardware managers to form applications. Chapter 7 is the conclusion. VHDL code is included for the controller, the hardware manager, and the protocol. Schematics and manufacturing specifications are included for the controller.
Master of Science

L’Objectif de cette thèse est de développeré une théorie de l’identification spécifique pour les systèmes Hamiltonien à ports. Les raisons principales pour motiver cette théorie résident dans les propriétés remarquables de ces systèmes, notamment leur structure de Dirac et sa stabilité par interconnexion conservative de puissance (e.g. parallèle, séries ou feedback). Dans la première partie, les systèmes Hamiltoniens sont analysés en ce qui concerne leur identifiabilité structurelle, par par analyse de leur observabilité/commandabilité, par tests directs, par l’analyse en série de puissance de leur fonction de transfert ou par une nouvelle approche énergétique d’analyse d’une identifiabilité spécifique associée à un port. Dans la partie suivante, des modèles de perturbation par port d’interaction sont introduits et permettent l’analyse de l’identifiabilité « pratique » des systèmes hamiltoniens à ports. Le quatrième chapitre présente des schémas de discrétisation en temps qui préserve les bilans de puissance et d’énergie et leur application sur des exemples de système hamiltoniens à ports linéaires et non linéaires. L’erreur de discrétisation est analysée en introduisant la notion de représentation hamiltonienne de l’erreur de discrétisation. Dans la dernière partie de cette thèse, une approche d’identification dans l’espace d’état est développée pour les systèmes obtenus par discrétisation symplectique des systèmes hamiltoniens à ports. Les cas déterministe est analysé et une approche énergétique basée sur les résultats d’identifiabilité structurelle développé dans la première partie est proposée. Enfin, dans la dernière partie, les contributions du travail sont rappelées et quelques perspectives pour des travaux futurs sont présentées
The objective of this thesis is to develop a specific identification theory for Port Controlled Hamiltonian (PCH) systems. The main reasons to develop this theory comes from their remarkable properties like power conservation and stability under power preserving interconnection (e.g. parallel, series or feedback interconnections). In a first part PCH systems are analysed for structural identifiability using some classical or new techniques: observability/controllability identifiability, direct test, power series expansion or a new power energy approach, defining also a new concept of port identifiability. Further it is proposed a perturbation model by means of the interaction port together with a practical identifiability analysis realized using the controllability and observability concepts. The fourth part presents a new framework for time-discretization of PCH systems in the nonlinear or linear case, by combined discretization of the flows and efforts preserving in the same time their characteristic properties. Also in this part it is proposed a discretization error Hamiltonian to distinguish the continuous-time PCH system from the discrete-time one. The fifth part of the thesis makes an analysis of PCH systems identifiability using the subspace identification approach in the deterministic case, proposing also a new power energy approach in direct connection with the structural identifiability results. In the end are presented the main conclusions, personal contributions and perspectives for future work

This thesis is mainly devoted to the study of the role of evolutionary-game theory in the design of distributed optimization-based controllers. Game theoretical approaches have been used in several engineering fields, e.g., drainage wastewater systems, bandwidth allocation, wireless networks, cyber security, congestion games, wind turbines, temperature control, among others. On the other hand, a specific class of games, known as population games, have been mainly used in the design of controllers to manage a limited resource. This game approach is suitable for resource allocation problems since, under the framework of full-potential games, the population games can satisfy a unique coupled constraint while maximizing a potential function. First, this thesis discusses how the classical approach of the population games can contribute and complement the design of optimization-based controllers. Therefore, this dissertation assigns special interest on how the features of the population-game approach can be exploited extending their capabilities in the solution of distributed optimization problems. In addition, density games are studied in order to consider multiple coupled constraints and preserving the non-centralized information requirements. Furthermore, it is established a close relationship between the possible interactions among agents in a population with the constrained information sharing among different local controllers. On the other hand, coalitional games are discussed focusing on the Shapley power index. This power index has been used to assign an appropriate rewarding to players in function of their contributions to all possible coalitions. Even though this power index is quite useful in the engineering context, since it involves notions of fairness and/or relevance (how important players are), the main difficulty of the implementation of the Shapley value in engineering applications is related to the high computational burden. Therefore, this dissertation studies the Shapley value in order to propose an alternative manner to compute it reducing computational time, and a different way to find it by using distributed communication structures is presented. The studied game theoretical approaches are suitable for the modeling of rational agents involved in a strategic constrained interaction, following local rules and making local decisions in order to achieve a global objective. Making an analogy, distributed optimization-based controllers are composed of local controllers that compute optimal inputs based on local information (constrained interactions with other local controllers) in order to achieve a global control objective. In addition to this analogy, the features that relate the Nash equilibrium with the Karush-Kuhn-Tucker conditions for a constrained optimization problem are exploited for the design of optimization-based controllers, more specifically, for the design of model predictive controller. Moreover, the design of non-centralized controllers is directly related to the partitioning of a system, i.e., it is necessary to represent the whole system as the composition of multiple sub-systems. This task is not a trivial procedure since several considerations should be taken into account, e.g., availability of information, dynamical coupling in the system, regularity in the amount of variables for each sub-system, among others. Then, this doctoral dissertation also discusses the partitioning problem for large-scale systems and the role that this procedure plays in the design of distributed optimization-based controllers. Finally, dynamical partitioning strategies are presented with distributed population-games-based controllers. Some engineering applications are presented to illustrate and test the performance of all the proposed control strategies, e.g., the Barcelona water supply network, multiple continuous stirred tank reactors, system of multiple unmanned aerial vehicles.
Esta tesis doctoral consiste principalmente en el estudio del rol que desempeña la teoría de juegos evolutiva en el diseño de controladores distribuidos basados en optimización. Diversos enfoques de la teoría de juegos han sido usados en múltiples campos de la ingeniera, por ejemplo, en sistemas de drenaje urbano, para la asignación de anchos de banda, en redes inalámbricas, en ciber-seguridad, en juegos de congestión, turbinas eólicas, control de temperatura, entre otros. Por otra parte, una clase especifica de juegos, conocidos como juegos poblacionales, se han usado principalmente en el diseño de controladores encargados de determinar la apropiada asignación de recursos. Esta clase de juegos es apropiada para problemas de distribución dinámica de recursos dado que, en el contexto de juegos poblacionales, los juegos poblacionales pueden ser usados para maximizar una función potencial mientras se satisface una restricción acoplada. Primero, esta tesis doctoral presenta como el enfoque clásico de los juegos poblacionales pueden contribuir y complementar en el diseño de controladores basados en optimización. Posteriormente, esta disertación concentra su atención en cómo las características de los juegos poblacionales pueden ser aprovechadas y extendidas para dar solución a problemas de optimización de forma distribuida. Adicionalmente, los juegos con dependencia de densidad son estudiados con el fin de considerar múltiples restricciones mientras se preservan las características no centralizadas de los requerimientos de información. Finalmente, se establece una estrecha relación entre las posibles interacciones de los agentes en una población y las restricciones de intercambio de información entre diversos controladores locales. También, se desarrolla una discusión sobre los juegos cooperativos y el índice de poder conocido como el valor de Shapley. Este índice de poder ha sido usado para la apropiada asignación de beneficios para un jugador en función de sus contribuciones a todas las posibles coaliciones que pueden formarse. Aunque este índice de poder es de gran utilidad en el contexto ingenieril, ya que involucra nociones de justicia y/o relevancia, la principal dificultad para implementar el valor de Shapley en aplicaciones de ingeniería está asociado a los altos costos computacionales para encontrarlo. En consecuencia, esta disertación doctoral estudia el valor de Shapley con el fin de ofrecer una alternativa para calcular este índice de poder reduciendo los costos computacionales e incluso contemplando estructuras distribuidas de comunicación. Los enfoques de la teoría de juegos estudiados son apropiados para el modelamiento de agentes racionales involucrados en una interacción estratégica con restricciones, siguiendo reglas locales y tomando decisiones locales para alcanzar un objetivo global. Realizando una analogía, los controladores distribuidos basados en optimización están compuestos por controladores locales que calculan acciones óptimas basados en información local (considerando interacciones restringidas con otros controladores locales) con el fin de alcanzar un objetivo global. Adicional a esta analogía, las características que relacionan el equilibrio de Nash con las condiciones de Karush-Kuhn-Tucker en un problema de optimizaciones con restricciones son aprovechadas para el diseño de controladores basados en optimización, más específicamente, para el diseño de controladores predictivos. Por otra parte, el diseño de controladores no centralizados está directamente relacionado con el particionado de un sistema, es decir, es necesario representar el sistema en su totalidad por medio del conjunto de varios sub-sistemas. Esta tarea no es un procedimiento trivial puesto que es necesario tener en cuenta varias consideraciones, por ejemplo, la disponibilidad de información, el acople dinámico en el sistema, la regularidad en cuanto a la cantidad de variables en cada sub-sistema, entre otras. Por lo tanto, esta disertación doctoral también desarrolla una discusión alrededor del problema de particionado para sistemas de gran escala y respecto al rol que este procedimiento de particionado juega en el diseño de controladores distribuidos basados en optimización. Finalmente, se presentan estrategias de particionado dinámico junto con controladores basados en juegos poblacionales. Algunas aplicaciones en ingeniería son usadas para ilustrar y probar los controladores diseñados por medio de las contribuciones novedosas basadas en teoría de juegos, estas son, la red de agua potable de Barcelona, múltiples reactores, sistema compuesto por varios vehículos aéreos no tripulados y un sistema de distribución de agua.
Aquesta tesi doctoral consisteix principalment en l'estudi del paper que exerceix la teoria de jocs evolutiva en el disseny de controladors distribuïts basats en optimització. Diversos enfocaments de la teoria de jocs han estat usats en múltiples camps de l'enginyeria, per exemple, en sistemes de drenatge urbà, per a l’assignació d'amples de banda, en xarxes sense fils, a ciber-seguretat, en jocs de congestió, turbines eòliques, control de temperatura, entre altres. D'altra banda, una classe especifica de jocs, coneguts com jocs poblacionals, s'han fet servir principalment en el disseny de controladors encarregats de determinar l'apropiada assignació de recursos. Aquesta classe de jocs és apropiada per a problemes de distribució dinàmica de recursos atès que, en el context de jocs poblacionals, aquests poden ser usats per a maximitzar una funció potencial mentre es satisfà una restricció acoblada. Primer, aquesta tesi doctoral presenta com l'enfocament clàssic dels jocs poblacionals poden contribuir i complementar en el disseny de controladors basats en optimització. Posteriorment, aquesta dissertació concentra la seva atenció en com les característiques dels jocs poblacionals poden ser aprofitades i esteses per donar solució a problemes d’optimització de forma distribuïda. Addicionalment, els jocs amb dependència de densitat són estudiats amb la _finalitat de considerar múltiples restriccions mentre es preserven les característiques no centralitzades dels requeriments d’informació. Finalment, s'estableix una estreta relació entre les possibles interaccions dels agents en una població i les restriccions d'intercanvi d’informació entre diversos controladors locals. També, es desenvolupa una discussió sobre els jocs cooperatius i l’índex de poder conegut com el valor de Shapley. Aquest índex de poder ha estat usat per l'apropiada assignació de beneficis per a un jugador en funció de les seves contribucions a totes les possibles coalicions que poden formar-se. Encara que aquest índex de poder es de gran utilitat en el context de l'enginyeria, ja que involucra nocions de justícia i/o rellevància, la principal dificultat per implementar el valor de Shapley en aplicacions d'enginyeria està associat als alts costos computacionals per trobar-lo. En conseqüència, aquesta dissertació doctoral estudia el valor de Shapley per tal d'oferir una alternativa per calcular aquest índex de poder reduint els costos computacionals i fins i tot contemplant estructures distribuïdes de comunicació. Els enfocaments de la teoria de jocs estudiats són apropiats per al modelatge d'agents racionals involucrats en una interacció estratègica amb restriccions, seguint regles locals i prenent decisions locals per assolir un objectiu global. Realitzant una analogia, els controladors distribuïts basats en optimització estan compostos per controladors locals que calculen accions optimes basats en informació local (considerant interaccions restringides amb altres controladors locals) per tal d'assolir un objectiu global. Addicional a aquesta analogia, les característiques que relacionen l'equilibri de Nash amb les condicions de Karush-Kuhn-Tucker en un problema d’optimització amb restriccions són aprofitades per al disseny de controladors basats en optimització, més específicament, per al disseny de controladors predictius. D'altra banda, el disseny de controladors no centralitzats està directament relacionat amb la partició d'un sistema, és a dir, cal representar el sistema en la seva totalitat per mitjà del conjunt de diversos sub-sistemes. Aquesta tasca no és un procés trivial, ja que cal tenir en compte diverses consideracions, per exemple, la disponibilitat d’informació, l'acoblament dinàmic en el sistema, i la regularitat pel que fa a la quantitat de variables en cada sub-sistema, entre d'altres. Per tant, aquesta dissertació doctoral també desenvolupa una discussió al voltant del problema de partició per a sistemes de gran escala i respecte al paper que aquest procediment de partició juga en el disseny de controladors distribuïts basats en optimització. Finalment, es presenten estratègies de partició dinàmic juntament amb controladors basats en jocs poblacionals. Algunes aplicacions en enginyeria són usades per il·lustrar i provar els controladors dissenyats per mitjà de les contribucions noves basades en teoria de jocs, aquestes són: la xarxa d'aigua potable de Barcelona, múltiples reactors, sistema compost per diversos vehicles aeris no tripulats i un sistema de distribució d'aigua.

Cette thèse développe des techniques à base d'automates pour la vérification formelle de systèmes physiquement distribués communiquant via des canaux fiables de tailles non bornées. Chaque machine peut exécuter localement plusieurs programmes récursifs (multi-threading). Un programme récursif peut également utiliser pour ses calculs locaux des structures de données non bornées, comme des files ou des piles. Ces systèmes, utilisés en pratique, sont si puissants que tous leurs problèmes de vérification deviennent indécidables. Nous introduisons et étudions un nouveau paramètre, appelé largeur de coupe (split-width), pour l'analyse de ces systèmes. Cette largeur de coupe est définie comme le nombre minimum de scissions nécessaires pour partitioner le graphe d'une exécution en parties sur lesquelles on pourra raisonner de manière indépendante. L'analyse est ainsi réalisée avec une approche diviser pour régner. Lorsqu'on se restreint à la classe des comportements ayant une largeur de coupe bornée par une constante, on obtient des procédures de décision optimales pour divers problèmes de vérification sur ces systèmes tels que l'accessibilité, l'inclusion, etc. ainsi que pour la satisfaisabilité et le model checking par rapport à divers formalismes comme la logique monadique du second ordre, la logique dynamique propositionnelle et des logiques temporelles. On montre aussi que les comportements d'un système ont une largeur de coupe bornée si et seulement si ils ont une largeur de clique bornée. Ainsi, grâce aux résultats de Courcelle sur les graphes de degré uniformément borné, la largeur de coupe est non seulement suffisante, mais aussi nécessaire pour obtenir la décidabilité du problème de satisfaisabilité d'une formule de la logique monadique du second ordre. Nous étudions ensuite l'existence de contrôleurs distribués génériques pour nos systèmes distribués. Nous proposons plusieurs contrôleurs, certains ayant un nombre fini d'états et d'autres étant déterministes, qui assurent que les comportements du système sont des graphes ayant une largeur de coupe bornée. Un système ainsi contrôlé de manière distribuée hérite des procédures de décision optimales pour les différents problèmes de vérification lorsque la largeur de coupe est bornée. Cette classe décidable de système généralise plusieurs sous-classes décidables étudiées précédemment
This thesis investigates automata-theoretic techniques for the verification of physically distributed machines communicating via unbounded reliable channels. Each of these machines may run several recursive programs (multi-threading). A recursive program may also use several unbounded stack and queue data-structures for its local-computation needs. Such real-world systems are so powerful that all verification problems become undecidable. We introduce and study a new parameter called split-width for the under-approximate analysis of such systems. Split-width is the minimum number of splits required in the behaviour graphs to obtain disjoint parts which can be reasoned about independently. Thus it provides a divide-and-conquer approach for their analysis. With the parameter split-width, we obtain optimal decision procedures for various verification problems on these systems like reachability, inclusion, etc. and also for satisfiability and model checking against various logical formalisms such as monadic second-order logic, propositional dynamic logic and temporal logics. It is shown that behaviours of a system have bounded split-width if and only if they have bounded clique-width. Thus, by Courcelle's results on uniformly bounded-degree graphs, split-width is not only sufficient but also necessary to get decidability for MSO satisfiability checking. We then study the feasibility of distributed controllers for our generic distributed systems. We propose several controllers, some finite state and some deterministic, which ensure that the behaviours of the system have bounded split-width. Such a distributedly controlled system yields decidability for the various verification problems by inheriting the optimal decision procedures for split-width. These also extend or complement many known decidable subclasses of systems studied previously

Les systèmes intégrés sont aujourd’hui de plus en plus fréquemment confrontés à des contraintes de faible consommation ou d’efficacité énergétique. Ces problématiques se doivent d’être intégrées le plus en amont possible dans le flot de conception afin de réduire les temps de design et d’éviter de nombreuses itérations dans le flot. Dans ce contexte, le projet collaboratif HiCool, partenariat entre les laboratoires LIRMM et TIMA, les sociétés Defacto, Docea et ST Microelectronics, a mis en place une stratégie et un flot de conception pour concevoir des systèmes intégrés faible consommation tout en facilitant la réutilisation de blocks matériels (IPs) existants. L’approche proposée dans cette thèse s’intègre dans cette stratégie en apportant une petite dose d’asynchronisme dans des systèmes complètement synchrones. En effet, la réduction de la consommation est basée sur le constat que l’activation permanente de la totalité du circuit est inutile dans bien des cas. Néanmoins, contrôler l’activité avec des techniques de « clock gating » ou de « power gating » nécessitent usuellement d’effectuer un re-design du système et d’ajouter un organe de commande pour contrôler l’activation des zones effectuant un traitement. Le travail présenté dans ce manuscrit définit une stratégie basée sur des contrôleurs d’horloge et de domaine d’alimentation, asynchrones, distribués et facilement insérables dans un circuit avec un coût de re-design des plus réduit
Today integrated systems are increasingly faced with the constraints of low consumption or energy efficiency. These issues need to be integrated as far upstream as possible in the design flow to reduce design time and avoid much iteration in the flow. In this context, the collaborative project HiCool, between LIRMM and TIMA laboratories, Defacto, Docea and ST Microelectronics companies, has set up a strategy and design flow to design integrated low power systems while facilitating the reuse of existing hardware blocks (IPs). The approach proposed in this thesis fits into this strategy by bringing a small dose of asynchrony in completely synchronous systems. Indeed, the reduction in consumption is based on the observation that permanent activation of the entire circuit is unnecessary in many cases. However, controlling the activity with techniques of "clock gating" or "power gating" usually need to perform a re-design of the system and to add a control device for controlling activation of areas effecting treatment. The work presented in this manuscript provides a strategy based clock controllers and power domain, asynchronous, distributed and easily insertable into a circuit with a low cost design

This thesis investigates automata-theoretic techniques for the verification of physically distributed machines communicating via unbounded reliable channels. Each of these machines may run several recursive programs (multi-threading). A recursive program may also use several unbounded stack and queue data-structures for its local-computation needs. Such real-world systems are so powerful that all verification problems become undecidable. We introduce and study a new parameter called split-width for the under-approximate analysis of such systems. Split-width is the minimum number of splits required in the behaviour graphs to obtain disjoint parts which can be reasoned about independently. Thus it provides a divide-and-conquer approach for their analysis. With the parameter split-width, we obtain optimal decision procedures for various verification problems on these systems like reachability, inclusion, etc. and also for satisfiability and model checking against various logical formalisms such as monadic second-order logic, propositional dynamic logic and temporal logics. It is shown that behaviours of a system have bounded split-width if and only if they have bounded clique-width. Thus, by Courcelle's results on uniformly bounded-degree graphs, split-width is not only sufficient but also necessary to get decidability for MSO satisfiability checking. We then study the feasibility of distributed controllers for our generic distributed systems. We propose several controllers, some finite state and some deterministic, which ensure that the behaviours of the system have bounded split-width. Such a distributedly controlled system yields decidability for the various verification problems by inheriting the optimal decision procedures for split-width. These also extend or complement many known decidable subclasses of systems studied previously.

Power flow (PF) control can increase the utilization of the transmission system and connect lower cost generation with load. While PF controllers have demonstrated the ability to realize dynamic PF control for more than 25 years, PF control has been sparsely implemented. This research re-examines PF control in light of the recent development of fractionally-rated PF controllers and the incremental power flow (IPF) control concept. IPF control is the transfer of an incremental quantity of power from a specified source bus to specified destination bus along a specified path without influencing power flows on circuits outside of the path. The objectives of the research are to develop power system operation and planning methods compatible with IPF control, test the technical viability of IPF control, develop transmission planning frameworks leveraging PF and IPF control, develop power system operation and planning tools compatible with PF control, and quantify the impacts of PF and IPF control on multi-decade transmission planning. The results suggest that planning and operation of the power system are feasible with PF controllers and may lead to cost savings. The proposed planning frameworks may incent transmission investment and be compatible with the existing transmission planning process. If the results of the planning tool demonstration scale to the national level, the annual savings in electricity expenditures would be $13 billion per year (2010$). The proposed incremental packetized energy concept may facilitate a reduction in the environmental impact of energy consumption and lead to additional cost savings.

The aim of the thesis is to design a special purpose tool for sag measurement. Three possible solutions are proposed, for each the production cycle time is calculated and its approximate costs are estimated. The best solution in terms of a trade-off between both key quantities is suggested. Next part of the work deals with the selection of suitable drives for the manipulator as well as of the other components for the whole electrical device. Finally, a possible automated control of the complete machinery, including the electrical wiring diagram, is presented.

This thesis introduces an alternative potentially low cost solution for hardware-in-the-loop (HIL) simulation based on the waveform relaxation (WR) method. The WR tech-nique is extended so that, without the need for a real-time simulator, the behaviour of an actual piece of physical hardware can nevertheless be tested as though it were connected to a large external electrical network. This is achieved by simulating the external network on an off-line electromagnetic transients (EMT) simulation program, and utilizing iterative exchange of waveforms between the simulation and the hardware by means of a spe-cialized Real-Time Player/Recorder (RTPR) interface device. The approach is referred to as waveform relaxation based hardware-in-the-loop (WR-HIL) simulation. To make the method possible, the thesis introduces several new innovations for stabi-lizing and accelerating the WR-HIL algorithm. It is shown that the classical WR shows poor or no convergence when at least one of the subsystems is an actual device. The noise and analog-digital converters’ quantization errors and other hardware disturbances can affect the waveforms and cause the WR to diverge. Therefore, the application of the WR method in performing HIL simulation is not straightforward and the classical WR need to be modified accordingly. Three convergence techniques are proposed to improve the WR-HIL simulation con-vergence. Each technique is evaluated by an experimental example. The stability of the WR-HIL simulation is studied and a stabilization technique is proposed to provide suffi-cient conditions for the simulation stability. The approach is also extended to include the optimization of the parameters of power system controllers located in geographically distant places. The WR-HIL simulation technique is presented with several examples. At the end of the thesis, suggestions for the future work are presented.
February 2016

Ce travail porte sur la régulation de la sortie des systèmes aux paramètres distribués. Pour ce faire, un simple contrôleur proportionnel intégral est utilisé, puis la stabilité du système en boucle fermée est démontrée à l'aide d'une fonction de Lyapunov. La principale contribution de ce travail est la construction d'un nouveau type de fonction de Lyapunov qui s'inspire d'une méthode bien connue dans le cadre des systèmes non-linéaires : le forwarding.Dans une première partie, le système est établi avec des opérateurs dont les propriétés sont données dans le cadre des semigroupes, puis la problématique de la régulation par contrôleur P-I est posé. Grâce à cette construction de Lyapunov, on peut répondre à cette problématique sous certaines hypothèses. Le lien est alors fait avec les résultats existants dans ce contexte. Dans la seconde partie, la problématique de la régulation est posée pour un système composé de n × n équations hyperboliques linéaires où l'entrée et la sortie se situent sur les conditions aux frontières des EDPs. Sous certaines hypothèses, le résultat permet de réguler n'importe quel vecteur de sortie composé linéairement des conditions aux frontières du système. Cela généralise de nombreux travaux portant sur les systèmes composés d'équations hyperboliques et l'utilisation de contrôleur P-I. Enfin dans le dernier chapitre, les vibrations mécaniques dans les tiges de forage sont étudiées comme cas d'application. Dans un premier temps, le comportement de solutions issues de différents modèles utilisés pour l'étude de ces déformations est détaillé. Dans un second temps, il est montré que la nouvelle fonctionnelle de Lyapunov permet de prendre en compte des modèles plus complexes et d'obtenir la régulation de la vitesse de la tige au fond du forage en ne mesurant que la vitesse en haut du puits. A la fin du chapitre, de nombreuses simulations numériques viennent illustrer nos résultats théoriques
This monograph is devoted to the output regulation of some distributed parameters systems. To reach this objective, a simply proportional integral controller is implemented. Then the stability of the closed loop is proved using a Lyapunov functional that can be built given a Lyapunov functional for the open-loop system. The main contribution of this work is the method to build the Lyapunov functional, it is inspired by a well-known method in non-linear system theory : the forwarding. In a first part, the system studied is an abstract Cauchy problem and the problematic is stated using semigroup theory. Thanks to the Lyapunov employed, the regulation can be guaranteed providing some assumption on the systems operators. The second part detailed how the output regulation can be obtain for all linear outputs when the system is a n × n systems of linear balance laws in one space dimension. The result is given in the case where inputs and outputs act on the PDE’s boundary conditions and for open-loop stabilizable system. It generalize many contribution in the topic of output regulation for systems of linear balance laws. Last but not least, a part is devoted to the study of mechanicals vibrations in a drill pipe. In a first time, the behavior of the solutions for different kind of models use to model the drill pipe is detailed. Then, it is shown that the new Lyapunov functional allow to take into account complex, infinite dimensional model and to regulate the drill pipe velocity at the bottom of the wellbore by only measuring the surface velocity and with a P-I controller. At the end, some simulations are given that illustrate the result

Cette recherche vise à résoudre un problème particulier du contrôle de vibration des structures intelligentes. Notre objectif est de réduire les vibrations dans une zone spécifique de la structure intelligente avec une perturbation qui couvre une large gamme de fréquences. De plus, dans cette zone spécifique, ni l'actionnement ni la détection ne sont possibles.Ici, nous faisons face à plusieurs défis principaux. Premièrement, nous devons contrôler les vibrations d’une zone spécifique de la structure, alors que nous n’avons accès aux mesures que dans d’autres zones. Deuxièmement, la large bande passante de la perturbation implique que nombreux modes doivent être contrôlés au même temps, ce qui nécessite l'utilisation de plusieurs actionneurs et capteurs. Cela conduit à un contrôleur MIMO difficile à obtenir avec les méthodes classiques de conception de contrôleur. Troisièmement, il faut éviter le problème de propagation, qui consiste à garantir la stabilité en boucle fermée lorsque le contrôleur basé sur un modèle est appliqué à la configuration réelle. Pour relever ces défis, nous étudions deux stratégies de contrôle: le contrôle centralisé et le contrôle distribué.Pour le contrôle centralisé, nous proposons une méthodologie qui nous permet d’obtenir un contrôleur MIMO simple permettant de relever ces défis. Tout d'abord, plusieurs techniques de modélisation et d’identification sont appliquées pour obtenir un modèle précis d'ordre faible de la structure intelligente. Ensuite, une méthode de synthèse basée sur le contrôle H_∞ avec un critère H_∞ particulièrement proposé est appliquée. Ce critère H_∞ intègre plusieurs objectifs de contrôle, y compris les défis principaux. En particulier, le problème de débordement se transforme en un problème de stabilité robuste et sera garanti en utilisant ce critère. Le contrôleur H_∞ obtenu est une solution standard du problème H_∞. Le contrôleur final est obtenu en simplifiant ce contrôleur H_∞ sans perdre la stabilité en boucle fermée ni dégrader les performances. Cette méthodologie est validée sur une structure de poutre avec des transducteurs piézoélectriques et la zone centrale est celle où les vibrations devraient être réduites. L'efficacité du contrôleur obtenu est validée par des simulations et des expériences.Pour le contrôle distribué, on considère la même structure de poutre et les mêmes objectifs de contrôle. Il existe des méthodes visant à concevoir des contrôleurs distribués pour les systèmes spatialement interconnectés. Cette recherche propose une méthode basée sur la FEM, associée à plusieurs techniques de réduction de modèle, permettant de discrétiser spatialement la structure de poutre et d'en déduire les modèles d’espace d'état des sous-systèmes interconnectés. La conception des contrôleurs distribués ne sera pas abordée dans cette recherche
This research aims at solving a particular vibration control problem of smart structures. We aim at reducing the vibration in a specific zone of the smart structure under the disturbance that covers a wide frequency band. Moreover, at this specific zone, neither actuation nor sensing is possible.Here we face several main challenges. First, we need to control the vibration of a specific zone of the structure while we only have access to measurements at other zones. Second, the wide bandwidth of the disturbance implies that numerous modes should be controlled at the same time which requires the use of multiple actuators and sensors. This leads to a MIMO controller which is difficult to obtain using classical controller design methods. Third, the so-called spillover problem must be avoided which is to guarantee the closed-loop stability when the model-based controller is applied on the actual setup. To tackle these challenges, we investigate two control strategies: the centralized control and the distributed control.For centralized control, we propose a methodology that allows us to obtain a simple MIMO controller that accomplishes these challenges. First, several modeling and identification techniques are applied to obtain an accurate low-order model of the smart structure. Then, an H_∞ control based synthesis method with a particularly proposed H_∞ criterion is applied. This H_∞ criterion integrates multiple control objectives, including the main challenges. In particular, the spillover problem is transformed into a robust stability problem and will be guaranteed using this criterion. The obtained H_∞ controller is a standard solution of the H_∞ problem. The final controller is obtained by further simplifying this H_∞ controller without losing the closed-loop stability and degrading the performance. This methodology is validated on a beam structure with piezoelectric transducers and the central zone is where the vibration should be reduced. The effectiveness of the obtained controller is validated by simulations and experiments.For distributed control, we consider the same beam structure and the same control objectives. There exist methods aiming at designing distributed controllers of spatially interconnected system. This research proposes a FEM based method, combined with several model reduction techniques, that allows to spatially discretize the beam structure and deduce the state-space models of interconnected subsystems. The design of distributed controllers will not be tackled in this research

Cette thése traite du contrôle de la formation et du confinement variant dans le temps pour les systèmes multi-agents linéaires invariants avec hétérogénéité en tenant compte des délais d’entrée / sortie constants / variables dans le temps et des perturbations adaptées / incompatibles sous topologie de communication dirigée et fixe. De nouveaux formats de formes de formation variables dans le temps pour des systèmes homogènes et hétérogènes sont proposés. Les contrôleurs, conçus sur la base de techniques prédictives et adaptatives avec une technique d’observation, sont entièrement distribués et peuvent être appliqués à des systèmes à grande échelle. L’application sur les systèmes robotisés multi hétérogènes linéarisés est vérifiée
This thesis deals with the time-varying formation and containment control for linear time-invariant multi-agent systems with heterogeneity considering constant / time-varying input / output delays and matched / mismatched disturbances under directed and fixed communication topology. New formats of time-varying formation shapes for homogeneous and heterogeneous systems are proposed. The controllers, which are designed based on predictive and adaptive techniques with observer technique, are fully distributed and can be applied to large-scale systems. The application on linearized heterogeneous multi mobile robot systems is verified

Orientador: José Antenor Pomilio
Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Elétrica e de Computação
Made available in DSpace on 2018-08-19T00:56:56Z (GMT). No. of bitstreams: 1 Pimentel_SergioPires_D.pdf: 7198764 bytes, checksum: 8dbb9a95a5a5374423051cba1bcfc1be (MD5) Previous issue date: 2011
Resumo: Este trabalho aborda as características que envolvem o gerenciamento da operação de um sistema monofásico de geração distribuída. Embora tais características possam ser expandidas para sistemas trifásicos e de potência elevada, o sistema proposto está relacionado com aplicações de geração distribuída em baixa tensão ou naquelas que envolvam consumidores residenciais. O funcionamento do sistema proposto é baseado em um conversor eletrônico de potência elaborado a partir da estrutura multinível na topologia cascata assimétrica de 19 níveis. Nesta topologia, as tensões dos barramentos CC devem ser isoladas e desiguais entre si. Tal condição permite o envolvimento, nos barramentos CC do inversor, de múltiplas ou diferentes fontes alternativas de energia elétrica tais como sistemas fotovoltaicos, sistemas de células a combustível ou sistemas eólicos associados com conversores CC/CC. Com o sistema em operação, busca-se uma injeção apenas de potência ativa no sistema de distribuição alimentador e um fornecimento ininterrupto de energia elétrica para uma carga local mesmo quando nesta predominar características não-lineares de alimentação. Assim, de acordo com os seus objetivos, o sistema proposto opera de forma contínua e intercalada entre os modos ilhado e compartilhado. Detalhes sobre tais modos de operação e suas respectivas transições são apresentadas. As transições envolvem a detecção de ilhamento e o êxito no sincronismo. Em função disso, é apresentado um método ativo de detecção de condições de ilhamento. Tal método representa a adaptação de um método ativo já existente (AFDPF) aos requisitos de operação do sistema proposto neste trabalho. Justificativas e detalhes dessa adaptação do método ativo AFDPF são apresentados. Com relação à outra transição, um método de sincronismo baseado em técnicas PLL é apresentado. Tal método de sincronismo atende os requisitos estabelecidos em IEEE Std 1547-2003, diminuindo os impactos de uma possível religação com o sistema de distribuição. Para permitir um melhor funcionamento sob diferentes requisitos, também são descritas as etapas que envolvem os métodos de projeto dos controladores adotados: controlador PI de corrente de saída; controlador PI de potência média injetada; e controlador P+Ress de tensão na carga. Em especial, é apresentada uma nova metodologia de projeto do controlador proporcional e ressonante (P+Ress) de tensão baseada na sua resposta em malha fechada observada no domínio do tempo, em contrapartida ao seu método clássico de projeto baseado no domínio da freqüência. Um modelo matemático para simulações computacionais e um protótipo experimental utilizando o DSP TMS320F2812 foram considerados. Resultados de simulações computacionais e experimentais são comparados e permitem a verificação do comportamento do sistema proposto sob condições normais e anormais de operação
Abstract: This work regards the issues related to the operation management of a single-phase distributed generation system. Although these issues can be applied three-phase systems and high power systems, the proposed system is related to low voltage distributed generation applications or related to residential consumers. The operation of the single-phase proposed system is based on an utility-interactive power electronics converter which is composed by an asymmetrical cascaded multilevel inverter. This topology is able to create an output signal with up to 19 levels and it is supplied by DC voltage power sources that must be isolated and unequal from each other. By this demand it is possible to combine multiple and/or different alternative DC voltage power supplies as photovoltaic, fuel cells or wind energy systems into the DC buses of the single-phase multilevel inverter. During the operation of the proposed system, an injection of only active power into the grid utility and an uninterrupted load supply are achieved even when the local load (or group of local loads) has predominant nonlinear characteristics. For those reasons the proposed system operates continuously and alternately between two operation modes: grid-connected mode and stand-alone mode. Details about them and its transitions are also presented. The transitions are related to a correct detection of islanding situations and also to an effective synchronization method. The islanding detection is achieved by adaptations on an already known active method (AFDPF) to accomplish the project's goals. The reasons and details about these adaptations are presented. Furthermore the synchronization method is described and it is based on PLL techniques. Both transition methods meet the IEEE Std 1547-2003 requirements and it decreases the impacts from the proposed system into grid utility. To guarantee a suitable operating under several conditions, a wide range of operation points can be found by using the design methods described to each proposed controller: PI output current controller; PI injected active power controller; and a P+Ress load voltage controller. In highlights it is proposed a new design method to proportional and resonant controller (P+Ress) based on its closed-loop time response, instead of the classical method based on its open-loop frequency response. A mathematical model for simulations and an experimental low power prototype based on DSP TMS320F2812 have been considered. Simulation and experimental results are compared and they allow examining the performance of the proposed system operating under normal and abnormal conditions
Doutorado
Energia Eletrica
Doutor em Engenharia Elétrica

Le projet HODISS dans le cadre duquel s'effectue nos travaux adresse la problématique de la synchronisation globale des systèmes complexes sur puce (System-on-Chip ou SOCs, par exemple un multiprocesseur monolithique). Les approches classiques de distribution d'horloges étant devenues de plus en plus obsolètes à cause de l'augmentation de la fréquence d'horloge, l'accroissement des temps de propagation, l'accroissement de la complexité des circuits et les incertitudes de fabrication, les concepteurs s’intéressent (pour contourner ces difficultés) à d'autres techniques basées entre autres sur les oscillateurs distribués. La difficulté majeure de cette dernière approche réside dans la capacité d’assurer le synchronisme global du système. Nous proposons un système d'horlogerie distribuée basé sur un réseau d’oscillateurs couplés en phase. Pour synchroniser ces oscillateurs, chacun d'eux est en fait une boucle à verrouillage de phase qui permet ainsi d'assurer un couplage en phase avec les oscillateurs des zones voisines. Nous analysons la stabilité de l'état synchrone dans des réseaux cartésiens identiques de boucles à verrouillage de phase entièrement numériques (ADPLLs). Sous certaines conditions, on montre que l'ensemble du réseau peut synchroniser à la fois en phase et en fréquence. Un aspect majeur de cette étude réside dans le fait que, en l'absence d'une horloge de référence absolue, le filtre de boucle dans chaque ADPLL est piloté par les fronts montants irréguliers de l'oscillateur local et, par conséquent, n'est pas régi par les mêmes équations d'état selon que l'horloge locale est avancée ou retardée par rapport au signal considéré comme référence. Sous des hypothèses simples, ces réseaux d'ADPLLs dits "auto-échantillonnés" peuvent être décrits comme des systèmes linéaires par morceaux dont la stabilité est notoirement difficile à établir. L'une des principales contributions que nous présentons est la définition de règles de conception simples qui doivent être satisfaites sur les coefficients de chaque filtre de boucle afin d'obtenir une synchronisation dans un réseau cartésien de taille quelconque. Les simulations transitoires indiquent que cette condition nécessaire de synchronisation peut également être suffisante pour une classe particulière d'ADPLLs "auto-échantillonnés"
The HODISS project, context in which this work is achieved, addresses the problem of global synchronization of complex systems-on-chip (SOCs, such as a monolithic multiprocessor). Since the traditional approaches of clock distribution are less used due to the increase of the clock frequency, increased delay, increased circuit complexity and uncertainties of manufacture, designers are interested (to circumvent these difficulties) to other techniques based among others on distributed synchronous clocks. The main difficulty of this latter approach is the ability to ensure the overall system synchronization. We propose a clock distribution system based on a network of phase-coupled oscillators. To synchronize these oscillators, each is in fact a phase-locked loop which allows to ensure a phase coupling with the nearest neighboring oscillators. We analyze the stability of the synchronized state in Cartesian networks of identical all-digital phase-locked loops (ADPLLs). Under certain conditions, we show that the entire network may synchronize both in phase and frequency. A key aspect of this study lies in the fact that, in the absence of an absolute reference clock, the loop-filter in each ADPLL is operated on the irregular rising edges of the local oscillator and consequently, does not use the same operands depending on whether the local clock is leading or lagging with respect to the signal considered as reference. Under simple assumptions, these networks of so-called “self-sampled” all-digital phase-locked-loops (SS-ADPLLs) can be described as piecewise-linear systems, the stability of which is notoriously difficult to establish. One of the main contributions presented here is the definition of simple design rules that must be satisfied by the coefficients of each loop-filter in order to achieve synchronization in a Cartesian network of arbitrary size. Transient simulations indicate that this necessary synchronization condition may also be sufficient for a specific class of SS-ADPLLs

Essa pesquisa se propõe a investigar o uso de Inclusões Diferenciais Lineares Limitadas por Norma (IDLNs) para projeto de controladores de amortecimento de tipo PSS (Power System Stabilizer) para sistemas elétricos com a presença de geração distribuída. Uma vez definida de maneira adequada, uma IDLN pode ser capaz de englobar um conjunto de trajetórias do modelo não-linear do sistema em estudo. Assim, é possível garantir certas propriedades (estabilidade assintótica, por exemplo) para as trajetórias da IDLN e, consequentemente, as mesmas propriedades terão validade para as trajetórias do modelo não-linear. Inicialmente propõe-se um procedimento para cálculo dos parâmetros do modelo de IDLN proposto de forma que ela seja capaz de agregar um conjunto de dinâmicas de interesse do sistema. Tal procedimento divide-se, basicamente, em duas etapas. Na primeira etapa, o objetivo é englobar um conjunto de trajetórias do modelo não-linear do sistema numa Inclusão Diferencial Linear Politópica (IDLP). Já na segunda etapa, os parâmetros da IDLN são calculados a partir da solução um problema na forma de LMIs (Linear Matrix Inequalities) que utiliza informações da IDLP obtida anteriormente. Em seguida, essa pesquisa propõe um procedimento sistemático na forma de LMIs para projeto de controladores de amortecimento de tipo PSS para sistemas de geração distribuída usando-se os modelos de IDLNs propostos. Restrições na forma de desigualdades matriciais são incluídas ao problema de controle para garantir um desempenho mínimo a ser atingido pelo controlador. Como resultado, a formulação do problema de controle é descrita por um conjunto de BMIs (Bilinear Matrix Inequalities). Entretanto, através de um procedimento de separação pode-se tratar o problema em duas etapas, ambas envolvendo a solução de um conjunto de LMIs. Uma planta de co-geração instalada numa rede de distribuição composta por um alimentador e 6 barras é utilizada como sistema teste.
This work proposes an investigation about the use of Norm-bounded Linear Differential Inclusions (NLDIs) for the design of PSS-type damping controllers for electrical systems with the presence of distributed generation. When the NLDI is properly defined, it is possible to guarantee certain properties (for example, asymptotic stability) to the trajectories of the NLDI and, consequently, the trajectories of the nonlinear model have these same properties. Initially, this research proposes a procedure to calculate the NLDI parameters in such way it can be capable to aggregate a set of dynamics of interest. Such procedure is constituted by two steps. In the first step, the objective is to aggregate some trajectories of the nonlinear model to a Politopic Linear Differential Inclusion (PLDI). In the second step, the NLDI parameters are calculated by solving a problem in the form of LMIs (Linear Matrix Inequalities) that uses the IDLP previously obtained. After that, this research proposes a systematic method based on LMIs for the design of PSS-type damping controllers for distributed generation systems. Such method uses the proposed NLDI models. Constraints in the form of LMIs are included to the control problem formulation in order to guarantee a desirable performance to the controller. As a result, the control problem formulation is structured by a set of BMIs (Bilinear Matrix Inequalities). However, it is possible to deal with such problem in two steps,both involving the solution of a set of LMIs. A cogeneration plant added to a distribution network constituted by a feeder and six buses is adopted as test system.

[ES] Dos aspectos críticos en la operación de una microrred son las estrategias de control y gestión de potencia implementadas, las cuales son esenciales para proporcionar su buen funcionamiento. La aplicación adecuada de dichas estrategias permite compensar los desequilibrios de potencia causados por la discontinuidad de la generación y de la demanda de energía en las microrredes. En este sentido, el objetivo global de estas estrategias de gestión es equilibrar adecuadamente el flujo de potencia en la microrred, mediante la aplicación de diferentes algoritmos que permiten cumplir con los criterios de estabilidad, protección, balance de potencia, transiciones, sincronización con la red y gestión adecuada de la microrred. En el caso de microrredes de pequeña escala de potencia con bajo número de generadores y sistemas de almacenamiento distribuidos, las estrategias de control centralizado ofrecen un alto nivel de flexibilidad para lograr funcionalidades avanzadas en la microrred y una adecuada distribución de la potencia entre los convertidores que la conforman. Esta tesis se ha enmarcado en el contexto de algoritmos de gestión centralizada de potencia de una microrred de generación distribuida en modo conectado a red. Los algoritmos presentados se pueden aplicar a los convertidores de potencia conectados al bus DC de una microrred AC/DC híbrida o en una microrred de DC, donde el despacho de potencia es observado y gestionado por un controlador central. Este último adquiere datos del sistema mediante una infraestructura de comunicaciones y estima la potencia que gestionará cada uno de los convertidores de potencia, sistemas de almacenamiento y cargas en funcionamiento. En este estudio se muestra la validación experimental de las estrategias de gestión aplicadas en la microrred desde el enfoque del comportamiento de los convertidores de potencia, de las baterías y las cargas ante dicha gestión. Se verifica la estabilidad de la microrred sometiendo a los convertidores a diferentes escenarios de funcionamiento. Estos escenarios pueden ser fluctuaciones en la irradiación, la demanda, el estado de carga de las baterías, los límites máximos de exportación/importación de potencia desde/hacia la microrred hacia/desde la red principal y de la tarifa eléctrica. Adicionalmente, se propone un sistema de almacenamiento de energía en baterías encargado de mantener el equilibrio de potencia en el bus de DC de la microrred que permite aprovechar las fuentes de generación renovables presentes en la microrred y maximizar el tiempo de servicio de las baterías mediante la aplicación de un algoritmo de carga de las baterías. Este último se ajusta al procedimiento de carga especificado por el fabricante, estableciendo las tasas de carga en función de los escenarios en que la microrred se encuentre. El procedimiento de carga en las baterías es fundamental para garantizar las condiciones adecuadas de operación de las mismas, ya que toman en consideración los parámetros establecidos por el fabricante, como son: tasas de carga/descarga, tensión máxima de carga, temperaturas de operación, etc.
[CAT] Dos dels aspectes crítics en l'operació d'una micro-xarxa són les estratègies de control i gestió de potència implementades, les quals són essencials per proporcionar el seu bon funcionament. L'aplicació adequada de dites estratègies permet compensar els desequilibris de potència causats per la discontinuïtat de la generació i demanda d'energia en les micro-xarxes. En aquest sentit, l'objectiu global de les nomenades estratègies de gestió és equilibrar adequadament el flux de potència en la micro-xarxa mitjançant l'aplicació de diferents algoritmes que permeten complir amb els criteris d'estabilitat, protecció, balanç de potència, transicions, sincronització amb la xarxa i gestió adequada de la micro-xarxa. En el cas de micro-xarxes de potència a petita escala i amb baix nombre de generadors i sistemes d'emmagatzematge distribuïts, les estratègies de control centralitzades ofereixen un alt nivell de flexibilitat per aconseguir funcionalitats avançades en la micro-xarxa i una adequada distribució de la potència entre els convertidors que la conformen. Aquesta tesi s'ha emmarcat al context d'algoritmes de gestió centralitzada de potència d'una micro-xarxa de generació distribuïda en mode de connexió a xarxa. Els algoritmes presentats es poden aplicar als convertidors de potència connectats al bus DC d'una micro-xarxa AC/DC hibrida o en una micro-xarxa de DC, on el despatx de potència és observat i gestionat per un controlador central. Aquest últim adquireix dades del sistema mitjançant una infraestructura de comunicacions i estima la potència que gestionarà cadascun dels convertidors de potència, sistemes d'emmagatzematge i càrregues en funcionament. En aquest estudi es mostren la validació experimental de les estratègies de gestió aplicades en la micro-xarxa des d'un enfocament dels convertidors de potència, de les bateries i les càrregues davant d'aquesta gestió. Es verifica l'estabilitat de la micro-xarxa exposant als convertidors a diferents escenaris de funcionament. Aquest escenaris poden ser fluctuants en la irradiació, la demanda, l'estat de càrrega de les bateries, els límits màxims d'exportació/importació de potència des de/cap a la micro-xarxa cap a/des de la xarxa principal i de la tarifa elèctrica. Addicionalment, es proposa un sistema d'emmagatzematge d'energia en bateries encarregats de mantindre l'equilibri de potència al bus DC de la micro-xarxa i que permet aprofitar les fonts de generació renovables presents en la micro-xarxa i maximitzar el temps de servei de les bateries mitjançant l'aplicació d'un algoritme de càrrega de bateries. Aquest últim s'ajusta al procediment de càrrega especificat pel fabricant, establint les taxes de càrrega en funció dels escenaris en que la micro-xarxa es trobe. El procediment de càrrega a les bateries es fonamental per garantir les condicions adequades d'operació de les mateixes, ja que prenen en consideració els paràmetres establerts pel fabricant, com ara són: taxes de càrrega/descàrrega, tensió màxima de càrrega, temperatures d'operació, etc.
[EN] Two critical aspects in microgrids operation are the control and power management strategies, which are essential for their efficient operation. The adequate application of these strategies allows compensating the power imbalance caused by the discontinuity in the energy generation or changes in the power demand of the microgrid. In this sense, the overall objective of these power management strategies is to keep the power balance between the generation and the demand in the microgrid through the application of different algorithms that fulfill the criteria of stability, protection, smooth transitions and synchronization with the main grid. In the case of small-scale microgrids with a low number of distributed generators and energy storage systems, the centralized control strategies offer a higher level of flexibility to achieve advanced features in the microgrid and for the suitable power sharing between the converters that compose it. This thesis has been focused on centralized power management algorithms of a microgrid working in grid connected mode. These algorithms can be applied to the power converters connected to the DC bus of both hybrid AC/DC and DC microgrids, where the power dispatch is controlled by a central controller which acquires system data through a communication infrastructure and sets the power to be managed by each of the converters under operation. In this thesis, the experimental validation of the power management strategies of the microgrid is presented, from the point of view of the behavior of the power converters, batteries and loads. It is provided with a realistic evaluation under different microgrid operation scenarios. These scenarios were sudden changes of the irradiation, load, state of charge, the maximum power to be exported/imported from/to the microgrid to/from the grid, and the electricity tariff. Additionally, it is proposed a battery energy storage system that keeps the power balance at the DC bus of the microgrid, taking advantage from the renewable energy sources and adjusting the battery energy storage through a suitable charging procedure specified by the manufacturer. The proposed procedure changes the charging parameters of the batteries depending on the microgrid states. Its goal is to extend the service time of batteries and to allow proper energy management in the system.
Salas Puente, RA. (2019). Gestión eficiente de los convertidores de potencia conectados al bus DC de una Microrred híbrida de generación distribuida [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/118658
TESIS

A significant issue encountered when fusing data received from multiple sensors is the accuracy of the timestamp associated with each piece of data. This is particularly important in applications such as Simultaneous Localisation and Mapping (SLAM) where vehicle velocity forms an important part of the mapping algorithms; on fastmoving vehicles, even millisecond inconsistencies in data timestamping can produce errors which need to be compensated for. The timestamping problem is compounded in a robot swarm environment due to the use of non-deterministic readily-available hardware (such as 802.11-based wireless) and inaccurate clock synchronisation protocols (such as Network Time Protocol (NTP)). As a result, the synchronisation of the clocks between robots can be out by tens-to-hundreds of milliseconds making correlation of data difficult and preventing the possibility of the units performing synchronised actions such as triggering cameras or intricate swarm manoeuvres. In this thesis, a complete data fusion unit is designed, implemented and tested. The unit, named BabelFuse, is able to accept sensor data from a number of low-speed communication buses (such as RS232, RS485 and CAN Bus) and also timestamp events that occur on General Purpose Input/Output (GPIO) pins referencing a submillisecondaccurate wirelessly-distributed "global" clock signal. In addition to its timestamping capabilities, it can also be used to trigger an attached camera at a predefined start time and frame rate. This functionality enables the creation of a wirelessly-synchronised distributed image acquisition system over a large geographic area; a real world application for this functionality is the creation of a platform to facilitate wirelessly-distributed 3D stereoscopic vision. A ‘best-practice’ design methodology is adopted within the project to ensure the final system operates according to its requirements. Initially, requirements are generated from which a high-level architecture is distilled. This architecture is then converted into a hardware specification and low-level design, which is then manufactured. The manufactured hardware is then verified to ensure it operates as designed and firmware and Linux Operating System (OS) drivers are written to provide the features and connectivity required of the system. Finally, integration testing is performed to ensure the unit functions as per its requirements. The BabelFuse System comprises of a single Grand Master unit which is responsible for maintaining the absolute value of the "global" clock. Slave nodes then determine their local clock o.set from that of the Grand Master via synchronisation events which occur multiple times per-second. The mechanism used for synchronising the clocks between the boards wirelessly makes use of specific hardware and a firmware protocol based on elements of the IEEE-1588 Precision Time Protocol (PTP). With the key requirement of the system being submillisecond-accurate clock synchronisation (as a basis for timestamping and camera triggering), automated testing is carried out to monitor the o.sets between each Slave and the Grand Master over time. A common strobe pulse is also sent to each unit for timestamping; the correlation between the timestamps of the di.erent units is used to validate the clock o.set results. Analysis of the automated test results show that the BabelFuse units are almost threemagnitudes more accurate than their requirement; clocks of the Slave and Grand Master units do not di.er by more than three microseconds over a running time of six hours and the mean clock o.set of Slaves to the Grand Master is less-than one microsecond. The common strobe pulse used to verify the clock o.set data yields a positive result with a maximum variation between units of less-than two microseconds and a mean value of less-than one microsecond. The camera triggering functionality is verified by connecting the trigger pulse output of each board to a four-channel digital oscilloscope and setting each unit to output a 100Hz periodic pulse with a common start time. The resulting waveform shows a maximum variation between the rising-edges of the pulses of approximately 39¥ìs, well below its target of 1ms.

Tato disertační práce představuje derivační stromy několika různých typů gramatik ve zobecněné Kurodově normální formě; jmenovitě obecné a regulárně řízené gramatiky, gramatiky s rozptýleným kontextem a spolupracující distribuované gramatické systémy. Definuje jednoduché stromové rysy založené na kontextových vlastnostech jednotlivých diskutovaných gramatik a dokazuje, že pokud existuje limitující konstanta k taková, že každá věta generovaného jazyka L odpovídá řetězci listových uzlů derivačního stromu, ve kterém je výskyt definovaných stromových rysů omezen konstantou k, jazyk L je ve skutečnosti bezkontextový. Tato práce dále ukazuje, že dosažený výsledek představuje silný nástroj důkazu bezkontextovosti jazyka. Vše je doplněno příklady praktického využití nástroje.

A distributed controllers system (DCS) refers to a control system usually of a process plant /manufacturing system in which the different functions to the controllers are assigned according to the process plant requirements. Here, the controller elements are not central in location (like the brain) but are distributed throughout the system with each component sub-system controlled by one or more controllers. The entire system of controllers is connected by networks for communication and monitoring. DCS is used in the industries, to monitor and control distributed position equipment and process plant. A DCS typically uses custom designed processors as controllers and uses both proprietary interconnections and communications protocol for communication. Input and output modules form component parts of the DCS. The processor receives information from input modules and sends information to output modules. The input modules receive information from input instruments in the process (or field) and transmit instructions to the output instruments in the field. Computer buses or electrical buses connect the processor and modules through multiplexer or demultiplexers. Buses also connect the distributed controllers with the central controller and finally to the Human–machine interface (HMI) or control consoles. The elements of a DCS may connect directly to physical equipment such as switches, pumps and valves or they may work through an intermediate system such as a SCADA system.

One of the most important tendencies in the development of the industrial automation is the application of intelligent control systems within factories, which focuses heavily on networked architectures. Following this line of thinking, the goal of this dissertation resumes itself in the implementation of a distributed system that controls two physical processes, where the system components not only trade information between each other, but also have that same information be accessible remotely and within HMI equipment. The controllers were conceptualized to offer different functional modes with high customization available. This system also takes resource of an OPC server, so it allows, not only the communication between different manufacturer PLC controllers but also the connection with remotes clients The implemented remote clients hold the intent of demonstrating the versatility of this architecture and are, namely, an operational historian that registers information and a data viewer, which allows the use of more advanced methods of monitoring.