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The type of control system used for electrical machines depends on the use (nature of the load, operating states, etc.) to which the machine will be put. The precise type of use determines the control laws which apply. Mechanics are also very important, because they affect performance. Another factor of essential importance in industrial applications is operating safety. Finally, the problem of how to control a number of different machines, whose interactions and outputs must be coordinated, is addressed and solutions are presented. These and other issues are addressed here by a range of…mehr
The type of control system used for electrical machines depends on the use (nature of the load, operating states, etc.) to which the machine will be put. The precise type of use determines the control laws which apply. Mechanics are also very important, because they affect performance. Another factor of essential importance in industrial applications is operating safety. Finally, the problem of how to control a number of different machines, whose interactions and outputs must be coordinated, is addressed and solutions are presented. These and other issues are addressed here by a range of expert contributors, each of whom are specialists in their particular field. This book is primarily aimed at those involved in complex systems design, but engineers in a range of related fields such as electrical engineering, instrumentation and control, and industrial engineering, will also find this a useful source of information.
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René Husson is an Emeritus Professor at INPL (ENSEM), Nancy, France.
Inhaltsangabe
Preface xi Chapter 1. Overview of Mechanical Transmission Problems 1 Pascal FONTAINE and Christian CUNAT 1.1. Technological aspects1 1.2. Bibliography 28 Chapter 2. Reminders of Solid Mechanics 31 Jean-Francois SCHMITT and Rachid RAHOUADJ 2.1. Reminders of dynamics 31 2.2. Application example: dynamic balance of a rigid rotor 42 2.3. Analytical dynamics (Euler-Lagrange) 46 2.4. Linear energies in the neighborhood of the balance for a non-damped discrete system 49 2.5. Vibratory behavior of a discrete non-damped system around an equilibrium configuration 51 2.6. Analytical study of the vibratory behavior of a milling machine table 53 2.7. Bibliography 61 Chapter 3. Towards a Global Formulation of the Problem of Mechanical Drive 63 Christian CUNAT, Mohamed HABOUSSI and Jean Francois GANGHOFFER 3.1. Presentation of the mechanical drive modeling problem 63 3.2. Brief review on continuum mechanics 72 3.3. Bibliography 89 Chapter 4. Continuous-time Linear Control 91 Frederic KRATZ 4.1. Introduction 91 4.2. PID controllers 91 4.3. PID controllers 100 4.4. Methods based on previous knowledge of a system model 104 4.5. Linear state feedback control systems 107 4.6. Optimal control 117 4.7. Choice of a control 129 4.8. Bibliography 130 Chapter 5. Overview of Various Controls 131 Frederic KRATZ 5.1. Introduction 131 5.2. Internal model controller 132 5.3. Predictive control 141 5.4. Sliding control 149 5.5. Bang-bang control 152 5.6. Control-based fuzzy logic 154 5.7. Neural network control 164 5.8. Bibliography 167 Chapter 6. Sliding Mode Control 169 Rachid OUTBIB and Michel ZASADZINSKI 6.1. Introduction169 6.2. Illustrative example 170 6.3. Basic concepts 172 6.4. Direct Lyapunov method 184 6.5. Equivalent control method 189 6.6. Imposing a surface dynamic 198 6.7. The choice of sliding surface 200 6.8. Conclusion 203 6.9. Notations 203 6.10. Bibliography 204 Chapter 7. Parameter Estimation for Knowledge and Diagnosis of Electrical Machines 207 Jean-Claude TRIGEASSOU, Thierry POINOT and Smail BACHIR 7.1. Introduction 207 7.2. Identification using output-error algorithms 210 7.3. Parameter estimation with a priori information 218 7.4. Parameter estimation of the induced machine 225 7.5. Fault detection and localization based on parameter estimation 232 7.6. Conclusion 241 7.7. Bibliography 241 Chapter 8. Diagnosis of Induction Machines by Parameter Estimation 245 Smail BACHIR, Slim TNANI, Gerard CHAMPENOIS and Jean-Claude TRIGEASSOU 8.1. Introduction 245 8.2. Induction motor model for fault detection 246 8.3. Diagnosis procedure 261 8.4. Conclusion 267 8.5. Bibliography 268 Chapter 9. Time-based Coordination 271 Michel DUFAUT and Rene HUSSON 9.1. Introduction 271 9.2. Brief description system 272 9.3. Some ideas on the manipulator system models 277 9.4. Coordination of motion 286 9.5. Conclusion 304 9.6. Bibliography 304 Chapter 10. Multileaf Collimators 307 Sabine ELLES and Bruno MAURY 10.1. Radiotherapy 307 10.2. Multileaf collimators 310 10.3. Intensity modulated radiotherapy 317 10.4. Conclusion 328 10.5. Bibliography 329 Chapter 11. Position and Velocity Coordination: Control of Machine-Tool Servomotors 331 Patrick BOUCHER and Didier DUMUR 11.1. Open architecture systems 331 11.2. Structure and implementation of control laws 334 11.3. Application to machines-tools axis drive control 339 11.4. Conclusions 362 11.5. Bibliography 364 List of Authors 367 Index 369
Preface xi Chapter 1. Overview of Mechanical Transmission Problems 1 Pascal FONTAINE and Christian CUNAT 1.1. Technological aspects1 1.2. Bibliography 28 Chapter 2. Reminders of Solid Mechanics 31 Jean-Francois SCHMITT and Rachid RAHOUADJ 2.1. Reminders of dynamics 31 2.2. Application example: dynamic balance of a rigid rotor 42 2.3. Analytical dynamics (Euler-Lagrange) 46 2.4. Linear energies in the neighborhood of the balance for a non-damped discrete system 49 2.5. Vibratory behavior of a discrete non-damped system around an equilibrium configuration 51 2.6. Analytical study of the vibratory behavior of a milling machine table 53 2.7. Bibliography 61 Chapter 3. Towards a Global Formulation of the Problem of Mechanical Drive 63 Christian CUNAT, Mohamed HABOUSSI and Jean Francois GANGHOFFER 3.1. Presentation of the mechanical drive modeling problem 63 3.2. Brief review on continuum mechanics 72 3.3. Bibliography 89 Chapter 4. Continuous-time Linear Control 91 Frederic KRATZ 4.1. Introduction 91 4.2. PID controllers 91 4.3. PID controllers 100 4.4. Methods based on previous knowledge of a system model 104 4.5. Linear state feedback control systems 107 4.6. Optimal control 117 4.7. Choice of a control 129 4.8. Bibliography 130 Chapter 5. Overview of Various Controls 131 Frederic KRATZ 5.1. Introduction 131 5.2. Internal model controller 132 5.3. Predictive control 141 5.4. Sliding control 149 5.5. Bang-bang control 152 5.6. Control-based fuzzy logic 154 5.7. Neural network control 164 5.8. Bibliography 167 Chapter 6. Sliding Mode Control 169 Rachid OUTBIB and Michel ZASADZINSKI 6.1. Introduction169 6.2. Illustrative example 170 6.3. Basic concepts 172 6.4. Direct Lyapunov method 184 6.5. Equivalent control method 189 6.6. Imposing a surface dynamic 198 6.7. The choice of sliding surface 200 6.8. Conclusion 203 6.9. Notations 203 6.10. Bibliography 204 Chapter 7. Parameter Estimation for Knowledge and Diagnosis of Electrical Machines 207 Jean-Claude TRIGEASSOU, Thierry POINOT and Smail BACHIR 7.1. Introduction 207 7.2. Identification using output-error algorithms 210 7.3. Parameter estimation with a priori information 218 7.4. Parameter estimation of the induced machine 225 7.5. Fault detection and localization based on parameter estimation 232 7.6. Conclusion 241 7.7. Bibliography 241 Chapter 8. Diagnosis of Induction Machines by Parameter Estimation 245 Smail BACHIR, Slim TNANI, Gerard CHAMPENOIS and Jean-Claude TRIGEASSOU 8.1. Introduction 245 8.2. Induction motor model for fault detection 246 8.3. Diagnosis procedure 261 8.4. Conclusion 267 8.5. Bibliography 268 Chapter 9. Time-based Coordination 271 Michel DUFAUT and Rene HUSSON 9.1. Introduction 271 9.2. Brief description system 272 9.3. Some ideas on the manipulator system models 277 9.4. Coordination of motion 286 9.5. Conclusion 304 9.6. Bibliography 304 Chapter 10. Multileaf Collimators 307 Sabine ELLES and Bruno MAURY 10.1. Radiotherapy 307 10.2. Multileaf collimators 310 10.3. Intensity modulated radiotherapy 317 10.4. Conclusion 328 10.5. Bibliography 329 Chapter 11. Position and Velocity Coordination: Control of Machine-Tool Servomotors 331 Patrick BOUCHER and Didier DUMUR 11.1. Open architecture systems 331 11.2. Structure and implementation of control laws 334 11.3. Application to machines-tools axis drive control 339 11.4. Conclusions 362 11.5. Bibliography 364 List of Authors 367 Index 369
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