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PACIFIC Conference 2011

PACIFIC Conference 2011. 8 th December 2011 Amiens, France Dr. Simon Walters (University of Brighton, UK) Professor A. Rachid –Project Leader – Universite de Picardie Jules Verne Professor A. Mpanda (ESIEE-Amiens). The ‘PACIFIC’ Project. Pantograph- Catenary (PAC) Models

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PACIFIC Conference 2011

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  1. PACIFICConference 2011 8th December 2011 Amiens, France Dr. Simon Walters (University of Brighton, UK) Professor A. Rachid –Project Leader – Universite de Picardie Jules Verne Professor A. Mpanda (ESIEE-Amiens) Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  2. The ‘PACIFIC’ Project • Pantograph-Catenary (PAC) Models • Open-loop Test Results • Sixth order PAC model • PAC System Controller (LMI) • LMI – Linear Matrix Inequalities • PAC System Controller (PID/PD+I) • PID – Proportional Integral Derivative • FPD+I - Fuzzy Proportional Derivative + Integral • PAC Scale-model Test-rig • Physical Phenomena and SIMPAC (To be presented by Professor Mpanda) • Electric Arc Modelling • Thermal Modelling • SIMPAC Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  3. 1. Pantograph-Catenary (PAC) Models • Finite-element catenary model • Fourth order PAC system • Including time-varying catenary stiffness function • Sixth order PAC system • Including time-varying catenary stiffness, damping and mass function Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  4. fvcat(t) kcat(t) xcat Mcat(t) Fcp Fpc ks xh Mh fvh kh xf Mf Fup fvf kf 2. Open-loop Test Results Sixth order PAC model Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  5. Model Parameters Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  6. System Equations This system may be described by a system of differential equations: These equations may be rearranged as follows: Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  7. The system may be solved in state-space form, assuming in this case that: Where: Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  8. Catenary Model Time-varying Functions of Mass, Stiffness and Damping for the Catenary Model Model source: [Pisano &Usai, 2008];parameters from [ESIEE, 2010]: Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  9. Open-loop Test 1 Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  10. Open-loop Test 2 Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  11. Open-loop Results 1 Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  12. Open-loop Results 2 Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  13. Open-loop Results 3 Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  14. Open-loop Results 4 Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  15. 3. PAC System Controller (LMI) PAC Modelling Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  16. Multiple Model Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  17. Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  18. Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  19. 4. PAC System Controller (PID/PD+I) Reference Force In Reference voltage Upward force Fup Catenary Dynamics Pant.-Cat. Interface Input Sensor Controller Actuator Pantograph Dynamics + - Output Sensor Measured voltage Contact Force Fpc Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  20. Fuzzy Logic Control Design Process • Design a PID controller that works • Design a linear Fuzzy PID controller that works • Add non-linearity, if required, and test well After: [Jantzen, 2007] Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  21. PID Calculation Error Integral of Error Derivative of Error Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  22. Crisp inputs: x1 x2 x3 ... xn Fuzzification Rule 1 Rule 2 Rule 3 Rule n Aggregation Defuzzification Crisp output: y Generalised Fuzzy System • Inference Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  23. FPD Controller (4 rules) Input Membership Functions Error ‘e’ neg pos 100 0 neg pos 100 0 Output Membership Function Control Output ‘U’ Rules If e = neg & ce = neg THEN U = low If e = neg & ce = pos THEN U = 0 If e = pos & ce = neg THEN U = 0 If e = pos & ce = pos THEN U = high 100 0 low 0 high Derivative of Error ‘ce’ Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  24. e E PD Rules GE ce e CE D Estimate U GCE u GU Σ ie I Estimate IE GIE FPD+I Controller Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  25. Simulated Acceleration Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  26. Simulation Results - PID Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  27. Simulation Results – FPD+I Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  28. Phase-plane Analysis Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  29. Next Stage – Go Non-linear (and Test Well)! • Different Surfaces: • Linear • Saturation • Dead-zone • Quantizer Figures adapted from [Jantzen, 2007] Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  30. References (PID/PD+I Comparison Section) • [Atherton, 2009], ‘Control Engineering’, D. Atherton, Ventus Publishing ApS, BoonBooks, 2009. • [Hedayati et al., 2010], ‘Pantograph–Catenary Interaction: A literature Review’, Reference: RTT_PACIFIC.2010.2.SHK-FB, S. HedayatiKia, F. Bartolini, • A. Mpanda, ESIEE-Amiens, 2010. • [Jantzen, 2007], ‘Foundations of Fuzzy Control’, Jan Jantzen, Technical University of Denmark, John Wiley and Sons Ltd., 2007. [Lee et al., 2007], ‘Fuzzy Logic and Neuro-fuzzy Modelling of Diesel Spray Penetration: A Comparative Study’, S. H. Lee, R. J. Howlett, C. Crua, S. D. Walters, Journal of Intelligent and Fuzzy Systems, ISSN: 1064-1246 vol 18, no 1, pp 43-56, 2007. [Pisano& Usai., 2008] ‘Contact Force Regulation in Wire-actuated Pantographs’, A. Pisano, E. Usai, Modern Sliding Mode Control Theory, Vol. 375, pp. 447-463, 2008. Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  31. 5. PAC Scale-model Test-rig Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  32. Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  33. The Test-rig – Electromechanical Part Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  34. Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  35. Conclusions So Far... ‘PACIFIC’: several approaches to PAC modelling and control: • Various mechanical models of PAC systems considered • Open-loop tests undertaken • Multiple model with LMI control technique - new control combination • Crisp and fuzzy controllers under comparison • A new convenient scale-model of a PAC system • Physical Phenomena and SIMPAC: will be presented by Professor Mpanda – next! Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  36. Acknowledgements • The Presenter should like to acknowledge the international contributions of the other PACIFIC project partners: • Professor Ahmed Rachid (Universite de Picardie Jules-Verne) • Professor Augustin Mpanda (ESIEE-Amiens) Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  37. Acknowledgements This project was selected under the European Cross-border Cooperation Programme INTERREG IVA France (Channel) – England, co-funded by the ERDF. Co-funded by the European Regional Development Fund. European Union. Investing in your future. Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

  38. Any Questions? Dr.S.D.Walters Prof.A.Rachid Prof.A.Mpanda

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