29 results on '"Habib Dallagi"'
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2. Autopilot Design for an Autonomous Sailboat Based on Sliding Mode Control.
- Author
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Helmi Abrougui, Habib Dallagi, and Samir Nejim
- Published
- 2019
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3. Sliding mode control of ship electric propulsion system.
- Author
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Habib Dallagi and Samir Nejim
- Published
- 2015
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4. Fault Detection of Nonlinear Systems Using Multi-model Structure: Application to a Ship Propulsion System
- Author
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Habib, Dallagi, Haddar, Mohamed, editor, Romdhane, Lotfi, editor, Louati, Jamel, editor, and Ben Amara, Abdelmajid, editor
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- 2013
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5. Observer based optimal control of ship electric propulsion system.
- Author
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Habib Dallagi, Ali Sghaïer Tlili, and Samir Nejim
- Published
- 2007
6. Sliding Mode Control for Hexacopter Autopilot design
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Helmi Abrougui, Samir Nejim, Anis Charrada, and Habib Dallagi
- Published
- 2022
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7. Mechanical Design and Control of an Arm with Two Degrees of Freedom for Inspection and Cleaning Operations
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Chiheb Zaoui, Helmi Abrougui, Mohamed Amine Meftah, Saber Hachicha, Ahmed Moulhi, and Habib Dallagi
- Published
- 2022
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8. Autopilot Design for an Autonomous Sailboat Based on Sliding Mode Control
- Author
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Habib Dallagi, Samir Nejim, and Helmi Abrougui
- Subjects
021110 strategic, defence & security studies ,Heading (navigation) ,Computer science ,0211 other engineering and technologies ,02 engineering and technology ,Degrees of freedom (mechanics) ,Sliding mode control ,law.invention ,Nonlinear system ,Control and Systems Engineering ,Control theory ,Position (vector) ,law ,Signal Processing ,Autopilot ,0202 electrical engineering, electronic engineering, information engineering ,020201 artificial intelligence & image processing ,Feedback linearization ,Software - Abstract
This paper deals with the design of an autopilot based on sliding mode control combined with feedback linearization method for an autonomous sailing vessel. This autopilot is developed using a model with four degrees of freedom, which represents the dynamic of a sailboat. Due to the high nonlinearity of the developed dynamic model, heading and sail opening angle controller were developed to steer the sailboat toward a specific target position. The nonlinear four degrees of freedom dynamic model for the sailing vessel is first described. Then, an autopilot is designed using both sliding mode control and feedback linearization method. Finally, some simulations are carried out to illustrate the behavior of the overall system.
- Published
- 2019
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9. Innovative design of an underwater cleaning robot with a two arm manipulator for hull cleaning
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Chiheb Zaoui, Saber Hachicha, Habib Dallagi, Samir Nejim, and Aref Maalej
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Environmental Engineering ,Computer science ,Process (computing) ,020101 civil engineering ,Ocean Engineering ,02 engineering and technology ,Kinematics ,Remotely operated vehicle ,Remotely operated underwater vehicle ,01 natural sciences ,010305 fluids & plasmas ,0201 civil engineering ,Computer Science::Robotics ,Hull ,0103 physical sciences ,Robot ,Manipulator ,Underwater ,Marine engineering - Abstract
The fouling is a major problem that occurs to the ship's hull. This phenomenon causes severe economic and ecological consequences of shipping activities. Therefore, several robotic solutions were developed to mitigate fouling problem and to robotize hull-cleaning process. However, the existing solutions are either slow remotely operated vehicles or fast - but non-transportable - cleaning station equipped with manipulator's arms. In this paper, we aim to combine the transportability of the remotely operated vehicle solution and the cleaning efficiency offered by the use of arm manipulators. Hence, we present an innovative design of an underwater ship hull-cleaning robot called ARMROV by attaching two-manipulator arms to a remotely operated vehicle. However, in this new design, the robot central part is subject to dynamic stability issues during the cleaning operation that are caused by coupling forces between arms and the central part. In order to evaluate perturbations on the center part of the ARMROV, the kinematic and the dynamic model of the manipulator's arms were developed performed using Khalil-Kleifinger and Newton-Euler methods respectively. The dynamic stability during the hull cleaning operation was studied and checked using dynamic equivalence approach. Simulations results proved the efficiency of the stability approach and the feasibility of the proposed solution. In conclusion, the suggested design represents a promising stable and efficient solution for hull underwater cleaning.
- Published
- 2019
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10. Modeling and Identification of an Unmanned Surface Vehicle Based on Sea Trials Data
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Saber Hachicha, Helmi Abrougui, Samir Nejim, Habib Dallagi, and Chiheb Zaoui
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Heading (navigation) ,Identification (information) ,Computer science ,Position (vector) ,Work (physics) ,Sea trial ,Marine technology ,Kinematics ,Propulsion ,Marine engineering - Abstract
This paper describes a simplified method to modeling and parameters identification of an Unmanned surface vehicle USV. The USV is propelled by two thrusters allowing both control of speed and heading. The outputs of the studied system are variables that characterize the kinematics and the motion of the USV such as the speed, the heading, and the position in the horizontal plan. First a nonlinear model with three degrees of freedom is designed, then the parameters are calculated based on sea trials data. Finally the model is validated by simulation in order to perform some control methods in a future work.
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- 2020
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11. Flight Controller Design Based on Sliding Mode Control for Quadcopter Waypoints Tracking
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Samir Nejim, Habib Dallagi, Saber Hachicha, Helmi Abrougui, and Chiheb Zaoui
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Vehicle dynamics ,Quadcopter ,Nonlinear system ,Control theory ,Computer science ,Control system ,Marine technology ,ComputerApplications_COMPUTERSINOTHERSYSTEMS ,Aerodynamics ,Sliding mode control - Abstract
Flight control systems are widely used in modern aircraft; they help pilot in steering their aircrafts. The wind force applied on the aircraft quadcopter body causes large drift angles. To remedy this issue, an efficient flight controller based on nonlinear controller for both high-level and low-level regulators was designed. These tow controllers were developed based on the quadcopter dynamic model. This approach is validated through simulation to show its effectiveness.
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- 2020
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12. Modeling, parameter identification, guidance and control of an unmanned surface vehicle with experimental results
- Author
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Samir Nejim, Saber Hachicha, Chiheb Zaoui, Helmi Abrougui, and Habib Dallagi
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Electronic speed control ,Heading (navigation) ,Environmental Engineering ,Computer science ,Control theory ,law ,Path (graph theory) ,Autopilot ,Ocean Engineering ,Tracking (particle physics) ,Sliding mode control ,Term (time) ,law.invention - Abstract
This work proposes an autopilot scheme for self-steering an Unmanned Surface Vehicle (USV) in terms of heading and speed control, route following and waypoints tracking. The majority of regulators developed in the literature only provide heading control, which is a considerable weakness since the drift effects due to wind and marine currents cause the USV to move away from the planned path. This work deals with this problem and firstly proposes a mathematical model with three degrees of freedom for simulating the USV behavior. Second, USV parameter are calculated experimentally, and then an autopilot system is designed letting the USV to rapidly and smoothly reach a desired path and remain precisely on it. The developed autopilot, which is based on sliding mode control, consists of two levels of regulation, low-level controller for speed and heading control and a high-level controller for generating the desired speed and heading according to two different navigation modes: waypoints tracking and/or path following. Experimental results are carried out to verify the effectiveness of the proposed autopilot in term of heading control for waypoints tracking.
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- 2021
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13. Mechanical Design and Control of an Underwater Robot for Pitch and Roll Stability
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Saber Hachicha, Samir Nejim, Yassine Rabhi, Chiheb Zaoui, Habib Dallagi, and Aref Maalej
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Software portability ,Automatic control ,Computer science ,business.industry ,Hull ,Mechanical design ,Robot ,Robotics ,Control engineering ,Artificial intelligence ,Underwater ,business ,System dynamics - Abstract
The use of the underwater robot for ship hull cleaning is increasingly studied given the valuable operational, economic and environmental advantages that it offers. The Automatic Control and Marine Robotics Unit, within the Tunisian Naval Academy, has suggested a new underwater robot design that is equipped with two manipulating arms. The offered solution allows to combine a system portability with the improved cleaning efficiency offered by the manipulator arms. However, during underwater operation, the robot, located beneath the ship's hull, is exposed to several perturbation forces. These forces are mainly caused by water current and waves. This research focuses on the robot static and dynamic stability when it is exposed to external perturbations. The proposed approach to ensure the robot stability consists in improving its mechanical design. Therefore, we developed the design of the scaled robot to eliminate static behavior. The dynamic model was established and the electronic architecture was described. Besides, the control scheme was proposed. In conclusion, our study demonstrates the importance of the mechanical symmetry design and the control law to ensure the stability of the underwater robot.
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- 2019
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14. Study, Modeling and Simulation of a Hybrid Ship Propulsion System
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Habib Dallagi, Issam Hemdana, Chiheb Zaoui, Samir Nejim, and Hamadi Bouaicha
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Modeling and simulation ,Battery (electricity) ,Exploit ,Computer simulation ,Computer science ,Hybrid system ,Photovoltaic system ,ComputerApplications_COMPUTERSINOTHERSYSTEMS ,Propulsion ,Automotive engineering ,Watercraft - Abstract
In recent years, there has been a great deal of interest in hybrid propulsion systems that provide power improvement solutions for watercraft. In order to be able to exploit the hybrid propulsion systems, one must first understand the principles of operation, its constituents as well as the parameters that influence its production and the means to control them. It is also essential to classify different types of batteries and panels according to their applications and environments. Our study will focus on the use of fuel cell, photovoltaic panels, a generator and a battery in the propulsion of a ship, which will choose an electrical topology that meets the constraints imposed. To realize a good exploitation of the hybrid system it is necessary to study all the equipment and to highlight the parameters on which they depend. Hence, it is necessary to think about the use of various sources to power ship propulsion system and that will allow better performance and strengthen navigation security. In this paper, we firstly studied, series and parallel hybrid propulsion configurations. Then we established the modeling of this system. Finally, we gave a numerical simulation of the proposed hybrid propulsion system operation.
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- 2019
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15. Study and modeling of the electric propulsion system for marine boat
- Author
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Nejim Samir, Helmi Abrougui, Chiheb Zaoui, Hamadi Bouaicha, and Habib Dallagi
- Subjects
Computer simulation ,Computer science ,business.industry ,ComputerApplications_COMPUTERSINOTHERSYSTEMS ,Propulsion ,Global model ,Quantitative Biology::Cell Behavior ,Modeling and simulation ,Computer Science::Hardware Architecture ,Software ,Electrically powered spacecraft propulsion ,MATLAB ,business ,computer ,computer.programming_language ,Marine engineering - Abstract
This paper deals with the modeling and simulation of the ship electric propulsion system. This system is depicted by a non-linear mathematical model. This analysis highlights the operation of a propulsion system of a ship and allows the modeling of its elements. Through a non-linear global model we obtain the performance of a total propulsion system. The numerical simulation is realized through Matlab/Simulink software.
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- 2019
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16. Fault detection and isolation for linear parameter varying system application to asynchronous machine
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Samah Rihane, Chokri Mechmeche, Samir Nejim, and Habib Dallagi
- Subjects
Lyapunov function ,Mathematical model ,business.industry ,Computer science ,Linear system ,Stability (learning theory) ,Automation ,Fault detection and isolation ,symbols.namesake ,Control theory ,symbols ,Representation (mathematics) ,business ,Parametric statistics - Abstract
This paper addresses the problem of fault detection and isolation in an asynchronous machine. We are interested in the study of linear systems with linear parameters variant LPV with polytopic structure. We present the methods of residual generator constructs for fault detection and isolation. The convex polytopic representation is obtained directly from the sum of linear mathematical models achieved by parametric variation of the model. Our approach is based on the application of Lyapunov's theorem and the utilization of LMI in order to satisfy the stability of observers. The default detection is based on the synthesis of the observers with unknown input. The method developed in this work has been applied on an asynchronous machine on which faults have been created. The numerical results confirm our study approach.
- Published
- 2018
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17. Hybrid electrical power supply for an electric propelled boat
- Author
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Chiheb Zaoui, Habib Dallagi, Samir Nejim, Hamadi Bouaicha, and Issam Hemdana
- Subjects
Accumulator (energy) ,Bus network ,Computer science ,Photovoltaic system ,Electric power ,Propulsion ,Converters ,Energy source ,Dimensioning ,Automotive engineering - Abstract
This paper deals with electrical energy from multi-sources intended to feed a propulsion system of a boat. These energy sources consist of photovoltaic panels, fuel cells, supercapacitors and accumulator batteries. A study of different topologies of connections between these different sources and the propulsion engine of the boat allowed to retain the continuous Bus topology. In this work, we present the modeling of each energy source associated with its converter, as well as the dimensioning of these elements. Then, we give the overall electrical diagram with the different sources and the associated electrical converters which are all connected to a continuous Bus. This Bus feeds the synchronous propellant motor through a three-phase pulse-modulated control inverter. Numerical simulations were carried out in this work.
- Published
- 2018
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18. Study and modeling of a hull cleaning station with an arm manipulator
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Chiheb Zaoui, Aref Maalej, Habib Dallagi, Saber Hachicha, and Samir Nejim
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Computer science ,business.industry ,Solid modeling ,Degrees of freedom (mechanics) ,Robot end effector ,law.invention ,System dynamics ,Computer Science::Robotics ,Dynamic simulation ,Software ,law ,Hull ,Underwater ,business ,Marine engineering - Abstract
The underwater hull cleaning is a center of interest of a big number of researchers from the fifties. Here we aim to facilitate the cleaning of the hull using a new robotic system with an arm manipulator. We developed the geometric and the dynamic modeling of the station components. In fact, the station has seven degrees of freedom four rotations and three translations. Besides, we used the SimMechanics software for the dynamic simulation of the station. In conclusion, our study shows that the underwater station with arm manipulator can be important for the hull cleaning operation.
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- 2018
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19. Ship electric propulsion system: Electric power estimation and propeller selection
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Hamadi Bouaicha, Habib Dallagi, Souhaiel Gharbi, Chiheb Zaoui, and Samir Nejim
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Electrically powered spacecraft propulsion ,Computer science ,Propeller ,Torque ,Electric power ,MATLAB ,computer ,Selection (genetic algorithm) ,computer.programming_language ,Visualization ,Marine engineering ,Power (physics) - Abstract
One of the significant design stages of the ship electric propulsion system is the determination of the electric power and the propeller selection, which must fulfill the exploitation requirements of the ship, it performances and it physical characteristics. This choice is based mainly on the concern of overcoming the ship's total resistance under the projected operating conditions. So, we wrote three algorithms under Matlab that estimates the electric power that must be installed on board. First, the ship resistance is determined. Then, the effective power is estimated and finally the appropriate choice of the propeller is done taking into account the cavitations phenomena. The three algorithms are named in order: the propeller optimization program, the power prediction program and the propeller characteristic curves: calculation and visualization program. The numerical results obtained in this paper confirm our approach.
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- 2018
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20. Modelization and Multimodel Control of Ship Electric Propulsion System
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Habib Dallagi, Chiheb Zaoui, and Samir Nejim
- Subjects
Nonlinear system ,Electrically powered spacecraft propulsion ,business.industry ,Computer science ,Uncertain systems ,Control engineering ,Aerospace engineering ,Propulsion ,Synchronous motor ,business ,Control parameters ,Merge (version control) ,A-law algorithm - Abstract
The ship propulsion system is a nonlinear and uncertain system. To overcome these constraints, in order to synthesize a powerful command, the multimodel control is promising. This paper deals with the modeling and multimodel control of complex uncertain systems. The approach is based on the principle of generating model bases, which can be local or generic, determined according to procedures using Kharitonov’s algebraic approach. The evaluation of the relevance of the models is ensured by means of validations calculated on line by referring to the responses of the process. Such validities are used to generate the multimodel control according to a strategy by fusion. Two fusion methods are then proposed: A merge at the level of the elementary commands and another at the level of the control parameters. This work deals with the development of a model base, as well as the synthesis of a multimodel control law. In this sense it is proposed to study the electric propulsion of ships as well as its composition. Next, we propose a technique for modeling the electric propulsion system of a ship and synthesized a multimodel control law. Finally, we will model the propulsion system based on a synchronous motor with permanent magnet and synthesize a law of control according to the multimodel approach.
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- 2017
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21. Cathodic Protection System by Imposed Current for a Vedette
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Issam Hemdana, Bechir Sabri, Habib Dallagi, and Chiheb Zaoui
- Subjects
Computer science ,Control theory ,Hull ,Current (fluid) ,Reference electrode ,Automotive engineering ,Corrosion ,Cathodic protection ,Anode ,Voltage - Abstract
This article deals with the method of cathodic protection by imposed current. This technique reduces the rate of corrosion of a metallic material in the presence of an aqueous medium. Corrosion, its causes, its effects as well as the solution to combat this phenomenon, has been established in this paper. Indeed, the technique of protection by imposed current has been studied extensively in this work. The study and installation of a cathodic protection system imposed on-board the vedette, it is possible to determine the need for a DC current. This study ensures a good protection of the hull and a better location of the anodes. An imposed current regulation system has been studied. This system consists of measuring the potential of the boat’s hull by the reference electrode. With reference to this voltage value, the controller imposes the necessary current injected at the anode to maintain a fixed protection potential. In order to validate this study, simulations results under PSIM software dealing with protection of the hull of the vedette is finally presented.
- Published
- 2017
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22. Implementation of the PWM pre-calculated technique for elimination harmonic using microcontroller
- Author
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Habib Dallagi and Sami Bouzaiane
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Harmonic analysis ,Engineering ,Microcontroller ,business.industry ,Control theory ,Harmonics ,Harmonic ,Electronic engineering ,Waveform ,Inverter ,business ,Frequency modulation ,Pulse-width modulation - Abstract
This paper deals with the problems of harmonic pollution generated by the DC-AC converters and its reduction techniques. The study is carried out on a single-phase pulse width modulation (PWM) inverter with pre-calculated commutation angles. The algorithms are implemented on a PIC 18F4550 microcontroller and allows the obtention of a sinusoidal output current with low distortion, the quality of the output voltage waveform is evaluated by the use of Fourier spectral analysis. The optimization consists on the resolution of a set of equations issued from different criteria such as certain harmonics cancellation or, more generally, on distortion minimization. We prouve here that by accurate switching angle calculations and control, we can completely cancel low order harmonics. This is ensured in the inverter by a high precision algorithms programmed on the microcontroller system.
- Published
- 2017
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23. Economic scheduling of a hybrid microgrid based on weather forecasts
- Author
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Hamadi Bouaicha, Emily M. Craparo, Samir Nejim, and Habib Dallagi
- Subjects
Engineering ,Wind power ,Optimization problem ,business.industry ,Photovoltaic system ,Electrical engineering ,Microgrid ,business ,Grid ,Industrial engineering ,Energy storage ,Renewable energy ,Renewable resource - Abstract
Intermittency of renewable resources represents a major impediment that restricts their integration in microgrids. This paper presents an approach that can contribute to solve this issue by the prediction of near-term future renewable power production, mainly wind power and photovoltaic power, based on weather forecasts. After knowing the future renewable power production, the electric grid manager needs to find the optimal operating plan in order to efficiently integrate the predicted renewable production and to optimally operate other controllable components of the microgrid such as fuel-based generators, energy storage units and connectors to the commercial electric grid. We formulate this optimization problem as an integer linear program and exercise the model to study a number of practical issues surrounding microgrids.
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- 2017
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24. Modelling, simulation and analysis of three phase five level NPC inverter for induction motor drive
- Author
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Habib Dallagi
- Subjects
Engineering ,Total harmonic distortion ,business.industry ,Harmonic spectrum ,Three-phase ,Electronic engineering ,Inverter ,business ,MATLAB ,computer ,Pulse-width modulation ,Induction motor ,Voltage ,computer.programming_language - Abstract
This paper is devoted to the study and the simulate a five level inverter NPC for induction motor drive. To improve the preference of this inverter, the control strategy adopted is the PWM pulse with modulation. Several simulations were proposed by changing the PWM parameters m and r. To study the FFT harmonic spectrum several curves are plotted of the current, voltage and the calculation of THD distortions rates voltages and current. For study the inverter performance, the three phase five-level NPC inverter is simulation using PSIM and Matlab its performance is studied for induction motor load. The simulation results are analyzed and interpreted.
- Published
- 2015
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25. Sliding mode control of ship electric propulsion system
- Author
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Samir Nejim and Habib Dallagi
- Subjects
Nonlinear system ,Engineering ,Electrically powered spacecraft propulsion ,Robustness (computer science) ,Control theory ,business.industry ,ComputerApplications_COMPUTERSINOTHERSYSTEMS ,Propulsion ,business ,Synchronous motor ,Sliding mode control ,Multi variable - Abstract
The electrical propulsion vessels are complex, multi variable and highly nonlinear. They require advanced controls ensuring good robustness in stability and performance. This paper focuses on modeling and sliding mode control of electric propulsion system of a ship insured by a double star synchronous motor. We propose a structure of sliding mode control performance which well be applied it to ship electric propulsion system. A numerical study simulation of the proposed control is presented. The simulation results have allowed us to analyze the behavior of the loop for various operating conditions of the system.
- Published
- 2015
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26. The Design of Control Boost Air Temperature System on Marine Diesel Engine Based on Trials Curves
- Author
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Bechir Sabri and Habib Dallagi
- Subjects
Engineering ,Diesel fuel ,Dynamometer ,business.industry ,Water cooling ,Exhaust gas ,Fuel oil ,business ,Diesel engine ,NOx ,Automotive engineering ,Marine engineering ,Power (physics) - Abstract
The air boost temperature cause a change in the specific fuel oil consumption, the exhaust gas amount and gas temperature and (NOx) emissions of the diesel engine. Controlling emissions is becoming a more and more important task in the development of diesel engines. Today the International Maritime Organization (IMO) is close to completing regulations prescribing the upper limits for nitrogen oxides (NOx) emissions from engines running on ships. The charge air temperature is not constant but varies with the engine load. For the execution of this work we have taken as a model a marine diesel engine type Wartsila NSD 12 ZAV 40S installed a board car ferry. Engine manufacturers provide charts on relationships gas flow, power etc experiments on a dynamometers bench and some Trials aboard. This work is based on data curves and trials for modeling of the control system. The paper is divided into three parts
- Published
- 2015
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27. State Feedback Control of Ship Electric Propulsion System
- Author
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Bechir Sabri and Habib Dallagi
- Subjects
Nonlinear system ,Electrically powered spacecraft propulsion ,Computer simulation ,Stator ,law ,Computer science ,Control (management) ,Control engineering ,State (computer science) ,Propulsion ,Synchronous motor ,law.invention - Abstract
This article describes the synthesis of a state feedback control of an electric propulsion system of a ship propulsion using for such a synchronous motor. The highly nonlinear characteristics of the studied system make it difficult to control. A state feedback control is then necessary. The technique adopted control tested by computer simulation has shown the validity and usefulness of this approach to the pursuit of speed and stator current of the synchronous motor to control the ship speed.
- Published
- 2015
- Full Text
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28. Study, analysis and simulation of three phase three-level, five-level and seven-level neutral-point-clamped inverters by PSIM
- Author
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Habib Dallagi
- Subjects
Software ,Three-phase ,Control theory ,business.industry ,Computer science ,Inverter ,Point (geometry) ,Study analysis ,business ,Pulse-width modulation ,Three level ,Power (physics) - Abstract
In this paper, a Pulse Width Modulation (PWM) control of multi levels inverters neutral-point-clamped (NPC) inverter is proposed. First, the structures of this power converter are presented. After that, a PWM control strategy is developed. Finally several electrical simulations were performed, using the software PSIM environment, to validate the theoretical analysis described previously. In particular, the three structures: three levels, five-level and seven-level inverters neutral-point-clamped (NPC) are studied.
- Published
- 2014
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29. Fault detection and isolation of ship electric propulsion system using residual generator
- Author
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Chokri Mechmeche, Habib Dallagi, and Naceur Benhadj Braiek
- Subjects
Engineering ,Polynomial ,business.industry ,Computation ,Electric generator ,Control engineering ,Propulsion ,Residual ,Fault (power engineering) ,Fault detection and isolation ,law.invention ,Electrically powered spacecraft propulsion ,law ,Control theory ,business - Abstract
This paper deals with the design and analysis of residual generators for polynomial systems. The computation of a bank of residual generators is exploited for fault detection and isolation of a ship electric propulsion system, characterized by a nonlinear model, in the presence of disturbance. The simulation results shows how a fault de-tectability/isolability procedure can be made on a practical system.
- Published
- 2011
- Full Text
- View/download PDF
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