Skip to Main content Skip to Navigation

Synthèse et filtrage robuste de la commande pour des système manufacturiers sûrs de fonctionnement

Abstract : The regional council of Champagne-Ardenne has a particular interest for the professional higher education in science and technology. In this context, it was proposed to allow the use of automated production systems (APS) by learners. The work presented in this thesis, focuses on the control design by automatic control engineers who can have different levels of competence, ranging from novice to expert. The use of real plant, especially remotely through the web, can involve control design errors. This raises two original problems; the validation and verification of the control, and the requirement to take into the designer. These problems, which are also found in industry, require an approach taking into account the human part (expert - trainer, designer - learner) from the Human-Machine System. The contributions developed in this thesis focuse on adapting the system to designer knowledge and on the system safety. On the first point, it highlights the educational importance to work on the global system rather than a part. A methodological approach is proposed. It is based on the functional decomposition of the plant to adapt the specifications to the designer. This approach helps maintain the global vision of the manufacturing system. On the second point, two approaches are envisaged to ensure the plant safety. The first, offline, is based on previous work performed by the team "Discrete Event System and Supervision from CReSTIC", in the field of Wonham and Ramadge synthesis. Supervisory control allows to obtain a sure, robust and without deadlock controller. This approach has been adapted to ensure that the plant models and specifications are fair, and that the proposed controller respects the maximum permissible behaviour of the system. The second approach, online, uses a filter. This approach allows sending to the plant only validated Programmable Logic Controller (PLC) outputs. The main difficulties of designing the filter lie firstly in its specifications and implementation, and secondly in its explanatory capabilities for the designer. A filter structure with two levels is proposed. The first one called "system validation filter", assuring the plant safety, is based on logical constraints. The second one called "functional validation filter" enables to verify if specifications are conformed. This filter has not been developed in this thesis. An error in the definition of security specifications leads to a wrong validation of the control and can put the system in a dangerous mode. The proposed approach to ensure that the constraints are properly defined is to formally verify, before the implementation in the PLC, using the model-checker UPPAAL. The verification procedure determines the necessary and sufficient constraints set to avoid system deterioration situations (plant elements and parts), by considering the most possible permissive control. The system validation filter acts as a robust filter of PLC outputs. Two applications of control robust filter are presented and allow to show, on the one hand, a benefit of the concepts, methods and tools and on the other hand, the applicability. The first application deals with a real system of drugs packaging. The approach to secure the plant and to adapt the system to the designer is implemented. It has been tested and its interest has been shown through experiments conducted with novice and more experienced control engineers. The second application is based on a simulated automatic warehouse. The filter is used in this case, not to avoid plant elements and parts collisions, but to provide explanations. These examples also highlight the limits and the perspectives for this work.
Document type :
Complete list of metadata
Contributor : Pascale Marangé Connect in order to contact the contributor
Submitted on : Friday, January 16, 2009 - 8:16:42 AM
Last modification on : Thursday, October 14, 2021 - 1:10:05 PM
Long-term archiving on: : Tuesday, June 8, 2010 - 8:24:57 PM


  • HAL Id : tel-00353654, version 1



Pascale Marangé. Synthèse et filtrage robuste de la commande pour des système manufacturiers sûrs de fonctionnement. Automatique / Robotique. Université de Reims - Champagne Ardenne, 2008. Français. ⟨tel-00353654⟩



Record views


Files downloads