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Conception et commande optimale d’une architecture hybride hydraulique de reach stacker

Abstract : The continuously increasing of the intercontinental trade as well as the globalization lead to the need of higher productivity for ports and container terminals. In order to fulfill the need of competitiveness of terminal operators and in the same time respect the environmental legislation, container handling machine manufacturers are developping new solutions. Hybridization of energy sources is an interesting way but using more energy efficient actuation lines is also suitable. As a consequence, specifications are more and more complex, and can in particular have heterogeneous natures. In this thesis, the focus is made on two main topics linked to those problematics. On the one hand, a methodology concerning the sizing of over-actuated systems thanks to a coupling between inverse problems and dynamic optimization is exposed. On the other hand, the design, control strategies and an experimental validation of an hybrid actuation line applied to an container handling machine is presented. First of all, we propose a new procedure based on the bond graph language allowing the designer to take into account simultaneously two types of specifications, namely a cost function to minimize and functions of time specifying desired outputs of the system. This results in a coupled problem of state-space inversion and optimization. The procedure lead to a bond graph from which it is possible to directly derive the analytical system of the problem. The fundamental theory for proving the effectiveness of this procedure is carried out using the port hamiltonian systems. The bond graph representation of an optimal control problem is then extended to systems involving non linearities on dissipative R elements. In a second part, a new actuation architecture is proposed for a container handling machine, in order to improve the fuel efficiency. On the one hand, a transformer based system to recover the potential energy released during container lowering is exposed. This energy is stored into a hydropneumatic accumulator. Then, it is returned thanks to an extra hydraulic motor coupled to the engine shaft. On the other hand, a resizing of the main hydraulic pumps as well as a more suitable control law is proposed in order to make the engine work at better efficiency points. All those evolutions previously mentionned give now the possibility to perform kinetic energy recuperation during vehicle deceleration without adding any major component. The new architecture combined with more effetive control laws lead to a fuel consumption reduction of 16% up to 18%. Finally, the potential energy recovery system is validated on a test rig. The control laws are implemented and the dynamic and energetic performances are then analysed.
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Submitted on : Thursday, March 14, 2019 - 3:34:08 PM
Last modification on : Tuesday, September 1, 2020 - 2:44:19 PM
Long-term archiving on: : Saturday, June 15, 2019 - 7:13:02 PM


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  • HAL Id : tel-02068064, version 1


Thomas Schaep. Conception et commande optimale d’une architecture hybride hydraulique de reach stacker. Automatique / Robotique. Université de Lyon, 2016. Français. ⟨NNT : 2016LYSEI121⟩. ⟨tel-02068064⟩



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