polytech’ paris sud june 2014 - emrwebsite - home · 21 u 21 p: number of downstream power flows...
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Polytech’ Paris SudJune 2014
«« EENERGY NERGY DDISTRIBUTION AND ISTRIBUTION AND
SSTRATEGY TRATEGY »»
Prof. A. Bouscayrol(University Lille1, L2EP, MEGEVH, France)
based on the course of Master“Electrical Engineering & sustainable Development”
University Lille1
2
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Objective: example of HEV control -
BAT
ICE
VSI EM
FuelParallel HEV Trans.
fast subsystemcontrols
EMcontrol
ICEcontrol
Transcontrol
Energy management(supervision/strategy)
driver request
slow systemsupervision
3
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Different control levels (2) -
BAT
ICE
VSI1 EM1
FuelParallel HEV Trans.
fast subsystemcontrols
EM1control
ICEcontrol
Transcontrol
Energy management(supervision/strategy)
driver request
slow systemsupervision
EMR
Inversion-based control
How to manage energy?
Interactionbetween
both levels?
4
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Outline -
1. Control decomposition• Local control structure• Strategy level for energy management
2. Various inversions of distribution elements• Different kinds of energy management• Inversion of the different cases
3. Analysis and strategy• Analysis of the system possibilities• Strategy level
4. Application to the automatic subway VAL 206
Polytech’ Paris SudJune 2014
1.1. «« Local controlLocal controland energy management and energy management »»
6
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
Systemcause effect
- Principle of Inversion-based methodology -
desired effectControl
right cause
measurements?
control = inversion of the causal path
1. Which algorithm? (how many controllers)2. Which variables to measure?3. How to tune controllers?4. How to implement the control?
Inversion-based methodology
automatic controlindustrial electronics
input output
[Hautier 96]
7
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- EMR and Inversion-based methodology -
desired effectright cause
measure?
SS1
causeeffect
inputoutputSS2 SSn
C1 C2 Cn
measure?measure?
EMR = system decomposition in basic energetic subsystems (SSs)
Remember,divide and conquer!
Inversion-based control: systematic inversion of each subsystems usingopen-loop or closed-loop control
8
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Mirror effect -
desired effectright cause
SS1
causeeffect
SS2 SSn
C1 C2 Cn
The control scheme is developed as a mirror of the model
[Hautier 96] [Bouscayrol 03]
9
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Inversion of EMR elements -
coupling element distribution criteria
conversion element direct inversion +disturbance rejection
accumulation elementcontroller +
disturbance rejection
Legend
Control = light blue Parallelogramswith dark bluecontour
directinversion
indirectinversion
sensor
mandatory link
facultative link
10
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
2. Tuning path
y3 y4 y5 y6y1S1
y2 y7z23 z67
S2x1 x2 x3 x4 x5 x6 x7
1. EMR of the system
- Maximum control scheme -
x7-refx6-refx5-refx4-refx3-ref
3. Inversion step-by-step Strong assumption: all variables can be measured!
4. Simplification of control
5. Estimation of non-measured variables
6. Tuning of controllers 7. Strategystrategy
11
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
v
DCM1
DCM2
EP1
EP2
Bat. Fres
ME1
ME2
EnvBat
Strategy
- Management of the energy distribution -
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«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Different control levels -
Energy management of HEVs:Energy management of local subsystemsEnergy management of the whole system (co-ordination of subsystems)
Two control levels can be organized:- local control- system supervision
Dynamic and causal modelsQuasi-static
models
compatibilityin term of
inputs/outputs
compatibilityof the
control levels[Delarue & al 2005]
13
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Articulation of control levels -
Local control:Fast energy management in each subsystemObjective: ensure the best efficiency of each component in function
of the requestInversion of each element, step-step-step, using dynamic causal models
Energy management:Coordination of energy between all subsystemsObjective: ensure the best energy distribution in function of the global
demandGlobal view for decision using quasi-static or static modelsCould be considered as an inversion of a global model of the system
14
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Articulation of control & models -
BAT
ICE
VSI EM
Fuel Trans.
EMcontrol
ICEcontrol
Transcontrol
Energy management(supervision/strategy)
driver request
Strategy delivers referencesfor local controls
Inversion of causaldynamical models
Inversion of a globalstatic model
15
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
r-est
is-dq-est
es-dq-est
iim
isd
gear
Tim
is-dq
es-dqis-dq
vs-dquinv
rd
d/s
Park’s transformation
stator windings
EMconversion
d/s_est
uinv-refTim-refvs-dq-ref is-dq-ref
isd-refr-ref
- From dynamical model of IM drive… -
VDC
ivsi
inverter
Global behaviorof the drive
(machine + inverter + control)
16
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
gear
Tim
- … to static and dynamical models -
VDC
ivsi
drive
Tim-ref
0 2000 4000 6000 8000-150
-100
-50
0
50
100
150
49
49 49
49
49
64
6464 6477 7777 77
86
86
86
86
9292
9292
96
96
9696
9696
96
9898
9898
98
Tim (Nm)
gear (rad/s)
Efficiency map
x+-x gear
TimVDC
ivsi
Tim-ref
staticmodel
17
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
gear
Tim
- Coherence of dynamical and staticmodel -
VDC
ivsi
Tim-ref
gear
Tim
gear-ref
VDC
ivsi
gear
Tim
VDC
ivsi
backward
Static model: no dynamical effect, I/O could be changed
What happens if EM = inversion of a static modeland IBC = inversion of dynamical modelswith differents I/O?
Bad articulation between control levels
gear
TimVDC
ivsi
Tim-ref
static Dynamic
18
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Energy management of HEVs -
[Salmasi 2007]
Energy management(supervision/strategy)
driver request
Rule-based
deterministic rule-based
fuzzyrule-based
state machine / power follower/ thermostat control…
predictive / adpative /conventional…
Optimization based
global optimization
real-time optimization
Dynamic programming / stochastic DP /Game theory / Optimal control….
Robust control / Model predictive / decoupling control / l control…
Polytech’ Paris SudJune 2014
2. 2. «« Inversion of variousInversion of variouscoupling elements coupling elements »»
20
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Upstream coupling elements -
upstream common part
u1
y1
m: number of upstreampower flows
y21u21
p: number of downstreampower flows
m < pobjective = distribution of energy
into p different power flows
y2pu1p
Example: differential
diffldif rdif
rwh lwhwh
TT T2
2
diff
Tgear
lwh
rwh
Tldiff
Trdiff
m=1, p=2 (m<p)objective = distribution of torque
Tldiff
rwh
Trdiff
lwhTgear
wh
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«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Downstream coupling elements -
downstream common part
y2
u2
m: number of upstreampower flows
y21u21
p: number of downstreampower flows
m > pobjective = collect energy
into m different power flows
y2pu1m
Example: chassis of a train
m=4, p=1 (m>p)objective = collecting bogie forces
4 traction bogies
Fbog1
vtrain
Ftot
Fbog4
Fbog2
Fbog3
vtrain
vtrain
vtrain
vtrain
22
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Neutral coupling elements -
u21y21
m: number of upstreampower flows
p: number of downstreampower flows
m = pobjective = reorganize
power flows
u21y21
Example: Park’s transformation
m=2, p=2 (m=p)objective = convert AC voltages and currents
into DC voltages and currents
u13is1
u23is2
d/s
vsdisd
vsqisq
y11
u11
y1m
u1m
23
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Inversion of neutral coupling elements -
u21y21
u2py2p
y11
u11
y1m
u1m
u1m y2p-ref
no measurementno controller / direct inversion
y21-refu11
Example: Park’s transformation
u13is1
u23is2
d/s
vsdisd
vsqisq
vsq-ref
vsd-refu13-ref
d/s
u23-ref
use of the inverse matrix
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«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Inversion of upstream coupling elements -
u1
y1
y21u21
no measurement no controller
(p - m) weighting variables
y2pu2p
u1
y2p-ref
y21-ref
kW1…kW(p-m)
refp'Wiref
'W y)k(...yku 22111 1
Implement a compromise or
prioritize outputs.
Tgear
Tldiff
rwh
Trdiff
lwhTgear
wh
21 )1(2 refdiffWrefdiffWgear TkTkT
Tdiff-ref1
kw
Tdiff-ref2
Example: differential
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«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
u1m
u11
- Inversion of downstream coupling elements (1) -
Case 1: all inputs are used
y2
u2
y2-ref
kD1…kD(m-p)
no measurement no controller
(m - p) distributionvariables
ref'
pDmm
ref'D
yku...
yku
21
2111
y11
u11
y1m
u1m
Example: chassis of a train
Fbog1
vtrain
Ftot
Fbog4
Fbog2
Fbog3
vtrain
vtrain
vtrain
vtrain
Ftot-ref
Fbog1
Fbog4
Fbog2
Fbog3
kD1 kD3kD2
Polytech’ Paris SudJune 2014
3. 3. «« Analysis of the system possibilities Analysis of the system possibilities and strategy level and strategy level »»
27
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Critical factors -
nO = number of objectives
nC = number of constraints(in order to achievethe objectives)
nT = number of tuning variables(in order to act onthe system)
s13s12s11
s23s22s21
Example: 3-leg Voltage-Source-Inverter
VDC
ivsi
u13
u23
i1
i2
nO = 2 (u13 and u23)
nC = 3 (3 commutation cells)
1,2,3ifor 21 ii SS
nT = 6 (6 switching orders Sij)
28
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Ideal case -
Example: 3-phase induction machine
They are enough tuning inputsto achieve the objective and
realize the constraints
COT nnn
isdgear
Tim
is-dq
es-dqis-dq
vs-dq
iim
uinv
rd
d/s
Park’s transformation
stator windings
EMconversion
nO = 1 (Tim)nC = 1 (flux r)
nT = 2 (u13 and u23)
COT nnn
Field-oriented control is a way to impose flux and torque by voltages (using a decoupling (d,q) frame)
29
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Optimisation case -
s13s12s11
s23s22s21
Example: 3-leg Voltage-Source-Inverter
VDC
ivsi
u13
u23
i1
i2
nO = 2 (u13 and u23)nC = 3 (3 commutation cells)nT = 6 (6 switching orders Sij)
COT nnn
They are more tuning inputsthan the objective and
the constraints
• all tuning inputs must be used• the degrees of freedom can beused for Optimisation
• a strategy level is required todefine the degrees of freedom
Various optimization strategies for VSI suchas 3rd harmonic injection, flat-top modulation…
30
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Compromise case -
Example: differential
nO = 2 (Tdiff1 and Tdiff1)nC = 0 nT = 1 (Tgear)
COT nnn
They are not enough tuning inputsthan the objective and
the constraints
• a compromise must be defined(priorities)
• a strategy level is required todefine the priority
Tgear Tdiff-ref1
kW
Tdiff-ref2
Ex: kW=1 priority to Tdiff1
Tldiff
rwh
Trdiff
lwhTgear
wh
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«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Coupling elements and strategy -
Example: differential
All downstream and upstreamCoupling elements
Requires criteria(distribution or weighting)
• these criteria variablesmust be defined by the strategylevel
Tgear Tdiff-ref1
kW
Tdiff-ref2
Strategy
Ex: during straight lines, Tgear = average value of both resquets
Tldiff
rwh
Trdiff
lwhTgear
wh
32
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Strategy level -
Strategy level:global management of the whole systemHas to define:• local control references• distribution coefficients• weighting coefficients• optimization inputs• compromises
For energetic system:definition of priority between performances and efficiency
Inversion of a global static model(different possibilities)
Example: Flux weakening in EVs
rated
Umax
U
U depends on the battery voltage Vbat depends on velocity vEV
ref
vEV-measVbat-meas
static plots
global view
Polytech’ Paris SudJune 2014
4. 4. «« Application to the controlApplication to the controlof an automatic subway of an automatic subway »»
part II: real systempart II: real system
Prof. A. Bouscayrol(University Lille1, L2EP, MEGEVH, France)
based on PhD of J. N. Verhillein collaboration with Siemens Transportation Systems
34
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
ifield1
iarm
etot
iarm
iarm
earm1bog1
Tmach1
MCC in series bogies
Seq1
Seq2
uchop2
mchop2
ufilter
parallel
ufilter
ufilter
choppers
itotufilter
ufilterifilter
filter
ifilter
rail
VDC
ES
- EMR of electrical part -
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«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
iarm
etot
iarm
iarm
earm1bog1
Tmach1
MCC in series bogies
Seq1
Seq2
uchop2
mchop2
ufilter
parallel
ufilter
ufilter
choppers
itot
ifield1
ufilter
ufilterifilter
filter
ifilter
rail
VDC
ES
ifield1-refTmach1-ref
ifield2-ref
Tmach2-refiarm-ref2iarm-ref1iarm-ref
uchop1-ref
uchop2-ref
uchop3-ref
ufilter-mes
iarm-ref=kW iarm-ref1+(1-kW) iarm-ref2
- Control of electrical part -
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«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
iarm
etot
iarm
iarm
earm1bog1
Tmach1
MCC in series bogies
Seq1
Seq2
uchop2
mchop2
ufilter
parallel
ufilter
ufilter
choppers
itot
ifield1
ufilter
ufilterifilter
filter
ifilter
rail
VDC
ES
ifield1-refTmach1-ref
ifield2-ref
Tmach2-refiarm-ref2iarm-ref1iarm-ref
uchop1-ref
uchop2-ref
uchop3-ref
ufilter-mes
- Control of electrical part -
Strategyhas to definethe 3 criteria
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«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
bog1
Tmach1
MCC in series bogies
Seq1
Seq2
parallel choppersfilterrail
VDC
ES
ifield1-refTmach1-ref
ifield2-ref
Tmach2-refiarm-ref2iarm-ref1iarm-ref
uchop1-ref
uchop2-ref
uchop3-ref
ufilter-mes
- Control of electrical part -
Tmach2-ref
uchop2-ref
iarm-ref2
Actual control: no possibility of independent torque
38
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
non-linear
devicesmotor
MOTEUR
TRANSMISSION
1/2 ESSIEU
1/2 ESSIEU
REDUCTEUR
PNEU
REDUCTEURPNEU
PONT + DIFFERENTIEL
backslash
Tred
slip
F
- EMR of mechanical part -
vVAL
bk1
motor
gear1
m
Tmach1
DCM
m Tdif
Tgear dif
bk1 Tgear1Tdif1 gear1
SM
vVAL
Fres
Twh1 Fcont1
vwh1 Fcont1
vVAL Fbog1
differential brake gearbox wheels contact chassis environ.
gear2
bk2
bk2
gear2
Tgear2 Troue2 Fcont2
vwh2Fcont2
vVAL
Tdif2
Tgear1
Tgear2
39
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Control of mechanical part -
DCM1
DCM2
40
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
Tmach1ref
vVAL-ref
Tmach2ref
- Control of mechanical part -
DCM1
DCM2
41
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
Tmach1ref
vrame-ref
Tmcc2-ref Master-slave control
- Control of mechanical part -
DCM1
DCM2
42
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
Tmach1ref
vrame-ref
Merging of control blocs
vrame-estarb-mes
- Actual control of mechanical part -
Tmach1ref Actual control:no local management of anti-slip
DCM1
DCM2
43
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Simulation model -
Actual control
Matlab/SimulinkTM electrical part mechanical part
44
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
armature current (A)field current
(A)
experimentalsimulation
experimentalsimulation
- Validation model (1) -
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«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
experimentalsimulation
velocity (m/s)
Test at normal operating
- Validation model (2) -
0 4 8 120
4
8
12
16
velocity (m/s)
Test at maximal torque
experimentalsimulation
Polytech’ Paris SudJune 2014
4. 4. «« Application to the controlApplication to the controlof an automatic subway of an automatic subway »»
part III: antipart III: anti--slip strategyslip strategy
Prof. A. Bouscayrol(University Lille1, L2EP, MEGEVH, France)
based on PhD of J. N. Verhillein collaboration with Siemens Transportation Systems
47
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
VAL Automatic Subway:Lille, Paris airport, Chicago, Taïpeh...
Actual controlVAL 206
• identical torque for 4 motors• global anti-slip (cancellation of torque)
vrefTref
4-mes
Independent controls with same power structure?Performances with local anti-slip?
vref
T1-ref 1-mes T2-ref 2-mes T3-ref 3-mes T4-ref 4-mes
?
STSSTS
- VAL 206 and control -
48
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
vsub_refFtot1_ref
Fbog_ref
strategywh22_meswh21_meswh12_mes
wh11_mes
Tdcm_ref
vsub_mesTdcm_ref Actual control:slip detection
Torque set to zero
vsub_refFtot1_ref
Fbog2_ref
kD
wh2_ref
shaft2_refTdcm2_ref
kD2kW2
wh1_ref
kD1kW1
Fbog1_ref
newstrategy
wh22_meswh21_meswh12_meswh11_mes
shaft1_mes
Tdcm1_ref
shaft2_mes
vsub_mes
shaft1_ref
New strategy:slip detection
Reduction of torqueof the slipping wheel
Increase of othertorques
- Anti-slip control -
49
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Philosophy of the strategy -
kD
kD2kW2
kD1kW1
newstrategy
wh22_meswh21_meswh12_meswh11_mes
Normal operation:equal distribution of traction forces
21
2121 WWDDD kkkkk
iBogtot
totBogBogBogBog
FF
FFFFF41
4321
Slipping on bogie 1:cancelation of Fbog1 and newdistribution of other forces
01
21
11
22
WD
WD
D
kkkk
k
iBogtot
totBogBogBog
Bog
FF
FFFF
F
31
0
432
1
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«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Simulation results -
vsub_refvsub
vsub_refvsub
actual control New anti-slip strategy
Loss of adhesion of wheel no. 1
Ftot (Nm)traction force (Nm)traction force (Nm)
velocity (m/s) velocity (m/s)
51
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
mechanical power traintraction drive
drive control
controlpower
power traincontrol
vev-refTim-ref
Tim
Tim
model
mechanical power train
AC load drive
drive control
ref= mod
- HIL simulation of the VAL traction system -
52
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
velocities (m/s)
vsub
vsub_ref
current (A)
iarm
- Experimental results -
current (A)ifield2
ifield1
Loss of adhesion on wheel 1Fbog1 is decreased by acting on ifield1Fbog2 is increased by acting on iarm
53
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- Conclusion -
• Energetic Macroscopic Representation of VAL traction• Inversion-based control from EMR• Best repartition of traction effort• Best performances during slipping phenomena
• real-time validation of the control• dual drive system• to be implemented on the actual system
HIL simulation
New anti-slip control
Polytech’ Paris SudJune 2014 «« Conclusion Conclusion »»
Inversion based control = inversion of EMRinversion of dynamic causal modelsa unique Maximum Control Schemes
Strategy Level = inversion of a global static modelglobal model and local dynamic models must have same I/Odifferent strategies are possible
Distribution elementsHighlight degree of freedom, to be defined in the strategy level
Efficient energy management of EVs and HEVsWell-defined local controls of subsystems
coherent articulation between control levelsefficient strategy level
55
«« Energy Distribution and Strategy Energy Distribution and Strategy »»
EMR, Paris, June 2014
- References -
A. Bouscayrol, B. Davat, B. de Fornel, B. François, J. P. Hautier, F. Meibody-Tabar, M. Pietrzak-David, “Multimachine multiconverter system: application for electromechanical drives”, European Physics Journal - Applied Physics, vol. 10, no. 2, May 2000, p. 131-147 (common paper GREEN Nancy, L2EP Lille and LEEI Toulouse, according to the SMM project of the GDR-SDSE).
P. Delarue, A. Bouscayrol, A. Tounzi, X. Guillaud, G. Lancigu, “Modelling, control and simulation of an overall wind energy conversion system”, Renewable Energy, July 2003, vol. 28, no. 8, p. 1159-1324 (common paper L2EP Lille and Jeumont SA).
A. Bouscayrol, M. Pietrzak-David, P. Delarue, R. Peña-Eguiluz, P. E. Vidal, X. Kestelyn, “Weighted control of traction drives with parallel-connected AC machines”, IEEE Transactions on Industrial Electronics, December 2006, vol. 53, no. 6, p. 1799-1806 (common paper of L2EP Lille and LEEI Toulouse).
J. N. Verhille, A. Bouscayrol, P. J. Barre, J. C. Mercieca, J. P. Hautier, E. Semail, "Torque tracking strategy for anti-slip control in railway traction systems with common supplies", IEEE-IAS’04, proceeding vol. 4. pp. 2738-2745, Seattle (USA), October 2004 (common paper L2EP Lille and Siemens Transportation Systems)..
J. N. Verhille, A. Bouscayrol, P. J. Barre, J. P. Hautier, “Validation of anti-slip control for a subway traction system using Hardware-In-the-Loop simulation”, IEEE-VPPC’07, Arlington (USA), September 2007 (common paper L2EP Lille and Siemens Transportation System)
L. Horrein, V. Derache, A. Bouscayrol, J. N.Verhille, P. Delarue, “Different models of the traction system of an automatic subway”, ElectrIMAC’11, Cergy Pointoise (France), June 2011 (common paper of L2EP and Siemens Transportation Systems).