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Analyse de systèmes multi-actionneurs parallèles par une approche graphique causale - application a un processus électromécanique de positionnement rapide

Abstract : ANALYSIS OF PARALLEL MULTI-ACTUATED SYSTEMS USING CAUSAL ORDERING METHODS - APPLICATION TO MOTION CONTROL OF A DUAL-DRIVE HIGH-SPEED POSITIONING GANTRY STAGE High-dynamic positioning systems are required to increase production rates. A dual-drive gantry configuration is a mechanical solution which offers higher acceleration levels. However, the two parallel collaborative linear actuators have to be perfectly synchronized. Actual control solutions for such an electromechanical device shows complex control structures, without real consideration of the mechanical coupling, which leads to compensator tuning difficulties. The proposed approach is model based, using physical causality ordering laws. First of all, the gantry axis is used as an example to study the graphical properties of the Causal Ordering Graph (COG) formalism, developed by the L2EP laboratory. It simplifies the structural analysis of physical systems, and facilitates the identification of independent state variables to be controlled. A dynamic model of the considered gantry axis is then established, and experimental identification methods are developed. Inversion-based decoupling motion control allows simple tuning methods and leads to improved synchronizing performances. The compensation of force ripples generated by permanent magnet linear synchronous motors and the global system energetic control are also studied.
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https://pastel.archives-ouvertes.fr/pastel-00004849
Contributor : Ecole Arts Et Métiers Paristech <>
Submitted on : Monday, May 25, 2009 - 8:00:00 AM
Last modification on : Tuesday, October 20, 2020 - 11:00:46 AM
Long-term archiving on: : Friday, September 10, 2010 - 1:27:32 PM

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  • HAL Id : pastel-00004849, version 1

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Julien Gomand. Analyse de systèmes multi-actionneurs parallèles par une approche graphique causale - application a un processus électromécanique de positionnement rapide. Sciences de l'ingénieur [physics]. Arts et Métiers ParisTech, 2008. Français. ⟨NNT : 2008ENAM0043⟩. ⟨pastel-00004849⟩

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