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Contribution à la modélisation et à la commande d'un processus électrohydraulique : application à un essieu directionnel

Abstract : The objective of this thesis is the modeling and the control of an electrohydraulic system constituted by a steening axletrees, a fluid power system and an hydromechanical servomechanisms. After recalling some basic principles of the termodynamic as well as the properties of hydraulic oil, we described and modelled each component implanted on the process. Then we presented the reference tracking of the experimental system as well as the implemented industrial data processing sensors, acquisition of the data and data processing. At this level, we have been able to present and analyse the global non-linear model. Two approaches based on the methodology of singularly perturbed systems, and the search of first intregals allowed as to simplify the global states model. The reduced order model has been validated by simulations and experimental results. We also calculated a linearized tangent model around an equilibrium point and then studied its properties. In the last part of this dissertation we developed, analyzed and implemented three control law : a proportional law, an estimated state feedback law with pole placement (based on the drawer speed) and an H control law through coprime factorization. Simulations and experimental results are given to illustrate the proposed approaches.
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Submitted on : Thursday, March 29, 2018 - 11:43:40 AM
Last modification on : Saturday, October 16, 2021 - 11:14:14 AM
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  • HAL Id : tel-01748634, version 1



Roland Musset. Contribution à la modélisation et à la commande d'un processus électrohydraulique : application à un essieu directionnel. Autre. Université Henri Poincaré - Nancy 1, 2001. Français. ⟨NNT : 2001NAN10176⟩. ⟨tel-01748634⟩



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