Modélisation et commande de systèmes linéaires de micro-positionnement : application à la production de micro-composants électroniques

Abstract : Within the development context of a winding machine having a high precision of micropositioning, we have elaborated a phenomenological methodology for the identification of a linear axis subjected to frictions at driving and guideway level. Two linear guideways were studied, the first one with ball-screw transmission, and the second one with compliant nut-screw. The brushless motor is controlled by a position micro-controller which realize the input/output data acquisition. The study allowed the mechanical system modeling, the friction modeling and the parameter identification. The mathematical modeling is conducted for a complex equations system, having a large number of parameters to be identified. A simplification hypothesis is conducted to reduce the model system to a 4th order equation corresponding to an inertia coupled with a mass by a longitudinal stiffness and subjected to non-linear friction forces and torques. The least square method allowed to provide information data about the initialization of the parameters identification of the system. In order tostudy the model precision, the mechanical system friction should be correctly modeled and identified. There were simulated different dynamic friction models for the translation displacement and one static friction model for the motor rotation. In addition to this, a new friction model was proposed in order to introduce the hysteresis effect depending on the acceleration, taking into account the Stribeck effect and the stick-slip phenomenon. A closed loop identification method is used to identify parameters. The obtained experimental results show that the proposed model requires less computational time and provides more precision in comparison with other friction models. This work allowed to validate an approach in the development of mechanical system models, including a fine modeling of friction phenomena.
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Ioana Corina Bogdan. Modélisation et commande de systèmes linéaires de micro-positionnement : application à la production de micro-composants électroniques. Ordinateur et société [cs.CY]. Université Paul Verlaine - Metz, 2010. Français. ⟨NNT : 2010METZ018S⟩. ⟨tel-01752807⟩

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