Commande adaptative d'un positionneur en présence d'un frottement sec

Abstract : Position control of a mechanical system is always executing faced with a static friction force more and less important. This friction force introduces a nonlinear and nonlinearisable part in the process. This force is very dependent on many parameters like velocity, temperature and surface's states of mechanical parts. Thereby, this force is often viewed as a perturbation and different linear control methods such as G.P.C. and L.Q.G./L.T.R. are brought into operation. To improve the performances of these controls, identification in real-time of static friction's characteristics and compensation of this disturbing force, with the control, are proposed. Identification of friction allows also to follow the wear of the system and to assure its maintenance. Experiments have been done with testing bench that comprises an electromagnetic positioning system driving a wagon with a variable static friction force. For E.D.F., sleeping partner of this study, the component of this control is used for the purpose of position control of a distributor slide. This distributor supplies a hydraulic jack operating a sluice gate. Experimental friction characteristics are excellent and they allow to know exactly the friction force. A compensation control, based on the knowledge of system and friction, makes it possible to improve the performances of control.
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Jean-Luc Demange. Commande adaptative d'un positionneur en présence d'un frottement sec. Autre. Université Henri Poincaré - Nancy 1, 1991. Français. ⟨NNT : 1991NAN10003⟩. ⟨tel-01754390⟩

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