Contribution to the modelling, thé identification and the régulation of a one degree of freedom haptic interface actuated by a permanent magnet synchronous machine
Identifieur interne : 000135 ( Hal/Curation ); précédent : 000134; suivant : 000136Contribution to the modelling, thé identification and the régulation of a one degree of freedom haptic interface actuated by a permanent magnet synchronous machine
Auteurs : Flavia Khatounian [France]Source :
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Abstract
This work focuses on the use of permanent magnet synchronous machines to actuate haptic interfaces. The model of the benchmark is first presented and the spécifications of thé system defined. The parametric identification of the electrical and mechanical models is then realised with two methods: inverse model and least squares technique, and, method of the model and Marquardt algorithm. The regulation of the interface is based on two cascaded current and speed loops, to which is added a `haptic' loop simulating a stiff virtual spring. A precise simulation of the system, based on dynamic hybrid model, validates the proposed control strategy. An original passive régulation is then developed based on wave variables. Finally, a discrete speed estimation method is proposed in order to increase the performances of the control in the case of low resolution encoders. Experimental results are presented and validate the proposed identification methods and control strategies.
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The model of the benchmark is first presented and the spécifications of thé system defined. The parametric identification of the electrical and mechanical models is then realised with two methods: inverse model and least squares technique, and, method of the model and Marquardt algorithm. The regulation of the interface is based on two cascaded current and speed loops, to which is added a `haptic' loop simulating a stiff virtual spring. A precise simulation of the system, based on dynamic hybrid model, validates the proposed control strategy. An original passive régulation is then developed based on wave variables. Finally, a discrete speed estimation method is proposed in order to increase the performances of the control in the case of low resolution encoders. Experimental results are presented and validate the proposed identification methods and control strategies.</div></front></TEI><hal api="V3"><titleStmt><title xml:lang="en">Contribution to the modelling, thé identification and the régulation of a one degree of freedom haptic interface actuated by a permanent magnet synchronous machine</title><title xml:lang="fr">Contribution à la modélisation, l'identification et à la commande d'une interface haptique à un degré de liberté entrainée par une machine synchrone à aimants permanents</title><author role="aut"><persName><forename type="first">Flavia</forename><surname>Khatounian</surname></persName><email>flavia_kh@yahoo.com</email><idno type="halauthor">169379</idno><affiliation ref="#struct-1194"></affiliation></author><editor role="depositor"><persName><forename>Ens Cachan</forename><surname>Bibliothèque</surname></persName><email>biblio@bib.ens-cachan.fr</email></editor></titleStmt><editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2007-03-12 11:21:40</date><date type="whenModified">2016-03-22 01:07:16</date><date type="whenReleased">2007-03-12 13:31:32</date><date type="whenProduced">2006-12-04</date><date type="whenEndEmbargoed">2007-03-12</date><ref type="file" target="https://tel.archives-ouvertes.fr/tel-00136089/document"><date notBefore="2007-03-12"></date></ref><ref type="file" n="1" target="https://tel.archives-ouvertes.fr/tel-00136089/file/Khatounian2006.pdf"><date notBefore="2007-03-12"></date></ref></edition><respStmt><resp>contributor</resp><name key="105580"><persName><forename>Ens Cachan</forename><surname>Bibliothèque</surname></persName><email>biblio@bib.ens-cachan.fr</email></name></respStmt></editionStmt><publicationStmt><distributor>CCSD</distributor><idno type="halId">tel-00136089</idno><idno type="halUri">https://tel.archives-ouvertes.fr/tel-00136089</idno><idno type="halBibtex">khatounian:tel-00136089</idno><idno type="halRefHtml">Automatique / Robotique. École normale supérieure de Cachan - ENS Cachan, 2006. Français</idno><idno type="halRef">Automatique / Robotique. École normale supérieure de Cachan - ENS Cachan, 2006. Français</idno></publicationStmt><seriesStmt><idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno><idno type="stamp" n="THESES-ENS-CACHAN">Thèses de l'Ecole Normale Supérieure de Cachan</idno><idno type="stamp" n="SATIE">Systèmes et Applications des Technologies de l'Information et de l'Energie</idno><idno type="stamp" n="TDS-MACS">Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes</idno></seriesStmt><notesStmt></notesStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Contribution to the modelling, thé identification and the régulation of a one degree of freedom haptic interface actuated by a permanent magnet synchronous machine</title><title xml:lang="fr">Contribution à la modélisation, l'identification et à la commande d'une interface haptique à un degré de liberté entrainée par une machine synchrone à aimants permanents</title><author role="aut"><persName><forename type="first">Flavia</forename><surname>Khatounian</surname></persName><email>flavia_kh@yahoo.com</email><idno type="halAuthorId">169379</idno><affiliation ref="#struct-1194"></affiliation></author></analytic><monogr><imprint><date type="dateDefended">2006-12-04</date></imprint><authority type="institution">École normale supérieure de Cachan - ENS Cachan</authority><authority type="supervisor">Eric Monmasson</authority><authority type="jury">Maurice FADEL (Rapporteur)</authority><authority type="jury">Betty SEMAIL (Rapporteur)</authority><authority type="jury">Eric MONMASSON (Directeur de thèse)</authority><authority type="jury">Sandrine MOREAU (Co-directrice de thèse)</authority><authority type="jury">Jean-Paul LOUIS (Examinateur)</authority><authority type="jury">Ragi GHOSN (Examinateur)</authority><authority type="jury">Francois LOUVEAU (Membre invité)</authority><authority type="jury">Jean-Marc ALEXANDRE (Membre invité)</authority></monogr></biblStruct></sourceDesc><profileDesc><langUsage><language ident="fr">French</language></langUsage><textClass><keywords scheme="author"><term xml:lang="en">haptic interfaces</term><term xml:lang="en">permanent magnet synchronous machine</term><term xml:lang="en">inverse model and least-squares technique</term><term xml:lang="en">method of the model and Marquardt algorithm</term><term xml:lang="en">passive regulation by wave variables</term><term xml:lang="fr">interface haptique</term><term xml:lang="fr">machine synchrone à aimants permanents</term><term xml:lang="fr">système dynamique hybride</term><term xml:lang="fr">modélisation</term><term xml:lang="fr">commande vectorielle</term><term xml:lang="fr">moindres carrés et modèle inverse</term><term xml:lang="fr">méthode du modèle et algorithme de Marquardt</term><term xml:lang="fr">commande passive par variables d'ondes</term></keywords><classCode scheme="halDomain" n="spi.auto">Engineering Sciences [physics]/Automatic</classCode><classCode scheme="halTypology" n="THESE">Theses</classCode></textClass><abstract xml:lang="en">This work focuses on the use of permanent magnet synchronous machines to actuate haptic interfaces. The model of the benchmark is first presented and the spécifications of thé system defined. The parametric identification of the electrical and mechanical models is then realised with two methods: inverse model and least squares technique, and, method of the model and Marquardt algorithm. The regulation of the interface is based on two cascaded current and speed loops, to which is added a `haptic' loop simulating a stiff virtual spring. A precise simulation of the system, based on dynamic hybrid model, validates the proposed control strategy. An original passive régulation is then developed based on wave variables. Finally, a discrete speed estimation method is proposed in order to increase the performances of the control in the case of low resolution encoders. Experimental results are presented and validate the proposed identification methods and control strategies.</abstract><abstract xml:lang="fr">Ce travail s'est intéressé à l'étude des machines synchrones à aimants permanents pour l'entramement d'une interface haptique. Le système entier est d'abord modélisé et le cahier des charges défini. L'identification des paramètres électriques et mécaniques du système est ensuite réalisée à partir de deux méthodes : moindres carrés et modèle inverse, méthode du modèle et algorithme de Marquardt. La commande de l'interface est basée sur deux boucles imbriquées de courant et de vitesse, auxquelles s'ajoute une boucle `haptique' de type ressort rigide virtuel. Une simulation fine du système se basant sur un modèle dynamique hybride valide la commande proposée. Une commande passive basée sur les variables d'ondes est ensuite développée. Finalement, une méthode de calcul de vitesse discrète est proposée permettant d'améliorer les performances des lois de commande dans le cas de codeurs à faible résolution. Des résultats expérimentaux sont présentés et valident les méthodes proposées.</abstract></profileDesc></hal></record>Pour manipuler ce document sous Unix (Dilib)
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