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Identification et commande pour l'attenuation des vibrations

Language FrenchFrench
Book Paperback
Book Identification et commande pour l'attenuation des vibrations Luiz Ricardo Douat
Libristo code: 06920750
Publishers Omniscriptum, February 2018
Le robot parallčle Par2, conçu pour des opérations industrielles de prise et dépôt ŕ haute vitesse e... Full description
? points 127 b
52.01 €
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Le robot parallčle Par2, conçu pour des opérations industrielles de prise et dépôt ŕ haute vitesse et haute précision, subit des vibrations importantes ŕ la fin d'un déplacement. Pour minimiser ces vibrations, l'utilisation d'éléments piézo-électriques autour des bras du robot est proposée. L'identification en boucle ouverte des modes flexibles du robot, ŕ 2,5kg de charge sur la nacelle et ŕ la position d'arręt, est faite utilisant une technique basée sur les sous-espaces. Deux modčles sont identifiés, un pour la synthčse des contrôleurs et un autre pour leur validation en simulation. Des contrôleurs stabilisant la boucle fermée sont obtenus et comparés pour deux stratégies de commande: H-inf ŕ sensibilité mixte et H-inf Loop Shaping. La robustesse des contrôleurs est ensuite testée pour différentes trajectoires et conditions de charge. Une stratégie anti-windup est mise en place pour corriger l'action d'un contrôleur lorsqu'il ne s'avčre pas robuste pour certaines situations limites. Des résultats en simulations et expérimentaux permettent de comparer l'efficacité des contrôleurs.

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About the book

Full name Identification et commande pour l'attenuation des vibrations
Author Luiz Ricardo Douat, Isabelle Queinnec, Germain Garcia
Language French
Binding Book - Paperback
Date of issue 2018
Number of pages 168
EAN 9783841789198
ISBN 3841789196
Libristo code 06920750
Publishers Omniscriptum
Weight 254
Dimensions 152 x 229 x 10

Categories

Biography, Literature & Literary studies > Literature: history & criticism > Literary studies: general
Technology, Engineering, Agriculture > Technology: general issues
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