FR3102866B1 - Procédé de commande d’un actionneur de système mécanique à frottements imbriqués - Google Patents

Procédé de commande d’un actionneur de système mécanique à frottements imbriqués Download PDF

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Publication number
FR3102866B1
FR3102866B1 FR1912230A FR1912230A FR3102866B1 FR 3102866 B1 FR3102866 B1 FR 3102866B1 FR 1912230 A FR1912230 A FR 1912230A FR 1912230 A FR1912230 A FR 1912230A FR 3102866 B1 FR3102866 B1 FR 3102866B1
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FR
France
Prior art keywords
actuator
mechanical system
controlling
contact zones
friction mechanical
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1912230A
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English (en)
Other versions
FR3102866A1 (fr
Inventor
Maxime Pouilly-Cathelain
Philippe Feyel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Safran Electronics and Defense SAS
Original Assignee
Safran Electronics and Defense SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Safran Electronics and Defense SAS filed Critical Safran Electronics and Defense SAS
Priority to FR1912230A priority Critical patent/FR3102866B1/fr
Priority to US17/773,315 priority patent/US11803171B2/en
Priority to CN202080076810.9A priority patent/CN114641738A/zh
Priority to CA3159341A priority patent/CA3159341C/fr
Priority to PCT/EP2020/079953 priority patent/WO2021083814A1/fr
Publication of FR3102866A1 publication Critical patent/FR3102866A1/fr
Application granted granted Critical
Publication of FR3102866B1 publication Critical patent/FR3102866B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41885—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by modeling, simulation of the manufacturing system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32091—Algorithm, genetic algorithm, evolution strategy
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41154—Friction, compensation for friction
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41161—Adaptive friction compensation

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Feedback Control In General (AREA)
  • Control Of Position Or Direction (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

Procédé de commande d’un actionneur électrique d’un système mécanique comprenant une pluralité de zones de contact imbriquées, le procédé comprenant les étapes de : - acquérir des données sur le système mécanique qui comprend un nombre de zones de contact imbriquées, - élaborer une modélisation du système, à partir desdites données et d’un nombre de modèles de Lugre mis en parallèle égal au nombre de zones de contact imbriquées, et déterminer des paramètres de la modélisation et une structure de compensation des frottements modélisés, - inclure la structure de compensation dans une loi de commande de l’actionneur, - commander l’actionneur au moyen de la loi de commande FIGURE DE L’ABREGE : Fig. 1
FR1912230A 2019-10-30 2019-10-30 Procédé de commande d’un actionneur de système mécanique à frottements imbriqués Active FR3102866B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
FR1912230A FR3102866B1 (fr) 2019-10-30 2019-10-30 Procédé de commande d’un actionneur de système mécanique à frottements imbriqués
US17/773,315 US11803171B2 (en) 2019-10-30 2020-10-23 Method for controlling an actuator in a nested friction mechanical system
CN202080076810.9A CN114641738A (zh) 2019-10-30 2020-10-23 用于控制嵌套的摩擦机械系统的致动器的方法
CA3159341A CA3159341C (fr) 2019-10-30 2020-10-23 Procede de commande d'un actionneur de systeme mecanique a frottements imbriques
PCT/EP2020/079953 WO2021083814A1 (fr) 2019-10-30 2020-10-23 Procede de commande d'un actionneur de systeme mecanique a frottements imbriques

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1912230A FR3102866B1 (fr) 2019-10-30 2019-10-30 Procédé de commande d’un actionneur de système mécanique à frottements imbriqués
FR1912230 2019-10-30

Publications (2)

Publication Number Publication Date
FR3102866A1 FR3102866A1 (fr) 2021-05-07
FR3102866B1 true FR3102866B1 (fr) 2021-10-01

Family

ID=69743349

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1912230A Active FR3102866B1 (fr) 2019-10-30 2019-10-30 Procédé de commande d’un actionneur de système mécanique à frottements imbriqués

Country Status (5)

Country Link
US (1) US11803171B2 (fr)
CN (1) CN114641738A (fr)
CA (1) CA3159341C (fr)
FR (1) FR3102866B1 (fr)
WO (1) WO2021083814A1 (fr)

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6505703B2 (en) * 2001-03-14 2003-01-14 Visteon Global Technologies, Inc. Vehicle steering system control
AU2008202736B2 (en) * 2002-03-21 2011-09-15 Alexandria Nominees Pty Ltd Incremental material urging system
US6901320B2 (en) * 2003-01-15 2005-05-31 Visteon Global Technologies, Inc. Friction compensation in a vehicle steering system
US7276877B2 (en) * 2003-07-10 2007-10-02 Honeywell International Inc. Sensorless control method and apparatus for a motor drive system
JP4920612B2 (ja) * 2008-02-07 2012-04-18 株式会社ハーモニック・ドライブ・システムズ アクチュエータの角度伝達誤差補償方法
JP5574228B2 (ja) * 2010-04-09 2014-08-20 株式会社ハーモニック・ドライブ・システムズ 波動歯車減速機の温度変化に伴う摩擦特性変動を考慮したアクチュエータの適応型摩擦補償法
JP5453606B2 (ja) * 2010-04-09 2014-03-26 株式会社ハーモニック・ドライブ・システムズ 波動歯車装置を備えたアクチュエータの位置決め制御方法
US8427093B2 (en) * 2010-07-02 2013-04-23 Woodward Hrt, Inc. Controller for actuation system employing Kalman estimator incorporating effect of system structural stiffness
CN103398154A (zh) * 2013-08-10 2013-11-20 韶能集团韶关宏大齿轮有限公司 液压驱动式离合器与制动器结构的行星式自动换挡变速器
US20170261529A1 (en) * 2014-06-26 2017-09-14 Hiwin Technologies Corp. Method for identifying friction parameter for linear module
US9702187B2 (en) * 2015-02-13 2017-07-11 Hunter Douglas Inc. Covering for an architectural opening having nested tubes
DE102019002644A1 (de) * 2018-04-17 2019-10-17 Fanuc Corporation Steuerung und Steuerverfahren

Also Published As

Publication number Publication date
CA3159341A1 (fr) 2021-05-06
FR3102866A1 (fr) 2021-05-07
CA3159341C (fr) 2023-01-03
US11803171B2 (en) 2023-10-31
CN114641738A (zh) 2022-06-17
WO2021083814A1 (fr) 2021-05-06
US20220382242A1 (en) 2022-12-01

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