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Caractérisation et Modélisation d'un distributeur proportionnel électropneumatique pour la Simulation et la synthèse de Commande
| Content Provider | Semantic Scholar |
|---|---|
| Author | Olaby, Osama Brun, Xavier Sesmat, Sylvie Redarce, Tanneguy |
| Copyright Year | 2005 |
| Abstract | RESUME Cet article presente un modele statique d'un distributeur electropneumatique de la compagnie FESTO. Un modele analytique est necessaire pour effectuer l'analyse et la synthese des lois de commandes lineaires et non li-neaires. La caracterisation globale des composants pneumatiques est necessaire pour modeliser leur etage en debit. Les caracterisations fournies par les constructeurs ne permettent pas d'obtenir un modele correct des com-posants pneumatiques. C'est pourquoi des mesures expe-rimentales ont ete effectuees. Un modele de simulation issue de ces mesures experimentales est propose. Une approximation des caracteristiques bidimensionnelle globale statique, du distributeur proportionnel FESTO est presente. Ces travaux font suites a la realisation d'un prototype robotise (BirthSIM), permettant de simuler un accouchement [1]. BirthSIM est equipe d'une de tete du bebe deplace en translation par un verin electropneuma-tique commande par deux distributeurs FESTO. L'objectif est aujourd'hui de realiser l'automatisation du BirthSIM, et d'effectuer la synthese de loi de commande permettant d'effectuer des taches d'asservissement, de regulation, de suivi de trajectoires en position, en effort et/ou en raideur selon un cahier des charges preetabli [2]. ABSTRACT This paper presents a static model of a one type of FES-TO electro-pneumatic proportional valves. This model will be used to design linear or nonlinear control strategy. The experimental characterization of pneumatic fluid power components, especially proportional valves and servo-valves are required when their behavior must be modeled. Since the technical specification from manufacture are, in general, insufficient, an experimental measurement is carried out. A simulation model using these experimental measurements is proposed. An approximation of the mass flow stage characteristic of this five-way proportional valve is presented. This work is required to improve the performance of a mechanical simulator (BirthSIM) that is used to simulate labor during childbirth and to train students in the obstetrical art [1]. BirthSIM is composed of a dynamic manikin simulating a pregnant human female and in witch a newborn head is located within a pelvis floor. The newborn head is connected with a pneumatic actuator driven by two ser-vodistributor FESTO. The objective of this research is to make BirthSIM work automatically, and to carry out the synthesis of the linear et nonlinear control laws in feedback control in position or in force tracking according to desired trajectories [2]. |
| File Format | PDF HTM / HTML |
| Volume Number | 2005 |
| Alternate Webpage(s) | https://www.see.asso.fr/en/printpdf/20008/landing |
| Alternate Webpage(s) | https://hal.archives-ouvertes.fr/hal-00411683/document |
| Alternate Webpage(s) | https://www.see.asso.fr/bitcache/14bd6dc389e56f91f6fa84c2dc0070a7d528f264?disposition=attachment&op=download&vid=34023 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
