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Commandes linéaires et non linéaires en électropneumatique. Méthodologies et applications

Abstract : This work presents, synthesizes and compares some linear and nonlinear control laws applied to an electropneumatic system. The system under consideration is a linear double acting electropneumatic servodrive using a simple rod controlled with two servo-distributors. An industrial benchmark is developed to present the experimental results in terms of static error, standard deviation, tracking error, response time, and also economics criteria as sensor number, complexity to implement or difficulty in term of servicing. The goal is to see the repeatability of the results (against modelling errors like leakage and dry frictions) of different control laws. These results will help the users to choose the appropriate strategy for a given objective. The chosen procedure consists, before the experimental implementation, in doing a first adjustment of gain controls by means of simulation. The simulated model results from the thermodynamics and mechanics laws. Concerning point to point desired trajectory, the parameter synthesis is obtained from the linearised tangent model with a classical pole placement method. For tracking trajectory (position, velocity or acceleration), the linearising nonlinear control law is compared to a linear one. In that aim, different linear and nonlinear models are developed and analysed. The presence of dry friction in the electropneumatic system leads to the occurrence of piston unsticking after a quasi-static stage. This phenomenon is theoretically and experimentally studied. Finally, a prospective work concern the simulated results of a nonlinear control law based on the theory of differentially flat systems. This strategy using two controls and two flat outputs is, to our knowledge, a new strategy in electropneumatic. The advantage of this method is the possibility to achieve simultaneously two goals: tracking trajectory and energetic minimisation.
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Contributor : Xavier Brun <>
Submitted on : Friday, March 15, 2019 - 4:50:12 PM
Last modification on : Tuesday, November 19, 2019 - 10:45:14 AM


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  • HAL Id : tel-02069475, version 1


Xavier Brun. Commandes linéaires et non linéaires en électropneumatique. Méthodologies et applications. Automatique / Robotique. Insa Lyon, 1999. Français. ⟨tel-02069475⟩



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