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Lois de commande par modes glissants du moteur pas-à-pas

Abstract : This work presents sliding modes technics, in order to estimate parameters, to reconstruct
state variables (observer) and/or to control a stepper motor. The aim is at realizing a robust
tracking of position trajectory with a minimum of sensors. After describing the context of the
study, the objectives, the planning and the optimization of trajectories, the experimental set-up
realized in the LAGIS is described. An identification of the parameters by several methods is
then presented. The flatness properties of the stepper motor are used. Classical control laws
are quickly developed and illustrated with some experimental results. However, they are not
enough robust with respect to internal disturbances (uncertainties or variations of parameters)
or external (load torque). To deal with this problem, first and second sliding mode control
laws are then designed. Experiments are led to demonstrate the qualities and efficiencies of
the sliding modes. A new third order sliding mode control, based on geometric homogeneity
with an additional integral sliding mode term, is introduced to decrease the chattering. The
experimental results show a very good accuracy, a decrease of the chattering and the energy
consumption. For sensorless second and third order sliding mode control laws , second order
sliding mode observers are designed successfully.
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Contributor : Frédéric Nollet <>
Submitted on : Thursday, February 22, 2007 - 3:24:59 PM
Last modification on : Tuesday, November 24, 2020 - 2:18:22 PM
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  • HAL Id : tel-00132768, version 1

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Frédéric Nollet. Lois de commande par modes glissants du moteur pas-à-pas. Automatique / Robotique. Ecole Centrale de Lille; Université des Sciences et Technologie de Lille - Lille I, 2006. Français. ⟨tel-00132768⟩

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