. Ainsi, sur toute la période temporelle présentée dans la figure 6.13, l'utilisation du CIPIPV aboutit à un compromis entre le creusage dans l'environnement et la montée en effort que celui-ci occasionne

. La-figure-6, 15 illustre l'évolution de K d durant le test décrit précédemment et aboutissant aux figures 6

. Comme-le-montre-cette-figure, et le choix converge vers une valeur comprise entre 3.10 5 N/m et 5.10 5 N/m, tant que t sat n'est pas atteint. Le retard temporel, présent entre l'instant t env et la chute de la raideur désirée K d , est dû à une relative faiblesse du ?? et des pertes mécaniques au moment précis de l'impact face à l'erreur de posi- 6.3. RÉSULTATS DE SIMULATION samment faible pour que les autres critères entrent de nouveau en considération dans son choix. En régime permanent, les valeurs de ?? et de ? c (donc de P mech ) convergent vers 0

C. Maintenant-que-la-fonctionnalité-du, ensemble de facteurs de pondération donné dans le tableau 6.4, l'effet d'une variation de ces facteurs sur le fonctionnement du système complet peut être abordé. Comme évoqué précédemment, seules les valeurs relatives de ? P et de ? ? par rapport à ? ? importent

. Cependant and . Lyon, Cette thèse est accessible à l'adresse : http://theses.insa-lyon.fr/publication tous droits réservés FIGURE 6.28 ? Mesures caractérisant la réaction du contrôle en position incluant ou non un contrôleur d'impédance lors d'un impact avec un, 2016.

C. Tion-du, . Entre-t-env-et-t-sat, F. Sur, and L. Ondulations, après la saturation du couple C em , sont légèrement plus faibles Ces ondulations se répercutent sur les vitesses ? m et ? c , donc in fine sur tous les états du système . Cependant, cet impact du paramètre n est à mettre en perspective vis-à-vis de l'effet du bruit sur les signaux, mis en lumière dans la sous-section 6.4.1. La dégradation des performances, engendrée par ce dernier , est largement plus significative que celle qu'induit une réduction de la valeur de n, comme le montre la figure 6.29. En ce sens

R. Insa-lyon, . Le, . De, and . Figure, 29 ? Impact de n sur le couple électromagnétique C em en (a) et sur l'effort de compression sur la transmission mécanique F en (b) lors d'un, these.pdf © [M. Gendrin], [2016]

. Lyon, 24 à 6.28 montraient une certaine similitude entre le CIPIPV et le contrôleur d'impédance avec K d = 1.10 6 N/m en terme de limitation de dynamique de F, les résultats de la figure 6.30 montrent clairement le gain cette fois obtenu avec le CIPIPV. Cependant, sur les derniers 40 % du cycle, le CIPIPV n'autorise plus d'amélioration en terme de suivi en ? m . Ceci est dû au fait que, si l'actionneur reste en mode moteur principalement tout au long du cycle, les sens de la vitesse et de l'effort hydraulique, eux, Cette thèse est accessible à l'adresse : http://theses tous droits réservés 6.5. CONCLUSION FCS-MPC. Le CIPIPV résultant a été comparé aussi bien en simulation qu'en expérimental soit au contrôleur en raideur seul, soit à des contrôleurs par impédance à gains fixes. Les résultats démontrent d'une bonne capacité à réduire la dynamique de montée en effort de compression F vis-à-vis d'un contrôleur en raideur seul, et d'une capacité à réaliser des pénétrations dans des environnements raides et des cycles de creusage accrue vis-à-vis des autres contrôleurs d'impédance. En outre, la technique de résolution du problème optimal prédictif considérée a prouvé ses capacités aussi bien en simulation qu'en expérimental, Les sources de dégradation de performances issues de l'implémentation réelle sur banc ont été identifiées comme étant principalement le bruit sur les signaux de mesure et le jeu induit en grande partie par l'utilisation de rotules

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