High-Stroke motion modelling and voltage/frequency proportional control of a stick-slip microsystem. - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2007

High-Stroke motion modelling and voltage/frequency proportional control of a stick-slip microsystem.

Résumé

A new control type for stick-slip microsystems is proposed in this paper : the voltage/frequency (U/f) proportional control. It gives a best resolution relatively to the classical control algorithm. It is also an englobalization of three classical controllers : the sign controller, the classical proportional controller and the frequency proportional controller. A high stroke model of a stick-slip microsystem is first given. Then, we theoretically analyse the performances of the closed loop process with the U/f controller. Finally, we give some experimental results obtained with different values of the proportional gains.
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Dates et versions

hal-00163051 , version 1 (16-07-2007)

Identifiants

  • HAL Id : hal-00163051 , version 1

Citer

Micky Rakotondrabe, Yassine Haddab, Philippe Lutz. High-Stroke motion modelling and voltage/frequency proportional control of a stick-slip microsystem.. IEEE International Conference on Robotics and Automation, ICRA'2007., Apr 2007, Rome, Italy. pp.4490-4496. ⟨hal-00163051⟩
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