« EMR and inversion-based control of a multi-piezo ...€¦ · Equivalent scheme for two operating...

EMR’14CoïmbraJune 2014

Summer School EMR’14“Energetic Macroscopic Representation”

«« EMR and inversionEMR and inversion--based control of a based control of a multimulti--piezopiezo--actuator system actuator system »»

Dr. Thanh Hung NGUYEN, Prof. Betty LEMAIRE-SEMAIL,L2EP, Université Lille 1, France

Prof. Gabriel ABBA,LCFC, Arts et Métiers ParisTech, France

Assoc. Prof. Christophe GIRAUD-AUDINE,L2EP, Arts et Métiers ParisTech, France

EMR’14, Coimbra, June 20142

«« EMR and inversionEMR and inversion--based control of a multibased control of a multi--piezopiezo--actuator system actuator system »»

- Outline -

1. Introduction• Context • Multi-piezoactuator system

2. EMR of a multi-piezo-actuator system • Modeling of mechanical system • Modeling of electrical system

3. Inversion-based control of a multi-piezo-actuator system • Strategy for controlling of supply voltage • Controlling structure for generation of vibrations• Experimental results



«« IntroductionIntroduction »»



- Context -

Forging is a material manufacturing process by plastic deformation due to the relative movement of the two dies having the product’s form.

Why must the forging force be reduced? To have a lower forging force in order to:- Facilitate the process;- Protect the expensive dies;

How to reduce the forging force? 2 traditional methods Advantages Disadvantages Die lubrication Friction reduction Additional operations

Material protection Geometrical faultsHeat evacuation Chemical reactions

Workpiece preheating Reduced resistance limit Additional operationsImproved ductility Reduced material

characteristic



High frequency vibration

- Reduction of forging force by vibrations -



- Reduction of forging force by vibrations -

Low frequency vibration[Ly et al] (2010) [Khan et al] (2013)



- Multi-piezo-actuator system-

Objective is to generate higher force and a progressive wave coupling with a vertical vibration on the lower die.



- Multi-piezo-actuator system-

Problem-Guiding without backlash, friction, wear -High resolution with high repetition-Inertial effect of lower die’s movement

Solution -Compliant mechanism using 3 flexible beams-A carrier with two spherical caps to have permanent contacts with lower dies



- Multi-piezo-actuator system -



«« EMR EMR of a multiof a multi--piezopiezo--actuator systemactuator system »»



- Modeling of mechanical system -

Speed and force transmission



- Modeling of mechanical system -



- Modeling of electrical system -




Equivalent mono-phase scheme of electrical supply

Equivalent scheme for two operating modes Mode of generating the vibrations Mode of charging the capacitor C0




Diode’s operating diagram Supply system’s EMR

Us : DC voltageUP : Actuators’ voltage

MeasureSimulation (US=100V)



- Modeling of complete system -

Complete system’s EMR

Vibrations along Oz



- Modeling of complete system -

Rotations around Ox and Oy



««InversionInversion--based control of a multibased control of a multi--piezopiezo--actuator systemactuator system »»



- Strategy for controlling of supply voltage -



- Controlling structure for generation of vibration -

Maximal Control Structure

Practical Control Structure

Simplifications: non-measurable variables Fs, F, Fk and rigid contacts



- Controlling structure for generation of vibration -

Transformation for voltage control

Transformation for speed control

Practical Control Structure in the frame dqh



- Experimental system -

Transfer function

Identified model

Step response of d-axis



- Closed-loop voltage control -

Step response of dq-axis voltage

Measured voltage Udqh Actuators’ voltage



- Closed-loop speed control -

Opened-loop response

Closed-loop response

Response of speeds vd, vq to step input Ud Measured speeds at the actuators’ positions

Step responses vd, vqResponses Ud, Uq



- Demo of lower die’s movement -

The movement of lower die under an application of a progressive wave (7.3Hz) coupled with a vertical vibration in square form (1Hz)



«« BBIOGRAPHIES AND IOGRAPHIES AND RREFERENCES EFERENCES »»



- Authors -

Prof. Betty LEMAIRE-SEMAILUniversity Lille 1, L2EP, MEGEVH, FrancePhD at University of Paris XI, Orsay(1990)Research topics: EMR, Control, Piezoelectric actuators

Dr. Thanh Hung NGUYENL2EP, University Lille 1PhD in Electrical Engineering at ENSAM (2014)Research topics: Design, modeling and control of mechatronic systems

Prof. Gabriel ABBALCFC, Arts et Métiers ParisTech, Metz, FrancePhD in Electronics and Robotics at University of Paris XI, Orsay (1986)Research topics: Robots, control, actuators

Assoc. Prof. Christophe GIRAUD-AUDINEL2EP, Arts et Métiers ParisTech, Metz, FrancePhD in Electrical Engineering at INP de Toulouse (1998)Research topics: modelling and control of devices based on piezoelectric and shape memory alloys



- References -

[Nguyen 12] T.H. Nguyen, C. Giraud-Audine, B. Lemaire-Semail, G. Abba et R. Bigot. « Modelling of piezoelectric actuators used in forging processes : principles and experimental validation ». XXthInternational Conference on Electrical Machines (ICEM’2012) (2012), p. 709–714.

[Khan 13] A. Khan, T.H. Nguyen, C. Giraud-Audine, G. Abba, R. Bigot et B. Lemaire-Semail. « Progressive wave : a new multisource vibration technique to assist forming processes - kinematic study, simulation results and design proposition ». Congrès Français de Mécanique (2013)

[Nguyen 14] T.H. Nguyen, C. Giraud-Audine, B. Lemaire-Semail, G. Abba et R. Bigot. « Modelling of forging processes assisted by piezoelectric actuators : principles and experimental validation ». IEEE Transactions on Industry Applications 50. 1. (2014), p. 244-252.

[Nguyen 14] T.H. Nguyen, C. Giraud-Audine, M. Amberg, B. Lemaire-Semail, G. Abba et R. Bigot. «Design and causal modelling of a piezoelectric multi-actuators system used in forging processes ». XXIth International Conference on Electrical Machines (ICEM’2014) (accepted)

[Giraud-Audine 14] C. Giraud-Audine, T.H. Nguyen, M. Amberg, B. Lemaire-Semail, G. Abba et R. Bigot. «Control of a multi-degree of freedom worktool for vibrations assisted forging ». IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014) (accepted)

« EMR and inversion-based control of a multi-piezo ...€¦ · Equivalent scheme for two operating...

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