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Haute Ecole dIngnieurs et de Gestion du canton de Vaud (HEIG-Vd) Dpartement dlectricit et dinformatique institut dAutomatisation industrielle (iAi)
in s t i t u t d ' Automatisation in d u s t r i e l l e
Reprsentation symbolique/graphique
u (t)
y (t)
U (s) u (t)
G (s)
Y (s) y (t)
f _ 0 3 _ 0 4 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
Systme complexe
c o m p a ra te u r
b lo c fo n c tio n n e l
U (s)
S G
(s) G
G
5
(s) G
3
G
2
(s)
(s)
Y (s) b ra n c h e m e n t
(s)
s ig n a l
f _ 0 3 _ 0 5 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
Systme complexe
U (s)
S G
(s) G
G
5
(s) G
3
G
2
(s)
(s)
Y (s)
(s)
f _ 0 3 _ 1 6 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
u e(t)
1 /L -
i(t)
1 /C
d u s/d t
u s( t)
R /L 1 /L
f _ 0 3 _ 2 0 _ 1 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
u e(t)
1 /L -
i(t)
1 /C
d u s/d t
u s( t)
R /L 1 /L
f _ 0 3 _ 2 0 _ 1 .e p s
u e(t)
1 /L -
d i/d t -
1 /s R /L
i(t)
1 /C
d u s/d t
1 /s
u s( t)
1 /L
f _ 0 3 _ 2 0 _ 2 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
u e(t)
1 /L -
i(t)
1 /C
d u s/d t
u s( t)
R /L 1 /L
f _ 0 3 _ 2 0 _ 1 .e p s
u e(t)
1 /L -
d i/d t -
1 /s R /L
i(t)
1 /C
d u s/d t
1 /s
u s( t)
1 /L
f _ 0 3 _ 2 0 _ 2 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
Exemple : moteur DC
u (t)= u a(t)
S
1 /L R
a a
d ia/d t x
T ia K
T
re s
e m
1 /J R
f
d w /d t x
w x
y (t) = q (t)
e
m
K
E
f _ 0 3 _ 1 1 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
G
w (t)
ff
(s) s)
C o m m a n d e a n tic ip e u ff( t )
v (t)
fc
(s)
w f( t )
filtre d e c o n s ig n e
S
y (t)
e (t)
1 c ( s
u c(t)
G a(s )
y (t)
f _ 0 7 _ 2 2 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
C o n s ig n e d e v ite s s e w = w c
K
E
u ff= e
m
C o m m a n d e a n tic ip a tric e d e F E M
iac
S
K
p
G c(s )
( 1 + s T i) sT i u
u = u
a
1 /R a 1 + s L a/R
a
ia K
m i
iam
e
m
K
E
sJ
t
e m
K
T
G a(s )
re s
f _ 0 3 _ 2 1 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
C o m m a n d e a n tic ip e d 'i n e r t i e
s ~ K
u u
ff
c o n s ig n e d e c o u p le
v S T iac ia T
T
m w
w S
K
p
e m c
1 /K
T
'
w i
(s)
e m
+ S
1 /(s J )
m w
R E G U L A T E U R P D E V IT E S S E
A S S E R V IS S E M E N T D E C O U R A N T
M O T E U R + C H A R G E + C A P T E U R
f _ 0 3 _ 1 9 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
a x e Z
c ro u
v is
y
R d (d a n n g e p s c u m u la te u r o s itio n o m m a n d e riq u e ) R g u la te u r d e v ite s s e + c o u ra n t (d a n s c o m m a n d e d 'a x e )
C o n s ig n e d e p o s itio n p o u r l 'a x e X
c ro u
v is
c x
G n ra te u r d e c o n s ig n e s ( i n t e r p o l a t e u r , c o o r d i n a t e u r d 'a x e s )
C o n s ig n e d e p o s itio n p o u r l 'a x e Y
c y
(s)
w
c
y
y
m y
(s)
C o n s ig n e d e p o s itio n p o u r l 'a x e Z
c z
(s)
w
c
y
z
m z
(s) z
v is
y
x
m x
(s) x
c ro
(s)
w
c
a x e Y a x e X
u
f _ 0 3 _ 2 3 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
A s s e rv is s e m e n t d e p o s itio n A s s e rv is s e m e n t d e v ite s s e
c o n s ig n e d e p o s itio n
c q
(s)
u 2(t) = iac(t)
c o n s ig n e d e v ite s s e
c o n s ig n e d e c o u ra n t
A s s e rv is s e m e n t d e c o u ra n t / c o u p le T
a
re s
c w
(s)
-
R g u la te u r d e p o s itio n y y
R g u la te u r d e v ite s s e
w
R g u la te u r d e c o u ra n t
c i
(s)
u
G
a i1
(s) (s)
a i2
(s)
ia
K
e m
C h a rg e m c a n iq u e
a w
(s)
C h a rg e m c a n iq u e
a x ( s )
iam
C a p te u r d e c o u ra n t
m i
w i
(s)
g ra n d e u r r g l e
C a p te u r d e v ite s s e
m w
(s)
C a p te u r d e p o s itio n
m x
(s)
w w
(s)
w q
(s)
f _ 0 3 _ 2 4 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
w
1
(t)
c 1
(s)
u 1(t)
-
v 1(t)
G G G
1 1
y 1(t)
H
1
(s) (s)
2 1
H
2
1 2
w
2
(t) S
c 2
(s)
u 2(t)
-
v 2(t)
2 2
y 2(t)
R E G U L A T E U R S
D E C O U P L A G E
S Y S T E M E A R E G L E R
f _ 0 3 _ 2 5 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
Systmes en cascade
U (s)
G
1
(s)
G
2
(s)
...
G
(s)
Y (s)
in s t i t u t d ' Automatisation in d u s t r i e l l e
Systmes en cascade
U (s)
G
1
(s)
G
2
(s)
...
G
(s)
Y (s)
numG1= 2 [ 1 , 2 0 ] ; denG1 = [ 1 , 0 ] ; numG2=1e 3 [ 1 , 1 0 ] ; denG2 = [ 1 , 2 , 0 . 1 1 ] ; [ numG, denG ] = s e r i e s ( numG1, denG1, numG2, denG2 ) ;
in s t i t u t d ' Automatisation in d u s t r i e l l e
Systmes en cascade
U (s)
G
1
(s)
G
2
(s)
...
G
(s)
Y (s)
in s t i t u t d ' Automatisation in d u s t r i e l l e
Mise en parallle
G
2
(s) (s)
1
U (s)
Y (s)
f _ 0 3 _ 0 8 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
Mise en parallle
G
2
(s) (s)
1
U (s)
Y (s)
f _ 0 3 _ 0 8 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
Mise en parallle
G
2
(s) (s)
1
U (s)
Y (s)
f _ 0 3 _ 0 8 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
Mise en parallle
G
2
(s) (s)
1
U (s)
Y (s)
f _ 0 3 _ 0 8 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
Mise en contre-raction/raction
U (s)
-/+
S G G
(s) (s)
2
Y (s)
f _ 0 3 _ 0 6 .e p s
G1 (s) Y (s) G(s) = = U (s) 1 G1 (s) G2 (s) fonction de transfert de la chane daction = 1 fonction de transfert de la boucle
in s t i t u t d ' Automatisation in d u s t r i e l l e
Mise en contre-raction/raction
p a rtie d u s y s t m e r g le r s i t u e a v a n t l 'i n t r o d u c t i o n d e s p e rtu rb a tio n s v (t)
r g u la te u r
v (t) w (t)
+ S
e (t)
G c(s )
u (t)
a 1
(s)
+ S
a 2
(s)
y (t)
f _ 0 3 _ 1 8 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
Mise en contre-raction/raction
v (t) w (t)
+ S
e (t)
G c(s )
u (t)
a 1
(s)
+ S
a 2
(s)
y (t)
f _ 0 3 _ 1 8 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
Mise en contre-raction/raction
v (t) w (t)
+ S
e (t)
G c(s )
u (t)
a 1
(s)
+ S
a 2
(s)
y (t)
f _ 0 3 _ 1 8 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
Mise en contre-raction/raction
v (t) w (t)
+ S
e (t)
G c(s )
u (t)
a 1
(s)
+ S
a 2
(s)
y (t)
f _ 0 3 _ 1 8 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
Mise en contre-raction/raction
v (t) w (t)
+ S
e (t)
G c(s )
u (t)
a 1
(s)
+ S
a 2
(s)
y (t)
f _ 0 3 _ 1 8 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
Mise en contre-raction/raction
in s t i t u t d ' Automatisation in d u s t r i e l l e
U (s)
S G
(s) G
G
5
(s) G
3
G
2
(s)
(s)
Y (s)
(s)
f _ 0 3 _ 1 2 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
U (s)
S G
(s) G
G
5
(s) G
3
G
2
(s)
(s)
Y (s)
(s)
U (s)
S G
(s) G
G
5
(s) G
3
G
2
(s)
(s) (s)
3
Y (s)
(s)
1 /G
f _ 0 3 _ 1 5 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
U (s)
S G
(s) G
G
5
(s) G
3
G
2
(s)
(s) (s)
3
Y (s)
(s)
1 /G
U (s)
S G
(s) G
4
G
6
(s) 1 /G
3
Y (s)
(s)
(s)
f _ 0 3 _ 1 3 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
U (s)
S G
(s) G G
4
(s) 1 /G
3
Y (s)
(s)
(s)
U (s)
1 + G 1( s) G 6( s) G 4(s )
G 1( s ) G 6(s )
G 3(s)
Y (s)
f _ 0 3 _ 1 4 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
Forme canonique
S
U (s)
G
1
(s) G G
4
(s) 1 /G
3
Y (s)
(s)
(s)
U (s)
S G
G
o 1 ( s ) G
(s)
6 ( s ) / G 3 ( s )
4 ( s ) G
3 ( s ) / G
f _ 0 3 _ 1 4 .e p s
(s)
Y (s)
f _ 0 3 _ 0 9 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
p a lie rs
R
a
L
a
u ( t) = u a(t)
M
w (t)
y (t)= q (t)
ia
J
f _ 0 2 _ 0 1 _ 1 3 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
Modle en t
dia + em (t) ua (t) = Ra ia (t) + La dt em (t) = KE (t) Tem (t) = KT ia (t) d = (t) dt d = Tem (t) Rf (t) Jt dt
in s t i t u t d ' Automatisation in d u s t r i e l l e
Modle en t
dia 1 = (Ra ia (t) em (t) + ua (t)) dt La em (t) = KE (t) Tem (t) = KT ia (t) d = (t) dt d 1 = (Tem (t) Rf (t)) dt Jt
in s t i t u t d ' Automatisation in d u s t r i e l l e
u (t)= u a(t)
S
1 /L R
d ia/d t
re s
ia K
T
T
e m
1 /J R
f
d w /d t
1 s
1 s
y (t) = q (t)
e
m
K
E
f _ 0 3 _ 1 1 .e p s
1 dia = (Ra ia (t) em (t) + ua (t)) dt La em (t) = KE (t) Tem (t) = KT ia (t)
d = (t) dt d 1 = Tem (t) Rf (t) 3: Schmas fonctionnelsFilire lectroniqueFilire microtechnique p. 32/3 Rgulation automatiqueChapitre dt Jt
in s t i t u t d ' Automatisation in d u s t r i e l l e
re s
s L
a
ia K
a
T
T
e m
e
m
R K
E
s J
t
w
1
in s t i t u t d ' Automatisation in d u s t r i e l l e
(s )
= R
a
I
a
(s )
+ L
a
s I
a
(s )
+ E
m
(s )
T
s L
a
re s
J t s W
(s)
= T
e m
(s)
- R
f
(s)
- T
re s
(s)
u
a
ia K
a
T
T
e m
e
m
R K
E
s J
t
w
1
in s t i t u t d ' Automatisation in d u s t r i e l l e
(s )
= R
a
I
a
(s )
+ L
a
s I
a
(s )
+ E
m
(s )
T
s L
a
re s
J t s W
(s)
= T
e m
(s)
- R
f
(s)
- T
re s
(s)
u
a
ia K
a
T
T
e m
e
m
R K
E
s J
t
w
1
T u
a
re s
1 + s R
1
a
ia
L
a a
K
T
e m
1 + s
1
ft
J
t
w
1
ft
e
m
K
E
f _ 0 3 _ 0 2 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
u
a
S
R
K
a
R
f
1 + s R
L
a
1 + s R
1 s
e
m
K
E
in s t i t u t d ' Automatisation in d u s t r i e l l e
u
a
S
R
K
a
R
f
1 + s R
L
a
1 + s R
1 s
e
m
K
E
a a
u
a
R
a
K K R
R
T f T a
E f
1 +
K R
1 + s 1 R
1 + s
a a
1 + s R
1 + s R
J
t
w
1
J
t f
in s t i t u t d ' Automatisation in d u s t r i e l l e
u
a
S
R
K
a
R
f
1 + s R
L
a
1 + s R
1 s
e
m
K
E
a a
u
a
R
a
K K R
R
T f T a
E f
1 +
K R
1 + s 1 R
1 + s
a a
1 + s R
1 + s R
J
t
w
1
J
t f
q q
u
a
(R
a
K
ft
+ K s
T
K
E
L R t + J t R 1 + s a R a R t + K T K
a
+ s
2
R
a
L
a f
J + K
t
f _ 0 3 _ 0 3 .e p s
in s t i t u t d ' Automatisation in d u s t r i e l l e
Modles en t et en s du moteur DC
Modle en t ua (t) = Ra ia (t) + La em (t) = KE (t) Tem (t) = KT ia (t) d = (t) dt d = Tem (t) Rf (t) Jt dt dia + em (t) dt
Modle en s Ua (s) = Ra Ia (s) + La s Ia (s) + Em (s) Em (s) = KE (s) Tem (s) = KT Ia (s) s (s) = (s) Jt s (s) = Tem (s) Rf (s)
in s t i t u t d ' Automatisation in d u s t r i e l l e
Modle en s
Ua (s) = (Ra + s La ) Ia (s) + Em (s) Em (s) = KE (s) Tem (s) = KT Ia (s) s (s) = (s) (Jt s + Rf ) (s) = Tem (s)
in s t i t u t d ' Automatisation in d u s t r i e l l e
Modle en s
1 Ia (s) = (Ua (s) Em (s)) Ra + s La Em (s) = KE (s) Tem (s) = KT Ia (s) 1 (s) = (s) s 1 (s) = Tem (s) Jt s + Rf
in s t i t u t d ' Automatisation in d u s t r i e l l e