Courbes

Capteur vitesse
PR O C E SSU S: A xN um
in c 250 M e s . N u m . V it . p o s it io n C O N F IG U R A T IO N : C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 0 i n c , V a l . C = 2 1 3 i n c R e t a r d = 0 . 1 0 0 s P r o c e s s u s ,: C o m m a n d e e n t e n s i o n m m
120
M o d e: B o u c le O u v e r t e
M e s u r e n u m r iq u e d e v it e s s e
224 112
198
104
172
0 .6 6 1 s 1 9 7 in c M e s u r e d e p o s it io n
96
146
88
120
80
94
1 .2 9 7 s 86 m m
72
68
64
42
56
16
0 .4 0 3 s 59 m m
48
-1 0
40
0 .0 0
0 .3 2
0 .6 4
0 .9 6
1 .2 8
1 .6 0
1 .9 2
2 .2 4
2 .5 6
2 .8 8
3 .2 0 ( s )
D ate: 0 9 h 3 7 m n , 0 1 N o v em b er 2 0 0 4
T P 1 : E t u d e c a p t e u r d e v it e s s e
D R E G dm s
in c p o sit io n v it e sse
9 10
C O N F IG U R A T IO N :
C o n sig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 0 i n c , V a l . C = 2 1 3 i n c R e t a r d = 0 . 1 0 0 s P r o c e s s u s ,: C o m m a n d e e n t e n s i o n m m m m /s
40
110
99
35
88
30
0 .9 4 5 s 3 1 m m /s 0 .6 1 5 s 3 0 m m /s
77
25
66
20
55
15
44
10
33
22
11
-5
-1 0
0 .0 0
0 .3 2
0 .6 4
0 .9 6
1 .2 8
1 .6 0
1 .9 2
2 .2 4
2 .5 6
2 .8 8
3 .2 0 ( s )
D ate: 0 9 h 48 m n, 01 N ovem ber 2 00 4
T P 1 : E t u d e c a p t e u r d e v it e s s e
D R EG dm s
PR O C ESSU S: A xN um
in c v it e ss e p o s it io n
9 10
C O N F I G U R A T IO N :
C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 0 i n c , V a l . C = 4 2 7 i n c R e t a r d = 0 . 1 0 0 s P r o c e s s u s ,: C o m m a n d e e n t e n s i o n m m
110
m m /s
90
99
80
0 .3 4 3 s 8 3 m m /s
8 88 70
0 .5 2 8 s 83 m m
77
60
66
50
55
40
44
30
0 .2 5 1 s 60 m m
3 33 20
22
10
11
-1 0
0 .0 0
0 .1 1
0 .2 1
0 .3 2
0 .4 3
0 .5 3
0 .6 4
0 .7 5
0 .8 5
0 .9 6
1 .0 7
(s)
D ate: 0 1 h 5 3 m n , 2 9 O cto b er 2 0 0 4
T P 1:
V r if ic a t io n c a p t e u r d e v it e s s e
D R E G dm s
in c v it e ss e a c c l r a t io n
9 10
C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 0 i n c , V a l . C = 2 1 3 i n c R e t a r d = 0 . 1 0 0 s P r o c e s s u s ,: C o m m a n d e e n t e n s i o n m m /s m m /s40 600
0 .1 4 3 s 5 5 7 m m /s -
35
476
30
352
25
228
0 .1 4 4 s 2 7 m m /s
6 20 104
15
-2 0
10
-1 4 4
0 .1 3 1 s 2 1 m m /s
3 5 -2 6 8
-3 9 2
-5
-5 1 6
-1 0
-6 4 0
0 .0 0
0 .0 6
0 .1 3
0 .1 9
0 .2 6
0 .3 2
0 .3 8
0 .4 5
0 .5 1
0 .5 8
0 .6 4
(s)
T P 1 : E t u d e c a p t e u r d ' a c c l r a t io n
D R E G dm s
Identification BO Cde en courant

Partie Commande:
Configuration: Commande en boucle ouverte
P o s it io n R e p o s
P . R e 5p 0o s m = m
Partie Oprative AxNum
C om m an de : E c h e lo n c o n s t a n t Sr = 200 m A R e t a r d0 . =1 0 0 s D e p l. 5= 0 m m Sr
C om m ande C o uran t
Im Um
Moteur
M nx'
Drivateur Mn Tev
M x M nx
Compteur pour signaux en quadrature
Codeur
M x'
M x"
D R E G dm s
Partie Commande:
P o s itio n R e p o s
P . R epos = 50 m m
C om m an d e: E c h e lo n c o n s ta n t Sr = 10 V R e ta r d = 0 .1 0 0 s D e p l. = 5 0 m m Sr
C om m ande T e n s io n
Im Um
Moteur
M nx'
Drivateur Mn Tev
M x M nx
Codeur
M x'
M x"
D R EG dm s
V U m oteur I m o teur S o r t ie R e g .
5 6
C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 0 V , V a l . C = 2 1 3 . 3 3 V R e t a r d = 0 . 1 0 0 s P r o c e ssu s: , C o m m a n d e e n t e n s i o n m A
300
M o d e : B o u c l e O u v e r te
V
6
0 .1 3 1 s 223 m A
1 .0 1 3 s 5 V
C o n s ig n e
D p la c e m e n t te r m in
255 5
210
T e n s io n m o te u r
1 .1 8 7 s 4 V
165
120
C o u r a n t m o te u r
1 .1 6 6 s 124 m A
75
30
-0
-1 5
-0
-1
-6 0
-1
-2
-1 0 5
-2
-3
-1 5 0
-3
0 .0 0
0 .3 2
0 .6 4
0 .9 6
1 .2 8
1 .6 0
1 .9 2
2 .2 4
2 .5 6
2 .8 8
3 .2 0
(s)
D ate: 1 8 h 1 2 m n , 2 8 O cto b er 2 0 0 4
T P2:
I d e n tif ic a tio n e n B O
C o m m a n d e e n te n s io n
D R E G dm s
V v it e s se p o sit io n
9 10
C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 0 V , V a l . C = 2 1 3 . 3 3 V R e t a r d = 0 . 1 0 0 s P r o c e ssu s: , C o m m a n d e e n t e n s i o n m m
110
m m /s
40
0 .2 5 4 s 3 1 m m /s
99 35
1 .7 6 7 s 100 m m
88
30
77
25
66
20
55
15
44
10
0 .0 6 8 s 50 m m
3
1 .8 2 3 s 0 m m /s
33 5
22
0 .1 0 2 s 0 m m /s
1 11 -5
-1 0
0 .0 0
0 .3 2
0 .6 4
0 .9 6
1 .2 8
1 .6 0
1 .9 2
2 .2 4
2 .5 6
2 .8 8
3 .2 0
(s)
D ate: 1 8 h 1 5 m n , 2 8 O cto b er 2 0 0 4
T P2:
D R E G dm s
V S o r t ie R e g . v it e s se
8 10
C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 0 V , V a l . C = 2 1 3 . 3 3 V R e t a r d = 0 . 1 0 0 s P r o c e ssu s: , C o m m a n d e e n t e n s i o n m m /s
40
M o d e : B o u c l e O u v e r te 0 .2 0 4 s 3 2 m m /s
35
30
25
0 .1 5 6 s 2 9 m m /s
2
0 .1 3 4 s 4 V
20
15
-2
10
-4
-6
C o n s ta n te d e T e m p s = 0 .0 1 0 s
-8
-5
-1 0
-1 0
0 .0 0
0 .0 3
0 .0 6
0 .1 0
0 .1 3
0 .1 6
0 .1 9
0 .2 2
0 .2 6
0 .2 9
0 .3 2
(s)
D ate: 1 8 h 2 0 m n , 2 8 O cto b er 2 0 0 4
T P2:
D R E G dm s
9 99 35 10
110
m m /s
40
88
30
2 .2 6 8 s 101 m m
7 77 25
66
20
55
15
1 .8 2 7 s 0 m m /s
4 44 10
0 .0 3 0 s 50 m m
33
22
0 .1 0 6 s 0 m m /s
11
-5
-1 0
0 .0 0
0 .3 2
0 .6 4
0 .9 6
1 .2 8
1 .6 0
1 .9 2
2 .2 4
2 .5 6
2 .8 8
3 .2 0
(s)
D ate: 1 8 h 2 2 m n , 2 8 O cto b er 2 0 0 4
T P2:
D R E G dm s
V U m oteur I m o teur S o r t ie R e g .
10 12
C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 0 V , V a l . C = 4 2 6 . 6 7 V R e t a r d = 0 . 1 0 0 s P r o c e ssu s: , C o m m a n d e e n t e n s i o n m A V
M o d e : B o u c l e O u v e r te 0 .1 2 6 s 456 m A C om m an de 0 .2 3 1 s 10 V
500 12
T e n s i o n m o te u r 0 .6 6 9 s 10 V
425
10
350
7
0 .5 2 8 s 129 m A
275
200
125
50
-1
-2 5
-1
-2
-1 0 0
-2
-4
-1 7 5
-4
-6
-2 5 0
-6
0 .0 0
0 .1 1
0 .2 1
0 .3 2
0 .4 3
0 .5 3
0 .6 4
0 .7 5
0 .8 5
0 .9 6
1 .0 7
(s)
D ate: 1 8 h 2 6 m n , 2 8 O cto b er 2 0 0 4
T P2:
D R E G dm s
8 80 10
90
0 .3 3 2 s 8 4 m m /s
70
0 .1 7 4 s 7 5 m m /s
60
50
0 .1 4 4 s 5 8 m m /s
0 40
-2
30
-4
C o n s t a n te d e T e m p s = 0 .0 2 9 s
20
-6
10
-8
0 .0 9 9 s 0 m m /s
-1 0 -1 0
0 .0 0
0 .0 4
0 .0 8
0 .1 2
0 .1 6
0 .2 0
0 .2 4
0 .2 8
0 .3 2
0 .3 6
0 .4 0
(s)
D ate: 1 8 h 2 7 m n , 2 8 O cto b er 2 0 0 4
T P2:
D R E G dm s
9 10
110
m m /s
90
99
80
0 .7 7 0 s 102 m m
88
70
77
60
66
50
55
40
44
30
0 .0 1 6 s 50 m m
0 .8 2 1 s 0 m m /s
33
20
22
10
11
0 .0 9 7 s 0 m m /s
0 0 -1 0
0 .0 0
0 .1 1
0 .2 1
0 .3 2
0 .4 3
0 .5 3
0 .6 4
0 .7 5
0 .8 5
0 .9 6
1 .0 7
(s)
D ate: 1 8 h 2 8 m n , 2 8 O cto b er 2 0 0 4
T P2:
D R E G dm s
V S o r t ie R e g . I m o teur U m oteur
17 20
C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 0 V , V a l . C = 6 4 0 . 0 0 V R e t a r d = 0 . 1 0 0 s P r o c e ssu s: , C o m m a n d e e n t e n s i o n m A
800
V
20
C om m ande 0 .1 6 1 s 15 V
D p la c e m e n t d e m a n d te r m in
680 17
14
560
14
11
C o u r a n t m o te u r 0 .2 2 1 s 166 m A
440
11
320
200
80
-1
-4 0
-1
-4
-1 6 0
-4
-7
-2 8 0
-7
-1 0
-4 0 0
-1 0
0 .0 0
0 .1 1
0 .2 1
0 .3 2
0 .4 3
0 .5 3
0 .6 4
0 .7 5
0 .8 5
0 .9 6
1 .0 7
(s)
D ate: 1 8 h 3 2 m n , 2 8 O cto b er 2 0 0 4
T P2:
D R E G dm s
17 20
140
125
14
0 .3 8 4 s 1 3 0 m m /s 0 .1 7 1 s 1 1 7 m m /s
110
11
95
80
0 .1 3 7 s 8 7 m m /s
65
50
-1
35
-4
C o n s t a n te d e T e m p s = 0 .0 2 9 s
20
-7
-1 0
-1 0
0 .0 0
0 .0 5
0 .0 9
0 .1 4
0 .1 8
0 .2 3
0 .2 7
0 .3 2
0 .3 6
0 .4 1
0 .4 5
(s)
D ate: 1 8 h 3 3 m n , 2 8 O cto b er 2 0 0 4
T P2:
D R E G dm s
9 108 125 10
120
m m /s
140
0 .6 6 6 s 115 m m
8 96 110
84
95
0 .0 6 5 s 50 m m
6 72 80
60
65
48
50
0 .0 9 3 s 0 m m /s
0 .6 9 0 s 0 m m /s
36
35
24
20
12
-1 0
0 .0 0
0 .0 8
0 .1 6
0 .2 4
0 .3 2
0 .4 0
0 .4 8
0 .5 6
0 .6 4
0 .7 2
0 .8 0
(s)
D ate: 1 8 h 3 4 m n , 2 8 O cto b er 2 0 0 4
T P2:
D R E G dm s
V S o r t ie R e g . I m o teur U m oteur
26 30
C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 0 V , V a l . C = 8 5 3 . 3 3 V R e t a r d = 0 . 1 0 0 s P r o c e ssu s: , C o m m a n d e e n t e n s i o n m A V
1000 30
0 .1 2 2 s 908 m A
C om m ande 0 .1 6 3 s 20 V
D p la c e m e n t d e m a n d te r m in
850 26
21
700
21
17
550
17
12
400
12
250
100
-2
-5 0
-2
-6
-2 0 0
-6
-1 1
-3 5 0
-1 1
-1 5
-5 0 0
-1 5
0 .0 0
0 .0 8
0 .1 6
0 .2 4
0 .3 2
0 .4 0
0 .4 8
0 .5 6
0 .6 4
0 .7 2
0 .8 0
(s)
D ate: 1 8 h 3 7 m n , 2 8 O cto b er 2 0 0 4
T P2:
D R E G dm s
17 152 20
170
14
0 .2 8 0 s 1 6 1 m m /s
134
11
116
0 .1 5 5 s 1 3 4 m m /s
8 98
0 .1 2 6 s 8 6 m m /s
C o n s ta n te d e T e m p s = 0 .0 2 9 s
80
62
-1
44
-4
26
-7
-1 0
-1 0
0 .0 0
0 .0 5
0 .0 9
0 .1 4
0 .1 8
0 .2 3
0 .2 7
0 .3 2
0 .3 6
0 .4 1
0 .4 5
(s)
D ate: 1 8 h 3 9 m n , 2 8 O cto b er 2 0 0 4
T P2:
D R E G dm s
9 10
110
m m /s
170
0 .5 2 1 s 105 m m
99
152
88
134
0 .0 5 3 s 50 m m
77
116
66
98
55
80
44
62
33
44
0 .1 0 1 s 0 m m /s
0 .5 3 4 s 2 m m /s
22
26
11
-1 0
0 .0 0
0 .0 8
0 .1 6
0 .2 4
0 .3 2
0 .4 0
0 .4 8
0 .5 6
0 .6 4
0 .7 2
0 .8 0
(s)
D ate: 1 8 h 3 9 m n , 2 8 O cto b er 2 0 0 4
T P2:
D R E G dm s
C o m p a r a is o n d e c o u r b e s d e r p o n s e
m m /s v it e s se
180
PRO CESSUS: A xN um
C o u rb e 4 : C o m m an d e = 2 0 V 0 .4 3 4 s 1 6 0 .2 m m /s C o u rb e 2 : C o m m an d e = 1 5 V
161
142
0 .6 1 7 s 1 3 0 .8 m m /s
C o u r b e n 1 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 0 in c V a l. C = 2 1 3 in c R etard = 0 .1 0 0 s P r o c e s s u s: C d e e n t e n sio n
C ou r b e n 2 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 0 in c V a l. C = 4 2 7 in c R etard = 0 .1 0 0 s P r o c e s su s : C d e e n t e n s io n
123
104
C o u rb e 2 : C o m m a n d e 1 0 V 0 .7 4 1 s 8 2 .4 m m /s
85
66
C o u rb e 1 : C o m m m an d e = 5 V 1 .2 9 8 s 3 3 .8 m m /s 0 .5 5 3 s 0 .6 m m /s 0 .6 9 0 s 0 .3 m m /s 0 .8 1 4 s 0 .6 m m /s 1 .7 9 7 s 0 .9 m m /s
47
28
-1 0
0 .0 0
0 .3 2
0 .6 4
0 .9 6
1 .2 8
1 .6 0
1 .9 2
2 .2 4
2 .5 6
2 .8 8
3 .2 0
(s)
D ate: 1 8 h 4 8 m n , 2 8 O cto b er 2 0 0 4
T P 2 : I d e n tif ic a tio n e n B O , C o m m a n d e te n s io n ,C o m p a r a is o n
D R E G dm s
m m p o sit io n
190 173 156 139 122 105 88 71 54 37 20
PRO CESSUS: A xN um
C o u rb e2 : 1 .1 8 9 s 1 0 3 .2 m m
C o u rb e 3 0 .7 5 0 s 1 1 6 .7 m m
1 .7 6 9 s 1 0 1 .5 m m C o u rb e 1
m m /s v it e s se
250 224 198 172 146 120 94 68 42 16 -1 0
C o u rb e 3 : C o m m an d e = 1 5 V 0 .3 8 4 s 1 3 3 .6 m m /s C o u rb e2 : C o m m an d e = 1 0 V 0 .7 1 8 s 8 6 . 6 m m /s
C o u rb e 1 : C o m m an d e = 5 V 1 .5 5 9 s 3 4 .6 m m /s
0 .0 0
0 .3 2
0 .6 4
0 .9 6
1 .2 8
1 .6 0
1 .9 2
2 .2 4
2 .5 6
2 .8 8
3 .2 0
(s)
D ate: 1 9 h 2 8 m n , 2 8 O cto b er 2 0 0 4
T P 2 : I d e n tif ic a tio n e n B O , C o m m a n d e te n s io n , C o m p a r a is o n
D R E G dm s
Partie Commande:
P o s itio n R e p o s
P . R epos = 50 m m
C om m an d e: E c h e lo n c o n s ta n t Sr = 300 m A R e ta r d = 0 .1 0 0 s D e p l. = 5 0 m m Sr
C om m ande C o u ran t
Im Um
Moteur
M nx'
Drivateur Mn Tev
M x M nx
Codeur
M x'
M x"
D R EG dm s
m A I m o teur U m oteur S o r t ie R e g .
134 150
C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 0 m A , V a l . C = 1 0 2 m A R e t a r d = 0 . 1 0 0 s P r o c e ssu s: , C o m m a n d e e n c o u r a n t m A
150
V
10
C om m ande 0 .5 5 9 s 100 m A
134 8
118
118
102
102
86
86
70
70
54
T e n s io n m o te u r 1 .3 5 6 s 1 V
54
-2
38
38
-4
22
22
-6
-8
-1 0
-1 0
-1 0
0 .0 0
0 .3 2
0 .6 4
0 .9 6
1 .2 8
1 .6 0
1 .9 2
2 .2 4
2 .5 6
2 .8 8
3 .2 0
(s)
D ate: 1 8 h 5 7 m n , 2 8 O cto b er 2 0 0 4
T P2:
C o m m a n d e e n C o u ra n t
D R E G dm s
m A S o r t ie R e g . v it e s se p o sit io n
89 54 17 100
C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 0 m A , V a l . C = 1 0 2 m A R e t a r d = 0 . 1 0 0 s P r o c e ssu s: , C o m m a n d e e n c o u r a n t m m
60
m m /s
20
78
0 .0 6 4 s 50 m m
67
1 .2 5 9 s 52 m m
48
14
42
11
56
36
45
1 .5 9 8 s 0 m m /s
30
34
24
23
18
-1
12
12
-4
-7
-1 0
-1 0
0 .0 0
0 .3 2
0 .6 4
0 .9 6
1 .2 8
1 .6 0
1 .9 2
2 .2 4
2 .5 6
2 .8 8
3 .2 0
(s)
D ate: 1 8 h 5 8 m n , 2 8 O cto b er 2 0 0 4
T P2:
D R E G dm s
m A I m o teur U m oteur S o r t ie R e g .
350 400
C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 0 m A , V a l . C = 2 0 5 m A R e t a r d = 0 . 1 0 0 s P r o c e ssu s: , C o m m a n d e e n c o u r a n t m A V
M o d e : B o u c l e O u v e r te 0 .6 5 1 s 19 V T e n s io n m o te u r
400 20
350
17
300
300
14
C om m ande
250
D p la c e m e n t d e m a n d e f f e c t u
250
11
200
200
150
150
100
100
50 50 -1
-4
-5 0
-5 0
-7
-1 0 0
-1 0 0
-1 0
0 .0 0
0 .1 6
0 .3 2
0 .4 8
0 .6 4
0 .8 0
0 .9 6
1 .1 2
1 .2 8
1 .4 4
1 .6 0
(s)
D ate: 1 9 h 0 2 m n , 2 8 O cto b er 2 0 0 4
T P2:
D R E G dm s
m A v it e ss e p o s it io n
9 117 143 10
C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 0 m A , V a l . C = 2 0 5 m A R e t a r d = 0 . 1 0 0 s P r o c e s s u s ,: C o m m a n d e e n c o u r a n t m m
130
m m /s
160
0 .9 6 5 s 126 m m
8 104 126
91
109
0 .1 3 4 s 50 m m 0 .4 0 1 s 1 0 8 m m /s
78
92
65
75
52
58
39
41
0 .2 1 0 s 5 2 m m /s
1 .0 0 9 s - 2 m m /s
26 24
0 .1 1 4 s - 0 m m /s 0 .0 0 0 .1 1 0 .2 1 0 .3 2 0 .4 3 0 .5 3 0 .6 4 0 .7 5 0 .8 5 0 .9 6 1 .0 7
13
-1 0
(s)
T P 2 : I d e n t if . e n B O C d e e n c o u r a n t
D R E G dm s
m A v it e s se p o sit io n
9 10
130
m m /s
160
117
143
0 .9 6 4 s 126 m m
8 104 126
91
109
78
92
0 .1 2 9 s 50 m m
65
75
52
58
39
41
0 .1 1 7 s 0 m m /s
1 .0 0 5 s - 2 m m /s
26
24
13
-1 0
0 .0 0
0 .1 6
0 .3 2
0 .4 8
0 .6 4
0 .8 0
0 .9 6
1 .1 2
1 .2 8
1 .4 4
1 .6 0
(s)
D ate: 1 9 h 0 5 m n , 2 8 O cto b er 2 0 0 4
T P2:
D R E G dm s
m A I m o teur U m o teur S o r t ie R e g .
445 500
C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 0 m A , V a l . C = 3 0 7 m A R e t a r d = 0 . 1 0 0 s P r o c e ssu s: , C o m m a n d e e n c o u r a n t m A
500
V
30
C om m ande 0 .1 6 5 s 300 m A
T e n s io n m o t e u r 0 .5 7 4 s 24 V
445
26
390
390
22
335
D p la c e m e n t d e m a n d e f f e c tu
335
18
280
280
14
225
225
10
170
170
115
115
60
60
-2
-6
-5 0
-5 0
-1 0
0 .0 0
0 .1 1
0 .2 1
0 .3 2
0 .4 3
0 .5 3
0 .6 4
0 .7 5
0 .8 5
0 .9 6
1 .0 7
(s)
D ate: 1 9 h 0 8 m n , 2 8 O cto b er 2 0 0 4
T P2:
D R E G dm s
m A v it e s se p o sit io n
9 10
200
m m /s
300
182
269
0 .4 4 7 s 1 9 1 m m /s
0 .5 0 6 s 2 0 7 m m /s
164 238
146
207
128
176
0 .0 9 5 s 50 m m
5 110 145
92
114
74
83
56
52
38
21
0 .1 0 4 s - 0 m m /s
0 20 -1 0
0 .0 0
0 .1 1
0 .2 1
0 .3 2
0 .4 3
0 .5 3
0 .6 4
0 .7 5
0 .8 5
0 .9 6
1 .0 7
(s)
D ate: 1 9 h 1 1 m n , 2 8 O cto b er 2 0 0 4
T P2:
D R E G dm s
m m p o sit io n
190 173 156 139 122 105 88 71 54 37 20
PRO CESSUS: A xN um
C o u rb e 3
1 .1 8 9 s 1 6 0 .7 m m
C o u rb e 2 C o u rb e 1
1 .2 1 8 s 1 2 4 .3 m m
C o u r b e n 1 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 0 in c V a l. C = 1 0 2 in c R etard = 0 .1 0 0 s P r o c e ssu s: C de en co uran t
C o u r b e n 2 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 0 in c V a l. C = 2 0 5 in c R etard = 0 .1 0 0 s P r o c e ssu s: C de e n co ura n t
m m /s v it e s se
250 224 198 172 146 120 94 68 42 16 -1 0
0 .4 3 0 s 1 9 0 .6 m m /s
C o u rb e3 : C o m m an d e = 3 0 0 m A C o u rb e 2 : C o m m an d e = 2 0 0 m A
C o u rb e 1 : C o m m an d e 1 0 0 m A
C o u r b e n 3 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 0 in c V a l. C = 3 0 7 in c R etard = 0 .1 0 0 s P r o c e ssu s: C de en co uran t
0 .6 1 0 s 1 5 2 . 6 m m /s 0 .1 4 9 s 1 4 .8 m m /s
0 .0 0
0 .1 6
0 .3 2
0 .4 8
0 .6 4
0 .8 0
0 .9 6
1 .1 2
1 .2 8
1 .4 4
1 .6 0
(s)
D ate: 1 9 h 2 4 m n , 2 8 O cto b er 2 0 0 4
T P 2 : I d e n tif ic a tio n e n B O , C o m m a n d e c o u r a n t, C o m p a r a is o n
D R E G dm s
Partie Commande:
Configuration: Commande en boucle ferme, en position
V a le u r R e p o s
50 m m
S rp = K 1 . K 1 = 1 .0 0 0
S rp
Correcteur P.I.D.
C O N S IG N E : E c h e lo n c o n s ta n t V a l. C = 6 0 m m R e ta r d = 0 .2 0 0 s S rd +
-1
RAZ C
+
Im
1 ( t ) . d t S ri = Ti
S ri
T i= 0 . 0 4 0 s T d dSrd d . = T d. dt dt
S r = K 2 . K 2 = 6 2 .0 0 0
Sr
Um
Moteur
S rd
T d = 0 .0 4 0 s = 8 .0
M x
Interface Capteur
Codeur
M x'
M x"
D R EG dm s
m m p o sit io n C o n sig n e
63 65
M o d e : B o u c le F e r m e ,
C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 5 0 i n c , V a l . C = 6 0 i n c R e t a r d = 0 . 2 0 0 s C orre cteu r: P I D O u v e r t K 1 = 1 .0 0 , K 2 = 0 .1 9 P r o c e ssu s: , C o m m a n d e e n c o u r a n t m m

65
63
61
61
59
59
0 .8 8 2 s 60 m m
57 57
55
T em p s d e rp o n s e
55
tr 5 % = 0 .4 2 0 s
53
D passem ent
53
51
D 1 ab s = 2 .0 0 m m D 1 re l = 1 9 .2 0 % t p ic = 0 . 3 3 0 s
51
49
49
47
0 .1 9 5 s 50 m m
47
45
45
0 .0 0
0 .1 1
0 .2 1
0 .3 2
0 .4 3
0 .5 3
0 .6 4
0 .7 5
0 .8 5
0 .9 6
1 .0 7
(s)
D ate: 1 9 h 3 6 m n , 2 8 O cto b er 2 0 0 4
T P3:
R g la g e e n B F
D R E G dm s
166 166 180
C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 5 0 i n c , V a l . C = 1 5 0 i n c R e t a r d = 0 . 2 0 0 s C orre cteu r: P I D O u v e r t K 1 = 1 .0 0 , K 2 = 0 .1 9 P r o c e ssu s: , C o m m a n d e e n c o u r a n t m m

180
152
152
138
2 .8 5 2 s 150 m m
138
124
124
110
110
tr 5 % = 1 .2 4 0 s
96
D p assem en t
96
82
D 1 ab s = 1 4 .5 8 m m D 1 rel = 1 4 .5 7 % t p ic = 1 . 0 4 5 s
82
68
68
54
54
40
0 .1 9 1 s 50 m m 0 .0 0 0 .3 2 0 .6 4 0 .9 6 1 .2 8 1 .6 0 1 .9 2 2 .2 4 2 .5 6 2 .8 8 3 .2 0
40
(s)
D ate: 1 9 h 3 9 m n , 2 8 O cto b er 2 0 0 4
T P3:
R g la g e e n B F
D R E G dm s
m m p o sit io n
190 173 156 139 122 105 88 71 54 37 20
PRO CESSUS: A xN um
1 .7 9 2 s 1 5 0 .7 m m 0 .6 3 1 s 5 9 .9 m m
C o u r b e n 1 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 1 9 8 1 5 in c R etard = 0 .2 0 0 s C orre cteu r: P I D O uv ert K 1 = 1 .0 0 K 2 = 0 .1 9 P r o c e s s u s: C de en co uran t
C ou r b e n 2 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 4 9 5 3 7 in c R etard = 0 .2 0 0 s C or r e c te u r : P I D O uv ert K 1 = 1 .0 0 K 2 = 0 .1 9 P r o c e s su s : C de en co uran t
m m /s v it e s se
250 215 180 145 110 75 40 5 -3 0 -6 5 -1 0 0
1 .0 4 2 s 1 8 1 . 1 m m /s
0 .4 3 0 s 6 6 . 7 m m /s
0 .0 0
0 .3 2
0 .6 4
0 .9 6
1 .2 8
1 .6 0
1 .9 2
2 .2 4
2 .5 6
2 .8 8
3 .2 0
(s)
D ate: 1 9 h 4 8 m n , 2 8 O cto b er 2 0 0 4
T P 2 : R g la g e e n B F , C o m m a n d e c o u r a n t, C o m p a r a is o n
D R E G dm s
Partie Commande:
50 m m
S rp = K 1 . K 1 = 1 .0 0 0
S rp
Correcteur P.I.D.
-1
RAZ C
+
Im
1 ( t ) . d t S ri = Ti
S ri
S r = K 2 . K 2 = 6 2 .0 0 0
Sr
Um
Moteur
S rd
T d = 0 .0 4 0 s = 8 .0
M x
Interface Capteur
Codeur
M x'
M x"
D R EG dm s
63 65
C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 5 0 i n c , V a l . C = 6 0 i n c R e t a r d = 0 . 2 0 0 s C o r r e c t e u r : P I D O u v e r t K 1 = 1 . 0 0 , T d = 0 . 0 4= s8 , . 0 0 0 , A c t i o n d r i v e s u r c a r t K 2 = 0 . 1 9 P r o c e ssu s: , C o m m a n d e e n c o u r a n t m m
65
63
61
61
59
59
57
0 .7 2 6 s 59 m m
57
55
55
tr 5 % = 0 .2 7 0 s
53 53
51
51
49
49
0 .1 9 4 s 50 m m
47 47
45
45
0 .0 0
0 .0 8
0 .1 6
0 .2 4
0 .3 2
0 .4 0
0 .4 8
0 .5 6
0 .6 4
0 .7 2
0 .8 0
(s)
D ate: 1 9 h 4 4 m n , 2 8 O cto b er 2 0 0 4
T P3:
R g la g e e n B F
D R E G dm s
149 149 160
C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 5 0 i n c , V a l . C = 1 5 0 i n c R e t a r d = 0 . 2 0 0 s C o r r e c t e u r : P I D O u v e r t K 1 = 1 . 0 0 , T d = 0 . 0 4= s8 , . 0 0 0 , A c t i o n d r i v e s u r c a r t K 2 = 0 . 3 1 P r o c e ssu s: , C o m m a n d e e n c o u r a n t m m
160
137
2 .3 9 9 s 149 m m
137
126
126
114
T em p s d e rp o n se
114
tr 5 % = 1 .9 3 0 s
103 103
91
91
80
80
68
68
57
57
0 .2 0 3 s 51 m m
45 45
0 .0 0
0 .3 2
0 .6 4
0 .9 6
1 .2 8
1 .6 0
1 .9 2
2 .2 4
2 .5 6
2 .8 8
3 .2 0
(s)
D ate: 1 9 h 4 5 m n , 2 8 O cto b er 2 0 0 4
T P3:
R g la g e e n B F
D R E G dm s
m m p o sit io n
190 173 156 139 122 105 88 71 54 37 20
PRO CESSUS: A xN um
2 .2 4 9 s 1 5 1 .3 m m C o u r b e 2 : C o n s ig n e = 1 5 0 m m C o u r b e 1 : C o n s ig n e = 6 0 m m 0 .4 3 9 s 5 8 .7 m m
C o u r b e n 1 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 1 9 8 1 5 in c R etard = 0 .2 0 0 s C orre cteu r: P I D O uv ert K 1 = 1 .0 0 T d = 0 .0 4 s = 8 .0 0 d r iv e s u r c a r t K 2 = 0 .1 9 P r o c e s s u s: C de en co uran t
C ou r b e n 2 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 4 9 5 3 7 in c R etard = 0 .2 0 0 s C or r e c te u r : P I D O uv ert K 1 = 1 .0 0 T d = 0 .0 4 s = 8 .0 0 d r iv e su r c a r t K 2 = 0 .3 1 P r o c e s su s : C de en co uran t
m m /s v it e s se
250 215 180 145 110 75 40 5 -3 0 -6 5 -1 0 0
0 .2 5 6 s 1 2 1 . 1 m m /s
1 .0 4 7 s 4 7 .8 m m /s
C o u rb e 2
0 .2 4 7 s 6 5 .6 m m /s
C o u rb e 1
0 .0 0
0 .3 2
0 .6 4
0 .9 6
1 .2 8
1 .6 0
1 .9 2
2 .2 4
2 .5 6
2 .8 8
3 .2 0
(s)
D ate: 1 9 h 5 1 m n , 2 8 O cto b er 2 0 0 4
T P 2 : R g la g e e n B F , C o m m a n d e c o u r a n t, C o m p a r a is o n
D R E G dm s
Partie Commande:
50 m m
S rp = K 1 . K 1 = 1 .0 0 0
S rp
Correcteur P.I.D.
-1
RAZ C
+
Im
1 ( t ) . d t S ri = Ti
S ri
S r = K 2 . K 2 = 2 .5 0 0
Sr
Um
Moteur
S rd
T d = 0 .0 4 0 s = 8 .0
M x
Interface Capteur
Codeur
M x'
M x"
D R EG dm s
m m p o s it io n C o n s ig n e
63 63 65
C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 5 0 i n c , V a l . C = 6 0 i n c R e t a r d = 0 . 2 0 0 s C o r r e c t e u Pr : I D O u v e r t K 1 = 1 . 0 0 , K 2 = 0 . 7 0 P r o c e s s u s :, C o m m a n d e e n t e n s i o n m m
65
61
61
59
59
57
0 .6 4 6 s 60 m m
57
55
55
tr 5 % = 0 .1 8 0 s
53
D p assem en t
53
51
D 1 ab s = 1 .7 9 m m D 1 rel= 1 7 .8 0 % t p ic = 0 . 1 4 5 s
51
49
49
0 .1 9 4 s 50 m m
47 47
45
45
0 .0 0
0 .0 8
0 .1 6
0 .2 4
0 .3 2
0 .4 0
0 .4 8
0 .5 6
0 .6 4
0 .7 2
0 .8 0
(s)
D ate: 0 2 h 1 2 m n , 2 9 O cto b er 2 0 0 4
T P 3 : CE on m B m F a :n Cd eo rt re en cs tio io nn P
D R E G dm s
149 160
C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 5 0 i n c , V a l . C = 1 5 0 i n c R e t a r d = 0 . 2 0 0 s C o r r e c t e u Pr : I D O u v e r t K 1 = 1 . 0 0 , K 2 = 0 . 7 0 P r o c e s s u s :, C o m m a n d e e n t e n s i o n m m
160
149
137
1 .2 3 8 s 150 m m
137
126
126
114
114
tr 5 % = 0 .6 7 5 s
103
D p assem en t 0 .1 9 9 s 50 m m
103
91
D 1 ab s = 1 .9 2 m m D 1 rel= 1 .9 3 % t p ic = 0 . 7 4 5 s
91
80
80
68
68
57
57
45
45
0 .0 0
0 .1 6
0 .3 2
0 .4 8
0 .6 4
0 .8 0
0 .9 6
1 .1 2
1 .2 8
1 .4 4
1 .6 0
(s)
D ate: 0 2 h 1 4 m n , 2 9 O cto b er 2 0 0 4
T P 3 : CE on m B m F a :n Cd eo rt re en cs tio io nn P P R O C ES SUS: A xN um
C o u rb e 2 1 .3 2 3 s 1 5 0 .9 m m
D R E G dm s
C o m p a ra is o n d e c o u rb e s d e r p o n s e
m m p o s it io n
160 149 137 126 114 103 91 80 68 57 45
G r a n d d p la c e m e n t ( 1 0 0 m m )
C o u rb e 1 0 .4 4 1 s 6 0 .5 m m P e t it d p la c e m e n t ( 1 0 m m )
C our be n1 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 1 9 8 1 5 in c R etard = 0 .2 0 0 s C o r r e c te ur : P I D O uv ert K 1 = 1 .0 0 K 2 = 0 .7 0 P r o c e ssu s: C d e e n t e n sio n
C our be n2 C o n s ig n e : E c h e lo n c o n s t a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 4 9 5 3 7 in c R etard = 0 .2 0 0 s C orr ec teur: P I D O uv ert K 1 = 1 .0 0 K 2 = 0 .7 0 P r o c e s su s : C d e e n t e n s io n
m m /s v it e ss e
200 170 140 110 80 50 20 -1 0 -4 0 -7 0 -1 0 0
0 .6 8 1 s 1 5 1 .4 m m /s
0 .0 0
0 .1 6
0 .3 2
0 .4 8
0 .6 4
0 .8 0
0 .9 6
1 .1 2
1 .2 8
1 .4 4
1 .6 0
(s)
D ate: 0 2 h 2 1 m n , 2 9 O cto b er 2 0 0 4
T P 3 : P o u r c o m m a n d e e n t e n s io n d u m o t e u r
D R E G dm s
m m p o s it io n
65 63 61 59 57 55 53 51 49 47 45
P R O C ES SUS: A xN um
0 .6 5 6 s 6 0 .1 m m
0 .3 2 1 s 6 1 .8 m m
0 .5 0 4 s 6 2 .1 m m
0 .4 7 5 s 5 9 .8 m m C o m m an d e en co u ra n t d u m o teu r
C our be n1 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 1 9 8 1 5 in c R etard = 0 .2 0 0 s C o r r e c te ur : P I D O uv ert K 1 = 1 .0 0 K 2 = 0 .1 9 P r o c e ssu s: C de en co uran t
C o m m a n d e e n t e n s io n d u m o t e u r
m m /s v it e ss e
200 170 140 110 80 50 20 -1 0 -4 0 -7 0 -1 0 0
0 .2 8 5 s 1 3 9 .0 m m /s
0 .4 2 6 s 6 7 . 6 m m /s
0 .0 0
0 .1 1
0 .2 1
0 .3 2
0 .4 3
0 .5 3
0 .6 4
0 .7 5
0 .8 5
0 .9 6
1 .0 7
(s)
D ate: 0 2 h 2 5 m n , 2 9 O cto b er 2 0 0 4
T P 3 : C o m p a r a is o n p o u r p e t it s d p la c e m e n t s
D R E G dm s
m m p o s it io n
170 158 145 133 120 108 95 83 70 58 45
C o m m an d e en co u ran t d u m o teu r
C o m m a n d e e n t e n s io n d u m o t e u r
m m /s v it e ss e
200 170 140 110 80 50 20 -1 0 -4 0 -7 0 -1 0 0
C o m m an d e en co u ran t d u m o teu r C o m m a n d e e n t e n s io n d u m o t e u r
0 .0 0
0 .3 2
0 .6 4
0 .9 6
1 .2 8
1 .6 0
1 .9 2
2 .2 4
2 .5 6
2 .8 8
3 .2 0
(s)
D ate: 0 2 h 2 9 m n , 2 9 O cto b er 2 0 0 4
T P 3 : C o m p a r a is o n p o u r g r a n d s d p la c e m e n t s
D R E G dm s
Partie Commande:
50 m m
S rp = K 1. K 1 = 1 .0 0 0
S rp
Correcteur P.I.D.
C O N S IG N E : E c h e lo n c o n s t a n t V a l. C6 0= m m R e t a r d0 . =2 0 0 s S rd +
-1
RAZ C
+
Im
1 ( t ) . d t S ri = Ti
S ri
S r = K 2 . K 2 = 2 3 2 .6 0 0
Sr
Um
Moteur
S rd
T d = 0 .0 1 0 s = 8 .0
M x
Interface Capteur
Codeur
M x'
M x"
D R E G dm s
63 65
C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 5 0 i n c , V a l . C = 6 0 i n c R e t a r d = 0 . 2 0 0 s C o r r e c t e u Pr : I D O u v= e r8 t . 0K 0 10 =, A1 .c0 t 0i o, nT d = r i0v . 0 e1 s su , r c a r t K 2 = 0 . 7 0 P r o c e s s u s :, C o m m a n d e e n t e n s i o n m m
65
63
61
61
59
59
0 .4 5 2 s 60 m m
57 57
55
55
tr 5 % = 0 .1 0 0 s
53
D p assem ent
53
51
51
49
49
47
0 .1 9 3 s 50 m m
47
45
45
0 .0 0
0 .0 5
0 .1 1
0 .1 6
0 .2 1
0 .2 6
0 .3 2
0 .3 7
0 .4 2
0 .4 8
0 .5 3
(s)
D ate: 0 2 h 4 9 m n , 2 9 O cto b er 2 0 0 4
T P 3 : C od re r et ec nt io s io n nP d+ uD m o t e u r
C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 5 0 i n c , V a l . C = 1 5 0 i n c R e t a r d = 0 . 2 0 0 s C o r r e c t e u Pr : I D O u v= e r8 t . 0K 0 10 =, A1 .c0 t 0i o, nT d = r i0v . 0 e1 s su , r c a r t K 2 = 0 . 7 0 P r o c e s s u s :, C o m m a n d e e n t e n s i o n m m
160
D R E G dm s
149 149 160
137
1 .3 5 6 s 150 m m
137
126
126
114
114
103
103
91
0 .1 9 1 s 50 m m
80
91
tr 5 % = 0 .9 6 0 s
D p assem ent
80
68
68
57
57
45
45
0 .0 0
0 .1 6
0 .3 2
0 .4 8
0 .6 4
0 .8 0
0 .9 6
1 .1 2
1 .2 8
1 .4 4
1 .6 0
(s)
D ate: 0 2 h 5 3 m n , 2 9 O cto b er 2 0 0 4
T P 3 : C od re r et ec nt io s io n nP d+ uD m o t e u r
D R E G dm s
m m p o s it io n
160 149 137 126 114 103 91 80 68 57 45
1 .2 6 4 s 1 5 0 .5 m m C o u rb e 2
C o u rb e 1 :
C our be n1 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 5 0 in c V a l. C = 1 5 0 in c R etard = 0 .2 0 0 s C o r r e c te ur : P I D O uv ert K 1 = 1 .0 0 T d = 0 .0 1 s = 8 .0 0 d r iv e s u r c a r t K 2 = 0 .7 0 P r o c e ssu s: C d e e n t e n sio n
C our be n2 C o n s ig n e : E c h e lo n c o n s t a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 1 9 8 1 5 in c R etard = 0 .2 0 0 s C orr ec teur: P I D O uv ert K 1 = 1 .0 0 T d = 0 .0 1 s = 8 .0 0 d riv e su r c a r t K 2 = 0 .7 0 P r o c e s su s : C d e e n t e n s io n
0 .3 3 6 s 6 1 .3 m m
m m /s v it e ss e
200 178 156 134 112 90 68 46 24 2 -2 0
0 .2 4 5 s 1 5 0 . 4 m m /s
C o u rb e 2 : 0 .9 2 3 s 1 0 2 . 2 m m /s
C o u rb e 1
0 .0 0
0 .1 6
0 .3 2
0 .4 8
0 .6 4
0 .8 0
0 .9 6
1 .1 2
1 .2 8
1 .4 4
1 .6 0
(s)
D ate: 0 2 h 5 7 m n , 2 9 O cto b er 2 0 0 4
C o m p a r a is o n C o r r e c t io n P + D P R O C ES SUS: A xN um
D R E G dm s
m m p o s it io n
65 63 61 59 57 55 53 51 49 47 45
C o u rb e 1
C o u rb e 2
C our be n1 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 1 9 8 1 5 in c R etard = 0 .2 0 0 s C o r r e c te ur : P I D O uv ert K 1 = 1 .0 0 T d = 0 .0 1 s = 8 .0 0 d r iv e s u r c a r t K 2 = 0 .7 0 P r o c e ssu s: C d e e n t e n sio n
C our be n2 C o n s ig n e : E c h e lo n c o n s t a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 1 9 8 1 5 in c R etard = 0 .2 0 0 s C orr ec teur: P I D O uv ert K 1 = 1 .0 0 T d = 0 .0 4 s = 8 .0 0 d riv e su r c a r t K 2 = 0 .1 9 P r o c e s su s : C de en co uran t
m m /s v it e ss e
200 178 156 134 112 90 68 46 24 2 -2 0
C o u rb e 1
C o u rb e 2
0 .0 0
0 .0 8
0 .1 6
0 .2 4
0 .3 2
0 .4 0
0 .4 8
0 .5 6
0 .6 4
0 .7 2
0 .8 0
(s)
D ate: 0 3 h 0 0 m n , 2 9 O cto b er 2 0 0 4
C o m p a r a is o n C o r r e c t io n P + D P e t it s D p la c e m e n t s
D R E G dm s
m m p o s it io n
65 63 61 59 57 55 53 51 49 47 45
P C o u ran t
P T e n s io n
P + D T e n s io n P+D C o u ran t
C our be n2 C o n s ig n e : E c h e lo n c o n s t a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 1 9 8 1 5 in c R etard = 0 .2 0 0 s C orr ec teur: P I D O uv ert K 1 = 1 .0 0 T d = 0 .0 4 s = 8 .0 0 d riv e su r c a r t K 2 = 0 .1 9 P r o c e s su s : C de en co uran t
m m /s v it e ss e
200
P T e n s io
175 150 125 100 75 50 25 0 -2 5 -5 0
P + D T e n s io n P C o u ran t P + D C o u ran t
C our be n3 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 1 9 8 1 5 in c R etard = 0 .2 0 0 s C o r r e c te ur : P I D O uv ert K 1 = 1 .0 0 K 2 = 0 .7 0 P r o c e ssu s: C d e e n t e n sio n
C our be n4 C o n s ig n e : E c h e lo n c o n s t a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 1 9 8 1 5 in c R etard = 0 .2 0 0 s C orr ec teur: P I D O uv ert K 1 = 1 .0 0 T d = 0 .0 1 s = 8 .0 0 d riv e su r c a r t K 2 = 0 .7 0 P r o c e s su s : C d e e n t e n s io n
0 .0 0
0 .0 8
0 .1 6
0 .2 4
0 .3 2
0 .4 0
0 .4 8
0 .5 6
0 .6 4
0 .7 2
0 .8 0
(s)
D ate: 0 3 h 0 4 m n , 2 9 O cto b er 2 0 0 4
C o m p a r a is o n C o r r e c t io n P / P + D P e t it s D p s
D R E G dm s

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D ate: 0 9 h 48 m n, 01 N ovem ber 2 00 4

Identification BO Cde en courant

Partie Oprative AxNum

Partie Oprative AxNum

Partie Oprative AxNum

C o u r b e n 1 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 0 in c V a l. C = 1 0 2 in c R etard = 0 .1 0 0 s P r o c e ssu s: C de en co uran t

C o u r b e n 2 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 0 in c V a l. C = 2 0 5 in c R etard = 0 .1 0 0 s P r o c e ssu s: C de e n co ura n t

C o u r b e n 3 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 0 in c V a l. C = 3 0 7 in c R etard = 0 .1 0 0 s P r o c e ssu s: C de en co uran t

Partie Oprative AxNum

C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 5 0 i n c , V a l . C = 6 0 i n c R e t a r d = 0 . 2 0 0 s C orre cteu r: P I D O u v e r t K 1 = 1 .0 0 , K 2 = 0 .1 9 P r o c e ssu s: , C o m m a n d e e n c o u r a n t m m

C o n s ig n e : E c h e l o n c o n s t a n t , V a l e u r R e p o s = 5 0 i n c , V a l . C = 1 5 0 i n c R e t a r d = 0 . 2 0 0 s C orre cteu r: P I D O u v e r t K 1 = 1 .0 0 , K 2 = 0 .1 9 P r o c e ssu s: , C o m m a n d e e n c o u r a n t m m

C o u r b e n 1 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 1 9 8 1 5 in c R etard = 0 .2 0 0 s C orre cteu r: P I D O uv ert K 1 = 1 .0 0 K 2 = 0 .1 9 P r o c e s s u s: C de en co uran t

C ou r b e n 2 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 4 9 5 3 7 in c R etard = 0 .2 0 0 s C or r e c te u r : P I D O uv ert K 1 = 1 .0 0 K 2 = 0 .1 9 P r o c e s su s : C de en co uran t

Partie Oprative AxNum

C o u r b e n 1 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 1 9 8 1 5 in c R etard = 0 .2 0 0 s C orre cteu r: P I D O uv ert K 1 = 1 .0 0 T d = 0 .0 4 s = 8 .0 0 d r iv e s u r c a r t K 2 = 0 .1 9 P r o c e s s u s: C de en co uran t

C ou r b e n 2 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 4 9 5 3 7 in c R etard = 0 .2 0 0 s C or r e c te u r : P I D O uv ert K 1 = 1 .0 0 T d = 0 .0 4 s = 8 .0 0 d r iv e su r c a r t K 2 = 0 .3 1 P r o c e s su s : C de en co uran t

Partie Oprative AxNum

C our be n1 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 1 9 8 1 5 in c R etard = 0 .2 0 0 s C o r r e c te ur : P I D O uv ert K 1 = 1 .0 0 K 2 = 0 .7 0 P r o c e ssu s: C d e e n t e n sio n

C our be n2 C o n s ig n e : E c h e lo n c o n s t a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 4 9 5 3 7 in c R etard = 0 .2 0 0 s C orr ec teur: P I D O uv ert K 1 = 1 .0 0 K 2 = 0 .7 0 P r o c e s su s : C d e e n t e n s io n

C our be n1 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 1 9 8 1 5 in c R etard = 0 .2 0 0 s C o r r e c te ur : P I D O uv ert K 1 = 1 .0 0 K 2 = 0 .1 9 P r o c e ssu s: C de en co uran t

C our be n2 C o n s ig n e : E c h e lo n c o n s t a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 1 9 8 1 5 in c R etard = 0 .2 0 0 s C orr ec teur: P I D O uv ert K 1 = 1 .0 0 K 2 = 0 .7 0 P r o c e s su s : C d e e n t e n s io n

C our be n1 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 4 9 5 3 7 in c R etard = 0 .2 0 0 s C o r r e c te ur : P I D O uv ert K 1 = 1 .0 0 K 2 = 0 .1 9 P r o c e ssu s: C de en co uran t

C our be n2 C o n s ig n e : E c h e lo n c o n s t a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 4 9 5 3 7 in c R etard = 0 .2 0 0 s C orr ec teur: P I D O uv ert K 1 = 1 .0 0 K 2 = 0 .7 0 P r o c e s su s : C d e e n t e n s io n

Partie Oprative AxNum

C our be n1 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 5 0 in c V a l. C = 1 5 0 in c R etard = 0 .2 0 0 s C o r r e c te ur : P I D O uv ert K 1 = 1 .0 0 T d = 0 .0 1 s = 8 .0 0 d r iv e s u r c a r t K 2 = 0 .7 0 P r o c e ssu s: C d e e n t e n sio n

C our be n2 C o n s ig n e : E c h e lo n c o n s t a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 1 9 8 1 5 in c R etard = 0 .2 0 0 s C orr ec teur: P I D O uv ert K 1 = 1 .0 0 T d = 0 .0 1 s = 8 .0 0 d riv e su r c a r t K 2 = 0 .7 0 P r o c e s su s : C d e e n t e n s io n

C our be n1 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 1 9 8 1 5 in c R etard = 0 .2 0 0 s C o r r e c te ur : P I D O uv ert K 1 = 1 .0 0 T d = 0 .0 1 s = 8 .0 0 d r iv e s u r c a r t K 2 = 0 .7 0 P r o c e ssu s: C d e e n t e n sio n

C our be n2 C o n s ig n e : E c h e lo n c o n s t a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 1 9 8 1 5 in c R etard = 0 .2 0 0 s C orr ec teur: P I D O uv ert K 1 = 1 .0 0 T d = 0 .0 4 s = 8 .0 0 d riv e su r c a r t K 2 = 0 .1 9 P r o c e s su s : C de en co uran t

C our be n1 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 1 9 8 1 5 in c R etard = 0 .2 0 0 s C o r r e c te ur : P I D O uv ert K 1 = 1 .0 0 K 2 = 0 .1 9 P r o c e ssu s: C de en co uran t

C our be n2 C o n s ig n e : E c h e lo n c o n s t a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 1 9 8 1 5 in c R etard = 0 .2 0 0 s C orr ec teur: P I D O uv ert K 1 = 1 .0 0 T d = 0 .0 4 s = 8 .0 0 d riv e su r c a r t K 2 = 0 .1 9 P r o c e s su s : C de en co uran t

C our be n3 C o n s ig n e : E c h e lo n c o n st a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 1 9 8 1 5 in c R etard = 0 .2 0 0 s C o r r e c te ur : P I D O uv ert K 1 = 1 .0 0 K 2 = 0 .7 0 P r o c e ssu s: C d e e n t e n sio n

C our be n4 C o n s ig n e : E c h e lo n c o n s t a n t V a le u r R e p o s = 1 6 5 1 2 in c V a l. C = 1 9 8 1 5 in c R etard = 0 .2 0 0 s C orr ec teur: P I D O uv ert K 1 = 1 .0 0 T d = 0 .0 1 s = 8 .0 0 d riv e su r c a r t K 2 = 0 .7 0 P r o c e s su s : C d e e n t e n s io n

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