Download or read book Contribution l etude des chaines d actionnement lectriques des robots written by Pierre-Philippe Robet and published by . This book was released on 1996 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book CONTRIBUTION A L ETUDE DES CHAINES D ACTIONNEMENT ELECTRIQUES DES ROBOTS written by Pierre-Philippe Robet and published by . This book was released on 1996 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: L'UTILISATION PRATIQUE DES RESULTATS OBTENUS DANS LES DOMAINES DE L'IDENTIFICATION ET DE LA COMMANDE DES ROBOTS SUPPOSE LA MESURE OU L'ESTIMATION PRECISE DES COUPLES ARTICULAIRES APPLIQUES A LA STRUCTURE, CE QUI NECESSITE UNE BONNE CONNAISSANCE DE LA CHAINE DE TRANSMISSION DE LA CONSIGNE DE COUPLE DU CONTROLEUR NUMERIQUE JUSQU'A L'ARTICULATION DU ROBOT. LES TRAVAUX DEVELOPPES DANS CETTE THESE CONCERNENT LA MODELISATION ET L'IDENTIFICATION DE L'ACTIONNEUR ELECTRIQUE (DYNAMIQUE, SATURATIONS DE L'ASSOCIATION CONVERTISSEUR MACHINE A COURANT CONTINU (MCC) ET MACHINE SYNCHRONE (MS), COMMANDE,) A TRAVERS TROIS THEMES PRINCIPAUX. -MODELISATION DE L'AMPLIFICATEUR DE PUISSANCE QUI UTILISE LA TECHNIQUE DE LA MODULATION DE LARGEUR D'IMPULSION (MLI). DANS LE CAS D'UNE COMMANDE ANALOGIQUE UN MODELE GAIN PUR EST ETABLI AVEC UN CALCUL RIGOUREUX DES HARMONIQUES DE TENSION DEFINISSANT LES LIMITES DE VALIDITE DU MODELE. AVEC LA COMMANDE NUMERIQUE ON MONTRE QUE L'ECHANTILLONNEUR BLOQUEUR ASSOCIE A UNE MLI ANALOGIQUE CONSTITUE UNE BONNE APPROXIMATION DU MODELE PLUS FIN CALCULE AVEC L'APPROCHE FREQUENTIELLE. CES RESULTATS SONT ETENDUS A L'ETUDE DE L'ONDULEUR TRIPHASE PAR UN CALCUL DES HARMONIQUES DE LA TENSION DE LA MLI TRIPHASEE DANS LE REPERE D-Q EN REGIME EQUILIBRE ET DESEQUILIBRE ET LES HARMONIQUES DE COUPLE QUI EN DECOULENT. -IDENTIFICATION EXPERIMENTALE DES PARAMETRES DES MACHINES QUI UTILISE UNE METHODE ISSUE DE LA ROBOTIQUE BASEE SUR LE CALCUL ET LE SUIVI D'UN SIGNAL EXCITANT POUR AUGMENTER LA ROBUSTESSE DE L'IDENTIFICATION VIS A VIS DES PERTURBATIONS. DEUX APPROCHES SONT PROPOSEES: L'UNE PERMET D'IDENTIFIER GLOBALEMENT TOUS LES PARAMETRES ET L'AUTRE PROCEDE EN TROIS ETAPES, AVEC UNE AMELIORATION DE LA PRECISION DE L'ESTIMATION DES PARAMETRES. -MODELISATION SIMPLIFIEE DE L'ACTIONNEUR COMMANDE EN COURANT AVEC PRISE EN COMPTE DES SATURATIONS SIGNIFICATIVES SUR LES PERTES DE PERFORMANCES, CE QUI PERMET DE DIMINUER TRES NETTEMENT LE TEMPS DE SIMULATION. FINALEMENT, LES PARAMETRES IDENTIFIES SONT UTILISES POUR IMPLANTER UNE COMMANDE DYNAMIQUE EN TENSION DU ROBOT QUI S'AVERE PLUS PERFORMANTE QU'UNE COMMANDE DYNAMIQUE CLASSIQUE EN COUPLE

Download or read book CONTRIBUTION A L INTEGRATION DE SYSTEMES DE COMMANDE DE MACHINES ELECTRIQUES written by FABRICE.. AUBEPART and published by . This book was released on 1999 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt: LES RECENTS PROGRES DE LA MICRO-ELECTRONIQUE, NOTAMMENT DANS LE CAS DES PROCESSEURS NUMERIQUES ET DES COMPOSANTS DE PUISSANCE, SONT A L'ORIGINE DU FORT DEVELOPPEMENT DES CHAINES D'ENTRAINEMENT INDUSTRIELLES A BASE DE MACHINES ALTERNATIVES. TOUTEFOIS, UN GRAND NOMBRE DE TRAVAUX DE RECHERCHE DANS LE DOMAINE DES CHAINES D'ENTRAINEMENT ELECTRIQUES CONCERNENT PRINCIPALEMENT LA STRATEGIE DE COMMANDE ET SON IMPLANTATION A PARTIR DE PROCESSEURS STANDARDS OU DEDIES (MICROPROCESSEUR, MICROCONTROLEUR, DSP). QUANT A L'INTEGRATION DE LA COMMANDE DANS UN ASIC (APPLICATION SPECIFIC INTEGRATED CIRCUIT), ELLE EST ENCORE PEU DEVELOPPEE. LES ASICS PRESENTENT POURTANT DE NOMBREUX AVANTAGES DONT CELUI DE PERMETTRE L'INTEGRATION GLOBALE DU SYSTEME DE COMMANDE (COMMANDE NUMERIQUE ET INTERFACES ANALOGIQUES) DANS UNE MEME PUCE DE SILICIUM. AINSI, L'ASIC PERMETTRA UNE AUGMENTATION DE LA FIABILITE DE LA COMMANDE ET DES PUISSANCES MASSIQUE ET VOLUMIQUE, UNE DIMINUTION DE LA SENSIBILITE ELECTROMAGNETIQUE. DANS CE TRAVAIL, L'AUTEUR PRESENTE L'ETUDE D'INTEGRATION SUR ASIC NUMERIQUE CMOS D'UNE COMMANDE VECTORIELLE PARTICULIERE DE MACHINE ASYNCHRONE, LA COMMANDE DIRECTE DU COUPLE OU DTC. AFIN D'ETUDIER LES DIFFERENTES CARACTERISTIQUES DE LA COMMANDE CHOISIE AINSI QUE L'ADAPTATION DE SON ALGORITHME AU NUMERIQUE ET L'ETUDE D'ARCHITECTURES POUR SON INTEGRATION, UNE METHODOLOGIE DE CONCEPTION DESCENDANTE SPECIFIQUE A ETE ELABOREE. CELLE-CI A NECESSITE LA MISE EN PLACE D'UN ENVIRONNEMENT DE SIMULATION MIXTE (ANALOGIQUE-NUMERIQUE) QUI A PERMIS D'ETUDIER ET DE VALIDER LES DESCRIPTIONS VHDL CARACTERISANT LES MODELES SUCCESSIFS DE LA COMMANDE. LE PLACEMENT-ROUTAGE D'UNE DES ARCHITECTURES ETUDIEES A ETE CONCU EN TECHNOLOGIE CMOS 0,8 M. LES CARACTERISTIQUES ESTIMEES DU CIRCUIT INTEGRE AINSI REALISE PERMETTENT D'ENVISAGER LA CONCEPTION D'UN ASIC MIXTE REGROUPANT L'ALGORITHME DE COMMANDE AINSI QUE CERTAINS ELEMENTS D'INTERFACE ANALOGIQUES (CAPTEURS DE COURANT, CAN, DRIVER, ELECTRONIQUE D'ACQUISITION ET DE MISE EN FORME).

Download or read book The Disappearing Computer written by Norbert Streitz and published by Springer. This book was released on 2007-07-20 with total page 314 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book examines how the computer, as we currently know it, will be replaced by a new generation of technologies, moving computing off the desktop and ultimately integrating it with real world objects and everyday environments. It provides a unique combination of concepts, methods and prototypes of ubiquitous and pervasive computing reflecting the current interest in smart environments and ambient intelligence.

Download or read book Semiconductor Power Devices written by Josef Lutz and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This book discusses semiconductor properties, pn-junctions and the physical phenomena for understanding power devices in depth. Working principles of state-of-the-art power diodes, thyristors, MOSFETs and IGBTs are explained in detail, as well as key aspects of semiconductor device production technology. Special peculiarities of devices from the ascending semiconductor materials SiC and GaN are discussed. This book presents significant improvements compared to its first edition. It includes chapters on packaging and reliability. The chapter on semiconductor technology is written in a more in-depth way by considering 2D- and high concentration effects. The chapter on IGBTs is extended by new technologies and evaluation of its potential. An extended theory of cosmic ray failures is presented. The range of certain important physical relationships, doubted in recent papers for use in device simulation, is cleared and substantiated in this second edition.

Download or read book Modern Surface Organometallic Chemistry written by Jean-Marie Basset and published by John Wiley & Sons. This book was released on 2009-07-10 with total page 725 pages. Available in PDF, EPUB and Kindle. Book excerpt: Covering everything from the basics to recent applications, this monograph represents an advanced overview of the field. Edited by internationally acclaimed experts respected throughout the community, the book is clearly divided into sections on fundamental and applied surface organometallic chemistry. Backed by numerous examples from the recent literature, this is a key reference for all chemists.

Download or read book Reliability of Power Electronic Converter Systems written by Henry Shu-hung Chung and published by IET. This book was released on 2015-12-07 with total page 502 pages. Available in PDF, EPUB and Kindle. Book excerpt: The main aims of power electronic converter systems (PECS) are to control, convert, and condition electrical power flow from one form to another through the use of solid state electronics. This book outlines current research into the scientific modeling, experimentation, and remedial measures for advancing the reliability, availability, system robustness, and maintainability of PECS at different levels of complexity.

Download or read book Simulation for Supply Chain Management written by Caroline Thierry and published by Wiley-ISTE. This book was released on 2008-09-22 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a detailed insight into the simulation approaches employed in the study of supply chain management and control. It begins by examining the types of simulation models (continuous simulation, discrete-event systems and simulation games) before moving on to the distribution levels of systems and models. It concludes with a thorough discussion of simulation products. Simulation methodologies and techniques are also covered throughout the text and case studies are included to highlight the pivotal role played by simulation in the decision-making processes of those working in this field.

Download or read book The Shows of London written by Richard Daniel Altick and published by Harvard University Press. This book was released on 1978 with total page 580 pages. Available in PDF, EPUB and Kindle. Book excerpt: History of London entertainment from 1600 to the end of the 1850's.

Download or read book The Last Billion Years written by Atlantic Geoscience Society and published by Nimbus Publishing (CN). This book was released on 2001 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is about the history of the rocks and fossils of the Maritime Provinces of Canada (New Brunswick, Nova Scotia and PEI) over the last billion years. The book is beautifully illustrated in full colour, with original paintings of ancient vistas, over 150 photographs, and crisp explanatory diagrams and sketches.

Download or read book Dictionary of Technical Terms for Aerospace Use written by United States. National Aeronautics and Space Administration. Scientific and Technical Information Division and published by . This book was released on 1965 with total page 338 pages. Available in PDF, EPUB and Kindle. Book excerpt: Brief definitions "intended to be as clear as possible to the non-expert, but accuracy has not been compromised for the sake of readability. Mathematics has been used where necessary to avoid ambiguity."--Intro. Published 1965.

Download or read book Lord George Bentinck written by Benjamin Disraeli and published by London : Colburn. This book was released on 1852 with total page 614 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Cyclopaedic Science Simplified written by John Henry Pepper and published by Brown Press. This book was released on 2007-10 with total page 708 pages. Available in PDF, EPUB and Kindle. Book excerpt: PREFACE. THE Author of this very practical treatise on Scotch Loch - Fishing desires clearly that it may be of use to all who had it. He does not pretend to have written anything new, but to have attempted to put what he has to say in as readable a form as possible. Everything in the way of the history and habits of fish has been studiously avoided, and technicalities have been used as sparingly as possible. The writing of this book has afforded him pleasure in his leisure moments, and that pleasure would be much increased if he knew that the perusal of it would create any bond of sympathy between himself and the angling community in general. This section is interleaved with blank shects for the readers notes. The Author need hardly say that any suggestions addressed to the case of the publishers, will meet with consideration in a future edition. We do not pretend to write or enlarge upon a new subject. Much has been said and written-and well said and written too on the art of fishing but loch-fishing has been rather looked upon as a second-rate performance, and to dispel this idea is one of the objects for which this present treatise has been written. Far be it from us to say anything against fishing, lawfully practised in any form but many pent up in our large towns will bear us out when me say that, on the whole, a days loch-fishing is the most convenient. One great matter is, that the loch-fisher is depend- ent on nothing but enough wind to curl the water, -and on a large loch it is very seldom that a dead calm prevails all day, -and can make his arrangements for a day, weeks beforehand whereas the stream- fisher is dependent for a good take on the state of the water and however pleasant and easy it may be for one living near the banks of a good trout stream or river, it is quite another matter to arrange for a days river-fishing, if one is looking forward to a holiday at a date some weeks ahead. Providence may favour the expectant angler with a good day, and the water in order but experience has taught most of us that the good days are in the minority, and that, as is the case with our rapid running streams, -such as many of our northern streams are, -the water is either too large or too small, unless, as previously remarked, you live near at hand, and can catch it at its best. A common belief in regard to loch-fishing is, that the tyro and the experienced angler have nearly the same chance in fishing, -the one from the stern and the other from the bow of the same boat. Of all the absurd beliefs as to loch-fishing, this is one of the most absurd. Try it. Give the tyro either end of the boat he likes give him a cast of ally flies he may fancy, or even a cast similar to those which a crack may be using and if he catches one for every three the other has, he may consider himself very lucky. Of course there are lochs where the fish are not abundant, and a beginner may come across as many as an older fisher but we speak of lochs where there are fish to be caught, and where each has a fair chance. Again, it is said that the boatman has as much to do with catching trout in a loch as the angler. Well, we dont deny that. In an untried loch it is necessary to have the guidance of a good boatman but the same argument holds good as to stream-fishing...

Download or read book New Telecommunications Services written by Organisation for Economic Co-operation and Development and published by Organisation for Economic Co-operation and Development ; [Washington, D.C. : OECD Publications and Information Centre. This book was released on 1988 with total page 72 pages. Available in PDF, EPUB and Kindle. Book excerpt: