Monday 25-Oct-21 |

Control of high-speed product machine based on causal ordering graph


Richard BEAREE

Frédéric COLAS

Ghyslain REMY


This experimental demonstration deals with the use of Causal Ordering Graph for the simulation of high-speed industrial machines and the resulting control structures deduced by inversion principles.



The topic of this demonstration is related to the problems of the elaboration of control strategies for the new generation of positioning systems submitted to high dynamical demands. Among those systems, one finds the machine tools, the robots and the maneuver systems. The main objective is obviously the reduction of production time, which necessarily implies a reduction of the system inertia and an increase of the efforts (stresses) imposed on the overall mechanical structure. These evolutions lead the concerned machines to a dynamic behaviour, which cannot be forgotten by the control law any more. Causal Ordering Graph (COG) is used to model the process by taking into account its flexible part. The fundamental objective of the COG tool is to propose, by a graphical way and thanks to some simple principles, a control law synthesis taking into account the physical transfers of the process. Experimental demonstrations of some resulting control structures will be presented on a Cartesian 3-axis robot and on a linear drive system.

Fig. 1: Cartesian robot and linear drive system

Fig. 2: Direct coupling of the two inversion principles: feedforwarded cascaded loops control.



J.P. Hautier, P.J. Barre,
"The causal ordering graph – A tool for system modelling and control law synthesis",
Journal of studies in informatics and control,
vol. 13, no. 4, pp. 265-283.

R. Béarée, J.P. Hautier, P.J. Barre,
"Control structure synthesis for electromechanical systems based on the concept of inverse model using Causal Ordering Graph",
Paris, November 2006.

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