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

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«« 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

EMR’14CoïmbraJune 2014

Summer School EMR’14“Energetic Macroscopic Representation”

«« IntroductionIntroduction »»

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

- 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

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

High frequency vibration

- Reduction of forging force by vibrations -

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

- Reduction of forging force by vibrations -

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

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

- Multi-piezo-actuator system-

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

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

- 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

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

- Multi-piezo-actuator system -

EMR’14CoïmbraJune 2014

Summer School EMR’14“Energetic Macroscopic Representation”

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

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

- Modeling of mechanical system -

Speed and force transmission

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

- Modeling of mechanical system -

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

- Modeling of electrical system -

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

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

- Modeling of electrical system -

Diode’s operating diagram Supply system’s EMR

Us : DC voltageUP : Actuators’ voltage

MeasureSimulation (US=100V)

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

- Modeling of complete system -

Complete system’s EMR

Vibrations along Oz

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

- Modeling of complete system -

Rotations around Ox and Oy

EMR’14CoïmbraJune 2014

Summer School EMR’14“Energetic Macroscopic Representation”

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

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

- Strategy for controlling of supply voltage -

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

- Strategy for controlling of supply voltage -

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

- Controlling structure for generation of vibration -

Maximal Control Structure

Practical Control Structure

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

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

- Controlling structure for generation of vibration -

Transformation for voltage control

Transformation for speed control

Practical Control Structure in the frame dqh

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

- Experimental system -

Transfer function

Identified model

Step response of d-axis

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

- Closed-loop voltage control -

Step response of dq-axis voltage

Measured voltage Udqh Actuators’ voltage

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

- 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

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

- 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)

EMR’14CoïmbraJune 2014

Summer School EMR’14“Energetic Macroscopic Representation”

«« BBIOGRAPHIES AND IOGRAPHIES AND RREFERENCES EFERENCES »»

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

- 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

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

- 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)