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Accueil du site > Equipes > Systèmes Non Linéaires et à Retards (SyNeR) > Experimental facilities

Experimental facilities

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Networked/Embedded Control Systems


Haptic control and bilateral teleoperation over networks

Bilateral teleoperation is the extension of a person’s sensing and manipulation capability to a remote environment, a typical form of which is composed of the human operator, the master robot, the communication medium, the slave robot and the environment. The remote slave robot tracks the motion of the master robot commanded by the human operator. Conversely, the corresponding data of the slave robot is also transmitted back to the master robot, in particular, to improve the task performance, force feedback from the slave to master, representing contact motion, provides a more extensive feeling of telepresence.

Unstable behaviour in Networked Control


Technical staff : G. Marguerite, J. Lasue, H. Rossi, B. Szukala

Mobile robots


Robocity



Intelligent wheelchair

The aim of the Franco-English Sysiass project is to design an intelligent wheelchair that is able to provide patients with improved mobility, as well as facilitate care in hospital or at home. It is financed by the European Regional Development Fund (ERDF) as part of an Interreg programme ("IV A 2 Mers").

Technical staff : Z. Qiu, X. Jin, J. Palos


Electrical actuators

Sensor free control of stepper motors

Permanent Magnet Stepper Motors (PMSM’s) are widely used in industry for position control, especially in manufacturing applications. PMSM’s are more robust than brush DC motors and produce high torque per volume. They are often controlled in open-loop, although the potential loss of synchronism limits operation away from resonances and from high acceleration trajectories. Using closed-loop control methods with position sensors of sufficient accuracy can solve these problems. Recent research has focussed on whether the performance of closed-loop control methods could be achieved using sensorless systems. In this case, sensorless refers to systems that do not have position sensors, although current sensors are still assumed to be available.


Magnetic bearing


Magnetic bearings can be used for machine tool spindles to produce circular and non-circular holes with high precision. Especially in high-speed applications, magnetic bearings won importance. Because they have a contact free suspension, they provide advantages compared to conventional bearings, such as no lubrication and no frictions. This improves reliability and performances. There is a real industrial demand for such processes, which allow non-circular motion in the range of 50 micro-meters. The required precision is really important : Path tracking error must be less than 1 micro-meter on circular paths and 3 micro- meters on non-circular ones with a rotation speed up to 1000 rpm. The magnetic shaft used in our laboratory consists of one electromagnetic radial bearing and two axial bearings. It is an inherently unstable system where the dynamics are strongly nonlinear.


Technical staff : G. Marguerite, J. Lasue, H. Rossi, B. Szukala