Contribution à la modélisation, l'identification et à la commande d'une interface haptique à un degré de liberté entrainée par une machine synchrone à aimants permanents

This work focuses on the use of permanent magnet synchronous machines to actuate haptic interfaces. The model of the benchmark is first presented and the spécifications of thé system defined. The parametric identification of the electrical and mechanical models is then realised with two methods: inverse model and least squares technique, and, method of the model and Marquardt algorithm. The regulation of the interface is based on two cascaded current and speed loops, to which is added a `haptic' loop simulating a stiff virtual spring. A precise simulation of the system, based on dynamic hybrid model, validates the proposed control strategy. An original passive régulation is then developed based on wave variables. Finally, a discrete speed estimation method is proposed in order to increase the performances of the control in the case of low resolution encoders. Experimental results are presented and validate the proposed identification methods and control strategies.