公开(公告)号：US20160005390A1

公开(公告)日：2016-01-07

申请号：US14767211

申请日：2014-02-11

Applicant: IXBLUE

Inventor： Bernard VAU

IPC: G10K11/178

CPC classification number: G10K11/178

Abstract: An active acoustic control method for attenuating disturbing narrow-band noise with at least one counter-noise loudspeaker and at least one error microphone in a space forming a material electroacoustic system, the method implementing, in a computing element, a control law with an internal model and disturbance observer with a model of the electroacoustic system, previously obtained by an identification method. The current configuration of the electroacoustic system can vary over time, a nominal configuration of the electroacoustic system is previously determined, a corresponding nominal model Mo(q−1) or Mo(k) previously identified, the control law with an internal model and disturbance observer is implemented in real time, a modifier block Δ(q−1) or Δ(k) is applied to and associated with the nominal model, and the nominal model remains the same during the variations of the current configuration of the electroacoustic system, and the modifier block is varied in real time during these variations.

Abstract translation: 一种用于在形成材料电声系统的空间中用至少一个反噪声扬声器和至少一个误差麦克风衰减干扰窄带噪声的主动声控制方法，该方法在计算元件中实现具有内部的控制律 模型和干扰观测器，其具有以前通过识别方法获得的电声系统的模型。 电声系统的当前配置可以随时间变化，预先确定电声系统的标称配置，先前识别的对应的标称模型Mo（q-1）或Mo（k），具有内部模型和干扰的控制规律 观察者实时实现，修改器块＆Dgr;（q-1）或＆Dgr;（k）被应用于标称模型并与标称模型相关联，并且在电声目前配置的变化期间，标称模型保持相同 系统，并且修改器块在这些变化期间实时变化。

公开(公告)号：US20170322523A1

公开(公告)日：2017-11-09

申请号：US15526489

申请日：2015-11-18

Applicant: IXBLUE

Inventor： Bernard VAU

IPC: G05B13/04 ,  G05B17/02 ,  G06F17/14

CPC classification number: G05B13/042 ,  G05B17/02 ,  G05B19/19 ,  G05B2219/41161 ,  G06F17/14

Abstract: A dry friction compensation method for at least one mass or inertia M mobile under the effect of at least one effector element controlled by a force or torque control signal U, the motion of the mass or inertia being characterized by a motion signal Y chosen among one or several of the position X, the speed V and the acceleration, the method includes: defining an ideal model of the closed loop; defining a dry friction compensation control law; the dry friction compensation control law being based on the following friction model: P = min  ( max  ( VM τ + U , - S ) , S ) , where V is the speed of the mobile mass or inertial subjected to the friction and τ a minor time constant, and S is a parameter of dry friction.

公开(公告)号：US20230236040A1

公开(公告)日：2023-07-27

申请号：US17925286

申请日：2021-05-11

Applicant: IXBLUE

Inventor： Bernard VAU ,  Mehdi BUSSUTIL

IPC: G01D5/244 ,  G01D5/347

CPC classification number: G01D5/2448 ,  G01D5/24495 ,  G01D5/3473

Abstract: Disclosed is a method for estimating angular errors of coders for a looped system including a rotating actuator and an angle coder producing a position measurement signal, and including a calculation device controlling the actuator, the calculation device receiving a setpoint signal, as well as the measurement signal, for looping, the calculation device calculating in a corrector a control signal. In a test phase, a specific corrector Cωrj(q) is synthesised for constant rotation speed ωrj, the corrector having substantially zero gain at the frequency and harmonics, resulting in opening the loop at the frequencies, a matrix relation is established between position measurements and a function of parameters characterizing the coder errors and the torque ripples, the test phase repeats with different speeds, the matrix relations are concatenated producing an identifiable global matrix relation, the encoder error and torque ripple parameters are estimated by resolution of the global matrix relation.

公开(公告)号：US20200183341A1

公开(公告)日：2020-06-11

申请号：US16311967

申请日：2017-06-16

Applicant: IXBLUE

Inventor： Bernard VAU ,  Mehdi BUSSUTIL

IPC: G05B13/04 ,  G05B19/404

Abstract: Disclosed is a method for compensating for disturbing couples for a movement simulator, the simulator including, for each axis, a monovariable correcting unit that receives a signal giving the difference between the setpoint θrj and the measurement θj for the corresponding axis and producing the control signal Uj. The disruptive couples are Coriolis, centrifugal and gravitational couples and furthermore a compensating law calculates a formula (a) estimating the disruptive couples, calculated on the basis of an error εj(t) that is the control signal Uj filtered by a filter H(q−1), and the simulator is modelled with a dynamic model expressing the couples in an affine way with respect to a set of base parameters χ according to a matrix relationship of the type: formula (b), and a subset j of base parameters, the estimation of the couples being formula (c), and, online, the αj are calculated via an iterative equation.

公开(公告)号：US20210141347A1

公开(公告)日：2021-05-13

申请号：US16770202

申请日：2018-12-06

Applicant: IXBLUE

Inventor： Bernard VAU ,  Lionel MINNIE

IPC: G05B13/04

Abstract: A method for automated optimisation of a servo control system controlled by a setpoint, the servo control system including a corrector in a feedback loop, the method exhibiting satisfactory reliability and performance in terms of stability through an iterative procedure, the most effective corrector being determined from among correctors by developing a current value of the delay margin and by individually testing the correctors on the servo control system of the real mechatronic system and by injecting an excitation signal into the loop and by assessing two effective indicators based on at least one effective static margin and one effective dynamic margin, the two effective indicators being an effective static indicator and an effective dynamic indicator, the iterative procedure being stopped on a corrector, which is then the optimal corrector, when the two effective indicators become greater than respective thresholds determined for a current delay margin value.