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.