公开(公告)号：US11036193B2

公开(公告)日：2021-06-15

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.