公开(公告)号：US08384330B2

公开(公告)日：2013-02-26

申请号：US12686694

申请日：2010-01-13

Applicant: Paul-Louis Levy ,  Michel Basset ,  Gaétan Pouly ,  Jean-Philippe Lauffenburger

Inventor： Paul-Louis Levy ,  Michel Basset ,  Gaétan Pouly ,  Jean-Philippe Lauffenburger

IPC: G05B11/01

CPC classification number: G05B13/042 ,  B64C25/50 ,  G05B2219/42012

Abstract: The invention relates to a method of managing a steering control for a steerable portion of an aircraft undercarriage, the method comprising implementing servo-control to servo-control an electromechanical steering actuator on an angular position setpoint, wherein, according to the invention, the servo-control implements a control relationship H∞ type, the position and speed information being delivered by means of a fieldbus of deterministic type to a computer that implements the servo-control.

Abstract translation: 本发明涉及一种管理用于飞机起落架的可转向部分的转向控制的方法，所述方法包括实现伺服控制以在角位置设定点上对机电转向致动器进行伺服控制，其中根据本发明，所述伺服 控制实现控制关系H∞类型，通过确定性类型的现场总线传送的位置和速度信息到实现伺服控制的计算机。

公开(公告)号：US20170282364A1

公开(公告)日：2017-10-05

申请号：US15512159

申请日：2015-09-29

Applicant: COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES

Inventor： Neil ABROUG

IPC: B25J9/16

CPC classification number: B25J9/1633 ,  B25J9/1641 ,  G05B2219/39186 ,  G05B2219/39201 ,  G05B2219/39338 ,  G05B2219/42012

Abstract: The invention relates to a method of control ling an actuator (1) of an articulated segment (5) comprising the steps of estimating an inertia J of the segment; estimating or measuring a speed of displacement (I) of the segment; synthesizing a control law of type (II) generating a control torque for the segment on the basis of these estimates or measurements and meeting a performance objective pertaining to the loading sensitivity function: (III) K being the desired stiffness, and c a desired damping rate, a a mathematical artifact, (IV), where G(s) is the transfer function (V) for going between the speed (I) (linear or angular) of the segment and an external force F experienced by the segment; and controlling the actuator of the articulated segment according to the control law thus synthesized. X . ( I ) H ∞ ( II )  S F  ( s )  W S  ( s )  ∞ ≤ 1   avec   W s  ( s ) = ( J s 2 + ɛ J s 2 + cs + K ) - 1 ( III ) S F  ( s ) = G  ( s ) · J · s ( IV ) G  ( s ) = X .  /  F ( V )

公开(公告)号：US20070073442A1

公开(公告)日：2007-03-29

申请号：US11236507

申请日：2005-09-28

Applicant: Farhad Aghili

Inventor： Farhad Aghili

IPC: G06F19/00

CPC classification number: B25J9/1605 ,  G05B2219/39186 ,  G05B2219/39343 ,  G05B2219/40311 ,  G05B2219/40318 ,  G05B2219/40323 ,  G05B2219/42012

Abstract: A system for replicating the behavior of a target robotic manipulator with respect to a payload and worksite, has a real-time simulator capturing the dynamics of the target robot manipulator; a mock-up of the payload and worksite; and an emulating robotic manipulator for interacting with said payload and worksite. The emulating robotic manipulator is controlled by the real-time simulator in a control loop to replicate the dynamical behavior of said target robotic manipulator in its environment by matching the impedance of the emulating robotic manipulator with that of the target robotic manipulator.

Abstract translation: 用于复制目标机器人操纵器相对于有效载荷和工作现场的行为的系统具有捕捉目标机器人操纵器的动力学的实时模拟器; 有效载荷和工地的模型; 以及用于与所述有效载荷和工作现场相互作用的仿真机器人操纵器。 仿真机器人操纵器由控制回路中的实时模拟器控制，以通过将仿真机器人操纵器的阻抗与目标机器人操纵器的阻抗相匹配来复制其环境中的所述目标机器人操纵器的动力学行为。

公开(公告)号：US08676355B2

公开(公告)日：2014-03-18

申请号：US12393871

申请日：2009-02-26

Applicant: Kiyoshi Takagi

Inventor： Kiyoshi Takagi

IPC: G05D1/12 ,  G05B13/02 ,  G06F17/00

CPC classification number: G03F7/70725 ,  G05B13/0265 ,  G05B19/19 ,  G05B2219/41439 ,  G05B2219/42012

Abstract: A position control apparatus includes a detecting unit configured to detect a position of a control target, a subtracting unit configured to subtract an output of the detecting unit from a target value, an iterative learning control circuit including a filter into which a deviation between the output of the detecting unit and the target value is input, where the iterative learning control circuit feeds forward a control input to the control target, and a parameter computing unit configured to compute a variation in a parameter of the control target. A characteristic of the filter is changed in accordance with the variation in the parameter of the control target.

Abstract translation: 一种位置控制装置，包括：检测单元，被配置为检测控制对象的位置;减法单元，被配置为从目标值中减去所述检测单元的输出;迭代学习控制电路，包括滤波器，所述滤波器的输出 输入检测单元和目标值，其中迭代学习控制电路向控制目标馈送控制输入;以及参数计算单元，被配置为计算控制目标的参数的变化。 滤波器的特性根据控制目标的参数的变化而改变。

公开(公告)号：US20100181954A1

公开(公告)日：2010-07-22

申请号：US12686694

申请日：2010-01-13

Applicant: Paul-Louis LEVY ,  Michel Basset ,  Gaétan Pouly ,  Jean-Philippe Lauffenburger

Inventor： Paul-Louis LEVY ,  Michel Basset ,  Gaétan Pouly ,  Jean-Philippe Lauffenburger

IPC: G05B5/01

CPC classification number: G05B13/042 ,  B64C25/50 ,  G05B2219/42012

Abstract: The invention relates to a method of managing a steering control for a steerable portion of an aircraft undercarriage, the method comprising implementing servo-control to servo-control an electromechanical steering actuator on an angular position setpoint, wherein, according to the invention, the servo-control implements a control relationship H∞ type, the position and speed information being delivered by means of a fieldbus of deterministic type to a computer that implements the servo-control.

Abstract translation: 本发明涉及一种管理用于飞机起落架的可转向部分的转向控制的方法，所述方法包括实现伺服控制以在角位置设定点上对机电转向致动器进行伺服控制，其中根据本发明，所述伺服 控制实现控制关系H∞类型，通过确定性类型的现场总线传送的位置和速度信息到实现伺服控制的计算机。

公开(公告)号：US07688016B2

公开(公告)日：2010-03-30

申请号：US11236507

申请日：2005-09-28

Applicant: Farhad Aghili

Inventor： Farhad Aghili

IPC: B25J9/18

CPC classification number: B25J9/1605 ,  G05B2219/39186 ,  G05B2219/39343 ,  G05B2219/40311 ,  G05B2219/40318 ,  G05B2219/40323 ,  G05B2219/42012

Abstract: A system for replicating the behavior of a target robotic manipulator with respect to a payload and worksite, has a real-time simulator capturing the dynamics of the target robot manipulator; a mock-up of the payload and worksite; and an emulating robotic manipulator for interacting with said payload and worksite. The emulating robotic manipulator is controlled by the real-time simulator in a control loop to replicate the dynamical behavior of said target robotic manipulator in its environment by matching the impedance of the emulating robotic manipulator with that of the target robotic manipulator.

Abstract translation: 用于复制目标机器人操纵器相对于有效载荷和工作现场的行为的系统具有捕捉目标机器人操纵器的动力学的实时模拟器; 有效载荷和工地的模型; 以及用于与所述有效载荷和工作现场相互作用的仿真机器人操纵器。 仿真机器人操纵器由控制回路中的实时模拟器控制，以通过将仿真机器人操纵器的阻抗与目标机器人操纵器的阻抗相匹配来复制其环境中的所述目标机器人操纵器的动力学行为。

公开(公告)号：US20090222109A1

公开(公告)日：2009-09-03

申请号：US12393871

申请日：2009-02-26

Applicant: Kiyoshi Takagi

Inventor： Kiyoshi Takagi

IPC: G05D1/12 ,  G05B13/02 ,  G06F17/00

CPC classification number: G03F7/70725 ,  G05B13/0265 ,  G05B19/19 ,  G05B2219/41439 ,  G05B2219/42012

Abstract: A position control apparatus includes a detecting unit configured to detect a position of a control target, a subtracting unit configured to subtract an output of the detecting unit from a target value, an iterative learning control circuit including a filter into which a deviation between the output of the detecting unit and the target value is input, where the iterative learning control circuit feeds forward a control input to the control target, and a parameter computing unit configured to compute a variation in a parameter of the control target. A characteristic of the filter is computed in accordance with the variation in the parameter of the control target.

Abstract translation: 一种位置控制装置，包括：检测单元，被配置为检测控制对象的位置;减法单元，被配置为从目标值中减去所述检测单元的输出;迭代学习控制电路，包括滤波器，所述滤波器的输出 输入检测单元和目标值，其中迭代学习控制电路向控制目标馈送控制输入;以及参数计算单元，被配置为计算控制目标的参数的变化。 根据控制对象的参数的变化计算滤波器的特性。

公开(公告)号：US5726879A

公开(公告)日：1998-03-10

申请号：US401677

申请日：1995-03-10

Applicant: Mikio Sato

Inventor： Mikio Sato

IPC: G05B13/02 ,  G03F7/20 ,  G05B5/01 ,  G05B13/04 ,  G05B19/19 ,  G05D3/12 ,  G05B19/18 ,  G11B21/02

CPC classification number: G03F7/70725 ,  G03F7/709 ,  G05B13/042 ,  G05B19/19 ,  G05B5/01 ,  G05B2219/41367 ,  G05B2219/42012 ,  Y02P90/265

Abstract: Provided is high-performance H.sub..infin. control technology suitable for position control or speed control of semiconductor exposure apparatus, servo writer of hard disk, etc. A series compensator in the classical control technology represented by the PID compensator is employed as a frequency weight of loop shaping, whereby the design technology in the conventional classical control can be succeeded to and a high-performance control system can be realized even for cases where there is an oscillation mode of a controlled object to become a problem on control performance in the servo band, which was difficult to realize by the classical control technology. Also, using a robust stabilizing compensator obtained from a generalized plant having constant matrix weights, a high-performance control system can be realized even for cases where there is an oscillation mode of the controlled object to become a problem on control performance in the servo band, which was difficult to realize by the conventional classical control technology.

Abstract translation: 提供适用于半导体曝光装置，硬盘伺服写入器等的位置控制或速度控制的高性能H INFINITY控制技术。采用PID补偿器代表的经典控制技术中的串联补偿器作为循环的频率权重 可以使传统的经典控制中的设计技术成功，并且即使在控制对象的振荡模式成为伺服带中的控制性能的问题的情况下也能够实现高性能的控制系统， 这是经典控制技术难以实现的。 此外，使用从具有恒定矩阵权重的广义工厂获得的鲁棒稳定补偿器，即使在受控对象的振荡模式成为伺服带的控制性能的问题的情况下，也可以实现高性能控制系统 ，这是传统的古典控制技术难以实现的。