Method for compensating for coriolis, centrifugal and gravitational couples in a movement simulator and system comprising a movement simulator
US11036193B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 16, 2017 |
| Grant date | Jun 15, 2021 |
| Priority date | — |
| Expiry date | Jun 16, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39187
- WIPO fieldControl
- WIPO sectorInstruments
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.