Ixblue

Ixmotion

Exail

Bernard Vau

Lionel Minne

Mehdi Bussutil

Romain Sorant

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.

Method and device for optimizing performance of a servo control of a mechatronic system based on effective static and dynamic margins

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 &#x3b8;and the measurement &#x3b8;for the corresponding axis and producing the control signal U. 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 &#x3b5;(t) that is the control signal Ufiltered by a filter H(q), and the simulator is modelled with a dynamic model expressing the couples in an affine way with respect to a set of base parameters &#x3c7; 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 &#x3b1;are calculated via an iterative equation.

Method for compensating for coriolis, centrifugal and gravitational couples in a movement simulator and system comprising a movement simulator

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: 

Method and system for adaptive compensation of dry friction

System for stabilizing a positioner of an equipment item, the positioner being oriented via an orientation command, and installed on a vehicle undergoing motions, the positioner including angular coders producing angular measurements and a set of gyrometric sensors producing measurements of rates of instantaneous rotation, and exhibiting biases, the positioner including a calculation unit with elements of intra-positioner slaving-correction of the instantaneous rates of rotation of the item using measurements and the orientation command to stabilize the item following the line of sight. The vehicle includes an element for measuring the attitude of the vehicle giving vehicle attitude measurements. The system includes calculation elements for controlling the positioner according to a control law to correct the biases by virtue of the vehicle attitude information and by implementing a state observer combining an estimation of attitude of an item and the measurements of rates of rotation of an item of equipment.

System for stabilizing a positioner with motorized axes of an item of equipment, method and application

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 M(q) or M(k) previously identified, the control law with an internal model and disturbance observer is implemented in real time, a modifier block &#x394;(q) or &#x394;(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.

Method for active narrow-band acoustic control with variable transfer function(s), and corresponding system

A method and a device are based on the application of an active correcting system with central corrector and Youla parameter for the attenuation of essentially monofrequency mechanical vibratory perturbations generated in a material structure by a rotating machine. Previously, a control law corresponding to a block modeling of the system is established and calculated, the blocks being, on the other hand, those of the central corrector and, on the other hand, a Youla parameter block, the modeling being such that only the Youla parameter, in the form of an infinite impulse response filter, has coefficients dependent on the vibratory perturbation frequency. During a phase of use, in real time, the frequency of the current perturbation is determined and the control law is calculated using for the Youla parameter the stored coefficients of a determined perturbation frequency corresponding to the current perturbation frequency.

Method and device for active control of mechanical vibrations by implementation of a control law consisting of a central corrector and a Youla parameter

A method and a device for suppressing noise in the passenger compartment of a vehicle, which include at least one transducer, a programmable computer, at least one acoustic sensor, the computer being configured such as to apply an electro-acoustic model of the passenger compartment to a correcting system model including a central controller with fixed coefficients joined to a block of variable coefficients, including a Youla parameter in the form of a Youla block Q. The first phase includes determining and calculating the electro-acoustic model and the control law for at least one predetermined noise frequency. In a second phase, in real time, the computer applies the control law to the electro-acoustic model in accordance with the current frequency of the noise to be suppressed.

Method and device for narrow-band noise suppression in a vehicle passenger compartment

A method and a device for robust rejection of the periodic disturbances in a motor-position control structure of the RST type, wherein the assembly including the motor, the position sensor, the element for computing the functions 1/So(z) and Ro(z), in a loop, is called central controller. Within the framework of the invention, to the central controller are added two additional computing elements, the first one being an estimator block E(z) and the second one a modifier block Q(z), as well as an additional loop, the estimator block E(z) allowing a load disturbance estimation signal {circumflex over (v)}(t) to be computed, the modifier block Q(z) receiving the load disturbance estimation signal {circumflex over (v)}(t) as an input, to produce a modified signal, which is applied to a negative input of an additional adder arranged upstream from the element for computing the function 1/So(z) and then forming the additional loop, the modifier block having a variable transfer function.

Method and device for robust rejection of periodic disturbances in an axis-position control loop

The control device of a movement simulator, between its input formed of a control signal and its output formed of a measured magnitude among its speed, its position and its acceleration, by a transfer function B(z)/A(z) includes a corrector synthesized from the modelling of the movement simulator and equivalent to a RST controller. The controller includes a reference input, a retro-action input whereon is applied the measured magnitude and an output producing the control signal. The transfer function between the reference input of the controller and the measured magnitude is H(z)/W(z). The device has a reference filter whose input is a sinusoidal reference signal c(t) at a frequency wc and applying at output a filtered reference signal on the reference input of the controller. The reference filter has a transfer function Rr(z)/Fr(z), whose denominator and numerator are adapted to ensure, for the frequency wc, effective tracking by the movement simulator of the sinusoidal reference.

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Saint Maur des Fosses, France

Bernard Vau