Commissariat a L'energie Atomique

Jack Guittet

Jean Vertut

Paul Marchal

Alain Micaelli

A force return servosystem between a master actuator and a slave actuator connected by transmission lines, which introduce a delay, .tau.. At the master actuator, the servocontrol is realized by means of two devices supplying force signals, where the smaller is applied to the master actuator, but having the polarity of the signal supplied by a first servocontrol device. The latter compares, in a known manner the position signal .theta.(t) of the master actuator with the delay position signal .theta.'(t-.tau.) of the slave actuator, whereas a second servocontrol device compares the delayed position signal .theta.(t-2.tau.) with signal .theta.'(t-.tau.). The invention may be used in manipulators, the control of the flying of a missile and any other control requiring the proportioning of the force controlling a movement of a machine.

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Les Ulis, France

Jack Guittet