The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 15, 2021
Filed:
Jun. 16, 2017
Ixblue, Saint-Germain-en-Laye, FR;
Bernard Vau, Saint Maur des Fosses, FR;
Mehdi Bussutil, Ormesson sur Marne, FR;
IXBLUE, Saint-Germain-en-Laye, FR;
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 θand the measurement θfor 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 ε(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 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 αare calculated via an iterative equation.