Frequency response optimisation of a movement simulator by adaptive sinusoidal reference tracking

Abstract

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.