METHOD FOR COMPENSATING FOR CORIOLIS, CENTRIFUGAL AND GRAVITATIONAL COUPLES IN A MOVEMENT SIMULATOR AND SYSTEM COMPRISING A MOVEMENT SIMULATOR

摘要

The invention relates to a method for compensating for disruptive couples for a movement simulator, said simulator including, for each axis, a monovariable correcting unit Corr(q^'1) that receives a signal giving the difference between the setpoint θ^r_j and the measurement θ_j for the corresponding axis and producing the control signal U_j . According to the invention, the disruptive couples are coriolis, centrifugal and gravitational couples and furthermore a non-linear and multivariable compensating law is implemented that calculates a formula (a) estimating the disruptive couples, formula (a) being calculated on the basis of an error ε_j(t) that is the control signal U_j 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 ϰ according to a matrix relationship of the type: formula (b), and a subset _jof base parameters, the estimation of the couples being formula (c), and, online, the _αj are calculated via an iterative equation: formula (d) where ϕ_Fj (t) = H(q^-1)T(q^-1)Φ_j(t) are the elements of the vectors formula (e) being filtered with H_j Corr_j G_j/(1+C_αj H_j), T being defined by the relationship 1 + Corr(q^-1)L(q^-1))⋅ T(q^-1) = Corr(q^-1)L(q^-1) where L_j(q^-1) is the discreet transmittance of the transform of the product formula (f) where J_j are inertias and μ1· is a positive real definite square matrix.