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1. 发明申请

US20170282364A1 METHOD OF CONTROLLING A ROBOTIZED ARM SEGMENT MAKING IT POSSIBLE TO ADAPT THE APPARENT STIFFNESS THEREOF 审中-公开
公开(公告)号：US20170282364A1
公开(公告)日：2017-10-05
申请号：US15512159
申请日：2015-09-29
申请人： COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES
发明人： Neil ABROUG
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , B25J9/1641 , G05B2219/39186 , G05B2219/39201 , G05B2219/39338 , G05B2219/42012
摘要： The invention relates to a method of control ling an actuator (1) of an articulated segment (5) comprising the steps of estimating an inertia J of the segment; estimating or measuring a speed of displacement (I) of the segment; synthesizing a control law of type (II) generating a control torque for the segment on the basis of these estimates or measurements and meeting a performance objective pertaining to the loading sensitivity function: (III) K being the desired stiffness, and c a desired damping rate, a a mathematical artifact, (IV), where G(s) is the transfer function (V) for going between the speed (I) (linear or angular) of the segment and an external force F experienced by the segment; and controlling the actuator of the articulated segment according to the control law thus synthesized. X . ( I ) H ∞ ( II )  S F  ( s )  W S  ( s )  ∞ ≤ 1   avec   W s  ( s ) = ( J s 2 + ɛ J s 2 + cs + K ) - 1 ( III ) S F  ( s ) = G  ( s ) · J · s ( IV ) G  ( s ) = X .  /  F ( V )

2. 发明申请

US20170099020A1 TORQUE CONTROL METHOD FOR AN ELECTRIC MOTOR 审中-公开
公开(公告)号：US20170099020A1
公开(公告)日：2017-04-06
申请号：US15312483
申请日：2015-05-21
申请人： COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES
发明人： Neil ABROUG
IPC分类号： H02P7/06 , H02P29/40
CPC分类号： H02P7/06 , H02P7/00 , H02P29/40 , H02P31/00
摘要： A method for controlling an electric motor that involving implementing a regulation loop regulating an induced current flowing in an induced circuit of a rotor of the motor, the regulation loop having, as the input signal, a current setpoint, as the return signal, a signal representative of the induced current, and as the output signal, a voltage control of the motor. The regulation loop includes a correction unit formed from an integral proportional corrector and a delay compensator.

3. 发明申请

US20160136811A1 METHOD FOR CONTROLLING A SEGMENT OF AN ARM OF A COMANIPULATOR 有权
标题翻译：用于控制投影机臂的分段的方法
公开(公告)号：US20160136811A1
公开(公告)日：2016-05-19
申请号：US14904728
申请日：2014-07-08
申请人： COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES
发明人： Neil ABROUG
IPC分类号： B25J9/16
CPC分类号： B25J9/1638 , B25J9/1641 , H02P6/08 , Y10S901/02
摘要： A method for controlling an actuator of a hinged segment including the steps of: estimating an inertia J of the segment and a minimum viscous hinge friction f; estimating or measuring a traveling speed {dot over (X)} of the segment and an internal deformation ΔX of the actuator; synthesizing a control law H∞ generating a control current (or torque) from the estimates or measurements and meeting a performance objective pertaining to a transfer function (I) between an acceleration {umlaut over (X)} of the segment and an external force F to which the segment is subjected: (II) with (III), ε being a mathematical artifact and s being the Laplace variable; and controlling the actuation of the hinged segment according to the control law thus synthesized.
摘要翻译：一种用于控制铰链段的致动器的方法，包括以下步骤：估计段的惯性J和最小粘性铰链摩擦f; 估计或测量段的行进速度{点（X）}和致动器的内部变形＆Dgr; X; 合成从所述估计或测量中产生控制电流（或转矩）的控制律H∞，并且满足与所述段的加速度（umlaut over（X））和外力F之间的传递函数（I）有关的性能目标（II）与（III），＆egr; 是一个数学神器，s是拉普拉斯变量; 并根据如此合成的控制律来控制铰链段的致动。

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