Integrator management for redundant active hand controllers

Details Integrator management for redundant active hand controllers Integrator management for redundant active hand controllers

G - Physics

05

D

G05D 1/00 (2006.01)

Patent

CA 2197468

A redundant active hand controller system has first and second motors connected to a common shaft. A compensator which differentiates a motor command signal from a first proportional and integral controller, differentiates a motor command signal from a second proportional and integral controller and subtracts the first differentiated motor command signal from the second differentiated motor command signal to provide a correction signal. The correction signal is summed with the error signal into the first proportional and integral controller to correct for slight differences in the integral control function of the first and second proportional and integral controllers.

Un système de commande manuelle active et à redondance comprend des premier et second moteurs accouplés à un arbre commun. Un compensateur, qui différencie un signal de commande de moteur provenant d'un premier contrôleur à action proportionnelle et intégrale, différencie également un signal de commande de moteur provenant d'un second contrôleur à action proportionnelle et intégrale, et soustrait le premier signal différencié du second signal différencié afin de fournir un signal de correction. Ce dernier est additionné au signal d'erreur dans le premier contrôleur à action proportionnelle et intégrale afin de corriger de légères différences dans la fonction de commande intégrale des premier et second contrôleurs à action proportionnelle et intégrale.

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