Mr. Mehdi Bussutil Profile

Mehdi Bussutil

at Exail SAS

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Proceedings Article | 21 June 2019 Presentation + Paper

An improved control structure for the tracking of sine command in a motion simulator

Bernard Vau, Damien Ponceau, Mehdi Bussutil

Proceedings Volume 11057, 110570U (2019) https://doi.org/10.1117/12.2530038

KEYWORDS: Motion measurement, Device simulation, Sensors, Computer programming, Optical encoders, Computer simulations, Adaptive control, Gyroscopes, Filtering (signal processing), Control systems

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The evaluation of inertial sensor’s frequency response is a crucial step during the development of such sensors (gyroscope, accelerometer…) or of embedding systems. An accurate measurement of the sensor’s gain and phase requires a test equipment, usually a motion simulator, able to create accurately controlled motions over a wide frequency band, with minimum amplitude and phase uncertainty. State-of-the-art motion simulators use permanent magnet synchronous motors as actuators and optical encoders as angular position sensor. They also include a servo-loop whose bandwidth is necessarily limited either for theoretical reasons, like the Bode Integral Theorem, or for physical ones, such as the inevitable time-lags occurring in the loop, or even mechanical resonances. Nevertheless, the appropriate bandwidth is required to allow for an accurate inertial sensor characterization. A well-known way of coping with the intrinsic limitations of the feedback control structure in a servo-drive consists in introducing a specific filter (called feedforward) between the motion trajectory generator and the feedback loop, to provide an anticipation independently of the feedback structure. This compensation requires a good modelling of the controlled system transfer function but is never perfect. Moreover, in a motion simulator, the tested inertial equipment is subject to change, and a unique feedforward filter cannot provide an accurate enough compensation. Thus, iXblue has introduced an adaptive feedforward structure in the controllers of their motion simulators, leading to a more accurate tracking of sine commands, beyond the initial closed-loop bandwidth. The benefits of this control structure are quite significant: the sine tracking is very accurate, having very little amplitude attenuation and phase lag.

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