초록 ▼

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

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.

대표청구항 ▼

A redundant active hand controller system, comprising: a control stick; a first motor; a second motor; a common shaft mechanically connecting said first motor and said second motor, said shaft coupled to said control stick; a control redundancy A having at least a first proportional and integrating

A redundant active hand controller system, comprising: a control stick; a first motor; a second motor; a common shaft mechanically connecting said first motor and said second motor, said shaft coupled to said control stick; a control redundancy A having at least a first proportional and integrating controller having a first error signal input and providing a first motor command signal, said first proportional and integrating controller having a first integrating control function; a control redundancy B having at least a second proportional and integrating controller having a second error signal input and providing a second motor command signal, said second proportional and integrating controller having a second integrating control function; first compensating means for differentiating said first motor command signal, for differentiating said second motor command signal and for subtracting said differentiated first motor command signal from said differentiated second motor command signal to provide a first offset correction signal; and means for summing said first error signal and said first offset correction signal into said first proportional and integral controller to allow the first proportional and integrating controller and the second proportional and integrating controller to operate at a null condition.