초록 ▼

Remote control system comprising two circuits each containing an actuator acting on a mass and controlled by an actuator signal, a manual control means coupled to said actuator, a force transducer measuring the force applied to said manual control means, a velocity transducer measuring the velocity

Remote control system comprising two circuits each containing an actuator acting on a mass and controlled by an actuator signal, a manual control means coupled to said actuator, a force transducer measuring the force applied to said manual control means, a velocity transducer measuring the velocity of the manual control means, a control circuit representing a model of the dynamics of a moving mass the input signal of which is divided by a simulated mass to obtain a commanded acceleration signal, which is time integrated to obtain a commanded velocity signal, an actuator controller the input signal of which is the balance between the commanded velocity signal and the velocity of the manual control means. The balance of the two measured forces is applied as input signal to both circuits.

대표청구항 ▼

[ I claim:] [1.] Remote control system comprisinga first circuit containing:a first actuator acting on a first mass and controlled by a first actuator signal,a first manual control means coupled to said first actuatora first force transducer measuring the force applied on the first manual control me

[ I claim:] [1.] Remote control system comprisinga first circuit containing:a first actuator acting on a first mass and controlled by a first actuator signal,a first manual control means coupled to said first actuatora first force transducer measuring the force applied on the first manual control means,a first velocity transducer measuring the velocity of the first manual control means,a first control circuit representing a model of the dynamics of a moving mass the input signal of which is divided by a simulated mass to obtain a first commanded acceleration signal, which is time integrated to obtain a first commanded velocity signal,a first actuator controller the input signal of which is the balance between the first commanded velocity signal and the velocity of the first manual control means,a second circuit containing:a second actuator acting on a second mass and controlled by a second actuator signal,a second manual control means coupled to said second actuator,a second force transducer measuring the force applied on the second manual control means,a second velocity transducer measuring the velocity of the second manual control means,a second control circuit representing a model of the dynamics of a moving mass the input signal of which is divided by a simulated mass to obtain a second commanded acceleration signal, which is time integrated to obtain a second commanded velocity signal,a second actuator controller the input signal of which is the balance between the second commanded velocity signal and the velocity of the second manual control means, rebythe simulated mass in the first and second control circuit is a simulation of the sum of the first mass and the second mass and wherebythe balance of the two measured forces is applied as input signal to the first and second control circuits.