Verfahren zur Ansteuerung einer Vorrichtung mit Rückkopplungsregelung

Details

Veröffentlichungs-Nr.

EP4718709

Anmeldetag

25. September 2025

Veröffentlichung

1. April 2026

Rechtsraum

EP

IPC

(FIGURA MICHAEL GEORG et al.)(YAMAMORI MOTOYASU et al.)(KOGURE AKIHIRO et al.)

Abstract

A method for feedback control of a device (50; 150) by means of a feedback-controlled driving system (1) comprising a first shaft (2) and a second shaft (3) rotatable about a rotation axis (X) and interconnected by a torsion bar (4); a rotary electric motor (10) provided with a stator (11) and a rotor (12) connected to the first shaft (2); and sensor means (6, 7) for measuring a phase angle (Δθ) between the first shaft (2) and the second shaft (3); the method comprises, at each operating time t_i, the steps of: applying to the second shaft (3), by means of the control element (40), a control torque (Ca_i) so as to rotate the second shaft (3) by a rotation angle (θ_i) (step F1); detecting and measuring, by means of the sensor means (6, 7), the rotation angle (θ_i) and sending a relative signal to said device (50; 150) (step F2); receiving from the device (50; 150) a signal relating to an operating torque (Cr_i)) to be used on the control element (40), in particular as a function of the rotation angle (θ_i) (step F3); detecting and measuring, by means of the sensor means (6, 7), a phase angle (Δθ_i) between the first shaft (2) and the second shaft (3) and equal to a torsion angle (γ_i) of the torsion bar (4) (step F4); calculating, on the basis of the stiffness characteristics (k) of the torsion bar (4), an operating torsion angle (γr_i) necessary to apply on the control element (40) a feedback torque equal to the operating torque (Cr_i) (step F5); controlling the rotary electric motor (10) to apply on the first shaft (2) a driving torque (Cm_i) (step F6) such as to change in a subsequent time t<i+i> the phase angle (Δθ_i) to a value (Δθ_i+1) substantially equal to that of the operating torsion angle (γr_i) of the torsion bar (4) (step F7); repeating the steps from F1 to F7 for a subsequent time t i+1.

Anmelder

Firma

Meccanica 42 S.r.l.

Land

🇮🇹 Italien