Patent ID: 6693399
Filing Date: 2004-02-17
Classification: G05B,G05D

Abstract:
A servo-control device comprising:at least a first servo-control loop which receives a servo-control signal as input and whose output acts on an element to be servo-controlled; means for determining a parameter measuring the real force generated by the servo-control; another loop having means for determining an error which is the difference between said parameter measuring the real force and a parameter estimating an acceptable theoretical force which is a function of the servo-control signal; and means for correcting the processing of the servo-control loop as a function of said error; wherein the means for determining the error comprise determination means for determining a parameter estimating the acceptable theoretical force on the basis of a reference model, the determination means comprising means for implementing a transfer function having the same appearance as a transfer function or determining the parameter measuring the real force, except in the vicinity of at least one resonant frequency of said force.