Patent ID: 8027816

Claim:
A retro-action control device of a movement simulator ( 10 ) for tracking by a simulator of a reference, said movement simulator being modelled between input formed of a control signal u(t) and output formed of a measured magnitude y(t) comprising one of speed, position and acceleration, by a transfer function B(z −1 )/A(z −1 ), said control device comprising: a controller ( 20 ) synthesised from said modelling of the movement simulator, said controller comprising a reference input, a retro-action input whereon is applied said measured magnitude y(t) and an output producing a control signal u(t), the transfer function between the reference input of the controller and the measured magnitude then being H(z −1 )/W(z −1 ); further comprising: a reference filter ( 30 ) whose input is a sinusoidal reference signal c(t) at a frequency wc and applying a filtered reference signal c′(t) on the reference input of said controller 20 ); said reference filter having a transfer function Rr(z −1 )/Fr(z −1 ) and being adaptive, wherein Te is a sampling period, D ( z −1 )=(1− z −1 )·(1−2 cos( wc·Te )· z −1 +z −2 ), Lo(Z −1 ) being a polynomial to be resolved, Fr(Z −1 ) being the denominator of the reference filter, W(Z −1 ) being the denominator of the transfer function between the reference input of the controller and the measured magnitude, H(Z −1 ) being the numerator of the transfer function between the reference input of the controller and the measured magnitude, and wherein a numerator Rr(z −1 ) of the reference filter is such as an expression Fr(z −1 )W(z −1 )−Rr(z −1 )H(z −1 ) is factorised in the form: D ( z −1 ) Lo ( z −1 )=[1−2 cos( wc·Te )· z −1 +z −2 ]Lo ( z −1 ); and in that said numerator Rr(z −1 ) of the transfer function between the reference input of the controller and the measured magnitude and in that said polynomial Lo(Z −1 ) are a solution of a so-called Bezout equation: D ( z −1 ) Lo ( z −1 )+ Rr ( z −1 ) H ( z −1 )= Fr ( z −1 ) W ( z −1 ) for the frequency wc of the reference signal, and in that the device includes a means to determine Rr(z −1 ) by solving the Bezout equation according to a parameter formed by the frequency wc of said reference signal.