Patent ID: 8738317

Claim:
A control and regulation method for servo-controlling an inertial speed of rotation (ω i ) of a piece of equipment movable in rotation about an axis of rotation that is stationary relative to a structural frame of reference, the method comprising: setting a setpoint (ω c ) of an electric motor configured to drive rotation of the moving equipment and measuring an inertial speed of rotation (ω i ) of the moving equipment relative to an inertial frame of reference; using an internal regulation loop to amplify a difference (ω c −ω i ) between the setpoint (ω c ) and the inertial speed of rotation (ω i ) to apply torque control to the electric motor, thereby delivering the inertial speed of rotation (ω i ) at the output from said internal regulation loop; integrating the inertial speed of rotation (ω i ) so as to obtain an inertial angle of rotation (β) of the moving equipment relative to the inertial frame of reference; calculating cos β and sin β; calculating the integral (Is) of sin β and the integral (Ic) of cos β; identifying the coordinates (Xc, Yc) of a center of a circle defined by the values of the integrals (Ic) and (Is); applying a gain (k) to the coordinates (Xc, Yc) and calculating a correction term that is a function of the gain (k), the inertial angle of rotation (β), and the coordinates (Xc, Yc); and adding said correction term to the setpoint (ω c ) to apply feedback to said setpoint at the input of the internal regulation loop so that said integrals (Is and Ic) are zero on average over an integer number of revolutions.