Actuator system
AssigneeDeutsches Zentrum für Luft- und Raumfahrt e.V.
InventorMichael Panzirsch
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Abstract
An actuator system may include a first actuator for being operated by a user, a second actuator for performing a movement of the user, and a transmission channel between the first actuator and the second actuator for transmitting the velocity and the force of the first actuator to the second actuator and vice versa. The actuator system may also include a controller, wherein the controller is configured such that, with the aid of the controller, the energy of the first actuator is adapted to be measured as a desired energy, wherein the transmission channel is configured for transmitting the desired energy to the second actuator and the controller is configured for controlling the damping of the second actuator as a function of the desired energy.
Claims12
An actuator system comprising
- a first actuator for being operated by a user,
- a second actuator for performing a movement of the user,
- a transmission channel between the first actuator and the second actuator for transmitting a velocity and a force of the first actuator to the second actuator and vice versa, and
- a controller, wherein the controller is configured such that, with the aid of the controller, the energy of the first actuator is adapted to be measured as a desired energy, wherein the transmission channel is configured for transmitting the desired energy to the second actuator, and the controller is configured for controlling a damping of the second actuator as a function of the desired energy, wherein power Pi is obtained according to Pi(k)=vi(k)Fi(k), for a sampling step k with a velocity vi(k) of the actuator and a force Fi(k) of the controller, wherein energies Ei are calculated as
- E
- i
- L
-
-
- 2
-
- R
-
- (
- k
- )
- =
- T
- s
-
- ∑
- j
- =
- 0
- k
-
-
- P
- i
- L
-
-
- 2
-
- R
-
- (
- j
- )
- ,
-
- and
- E
- i
- R
-
-
- 2
-
- L
-
- (
- k
- )
- =
- T
- s
-
- ∑
- j
- =
- 0
- k
-
-
- P
- i
- R
-
-
- 2
-
- L
-
- (
- j
- )
- ,
- wherein L2R denotes a power and an energy from the first actuator to the second actuator, R2L denotes a power and an energy from the second actuator to the first actuator and Ts denotes a sampling time.
Dependencies are inferred from the claim text.