Automatic tuning method for the feedback control of a motion simulator, and related device

A tuning method to be implemented in a motion simulator able to embark a payload, said simulator including a mechanical device and a control unit, the mechanical device including driving means in order to move a plate capable of carrying the payload;

• a current amplifier capable of actuating the driving means in response to a control signal;
• a sensor capable of measuring a position of said plate;
• and said control unit including a controller capable of transmitting the control signal relative to a reference input signal and to said measured position,
• characterised in that it enables an automatic tuning of said controller for a position feedback control of the motion of said plate embarking a given payload, said method including:
• an initial step consisting in the synthesis of a robust controller, said synthesis being based on a first physical modelling of the mechanical device including one inertia parameter, said obtained robust controller enabling to feedback control said mechanical device over a range of values of said inertia parameter extending between a minimum inertia parameter and a maximum inertia parameter;
• and, after having positioned said given payload on the plate;
• a test step during which the mechanical device, controlled by means of said robust controller determined during the initial step is actuated according to a predefined position reference input profile complying with constraints on the acceleration, the speed and the position of the motion, said control signal and said measured position being stored continuously as data of the test step;
• an identification step which, on the basis of the data of the test step, enables to determine the value of a plurality of physical parameters of a second modelling of the mechanical device embarking said given payload, said plurality of physical parameters including at least the inertia parameter;
• and,
• a final step consisting in the synthesis of an optimal controller adapted to said given payload, wherein the inertia parameter takes the value of the inertia parameter determined during the identification step.