| 摘要 |
A method for managing systems provided with redundant actuators of the type comprising at least a first system (3, 5) operating according to a first set of variables, representative of a physical quantity to be controlled (X, Y) and a second system (17) operating according to a second set of said variables, representative of a physical quantity to be controlled (u, v), said first set of variables (X, Y) and second set of variables (u, v) identifying one or more redundant variables, said method comprising the operations of commanding said actuators ( 13, 14 ) of said system through a numeric control unit ( 50 ) and a servo control module ( 53 ) to follow trajectories of said variables ((Xs, Ys), (X, Y), (u, v)) as a function of a set sequence (P). According to the invention, said method comprises the operations of: interpolating ( 100 ) said sequence (P) to obtain a trajectory of the system with redundant actuators ((Xs, Ys)), operating a filtering ( 110 ) on said trajectory of the system with redundant actuators ((Xs, Ys)) to generate a trajectory of the first system ((X, Y)), calculating ( 120 ) a second trajectory of the second system ((u, v)) as difference trajectory between said trajectory of the system with redundant actuators ((Xs, Ys)) and said trajectory of the first system ((X, Y)), providing ( 130 ) said trajectory of the first system ((X, Y)) to said servo-control ( 53 ) for the actuation of the first system ( 3,5 ).
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