CONTROL METHOD AND DEVICE WHICH IMPLEMENTS SAID METHOD Russian patent published in 1998 - IPC

FIELD: automatic control, in particular, for equipment which operates in noise conditions, scientific investigations. SUBSTANCE: method involves detection of current coordinates of controlled object and its model, calculation of difference between input coordinate and coordinate of object, generation of control commands for position of centers of control fields with respect to object coordinates, switching from one control field to another control field. When object coordinates are unknown, control commands for positions of centers of control fields are according to coordinates of object model. Simultaneously with generation of commands for object control with respect to difference between input coordinate and object coordinate, method involves generation of commands for control of object model. Before switching between control fields method involves setting times for being and end of switching from one control field to another control field, comparison of current time to time of begin and end of switching from one control field to another control field. When current time of system operations is greater than time for begin of switching from one control field to another control field, difference between input coordinate and coordinate of object model is calculated, commands for control of object and its model for difference between input coordinate and coordinate of object model are generated, commands for control of position of centers of control fields with respect to coordinates of object model are generated. When current time of system operations is greater than time for end of switching from one control field to another control field, commands for control of object and its model for difference between input coordinate and coordinate of object model are generated, commands for control of position of centers of control fields are generated with respect to coordinates of object. When information about coordinates of object is not available, method involves generation of commands for control of object and its model for difference between input coordinate and coordinate of object model simultaneously with generation of commands for control of position of centers of control fields. Corresponding device has serial circuit of first input signal receiver, error generation unit, control unit, object, which output is connected to inputs of second and third receivers. In addition device has dynamic object model. In addition device has serial circuit of switching unit, difference calculation unit, filter, unit which generates commands for control of object model. Output of latter unit is connected to input of object model. Output of object model is connected to second input of difference calculation unit and first input of switching unit. Second and third inputs of switching unit are connected to outputs of second and third receivers respectively. Their second inputs are connected to third and fourth outputs of switching unit, which second output is connected to second input of error generation unit. Output of control unit is connected to second input of unit which generates commands for control of object model. This results in possibility to control object using coordinates of object model. EFFECT: increased reliability, increased precision of system operations during switching of object coordinates receivers under conditions of external interference and noise. 4 cl, 5 dwg