ELECTROHYDRAULIC TRACING SYSTEM Russian patent published in 1998 - IPC

FIELD: automatic control, in particular, electrohydraulic drives control for machines, robots, aircraft and test beds. SUBSTANCE: object model is designed as serial circuit of aperiodic unit and integrator which describe dynamics of electrohydraulic amplifier which controls usage of working liquid (by means of aperiodic unit) and dynamics of output shaft (by means of integrator). Corresponding device has serial circuit of aperiodic unit and integrator. Output of aperiodic unit which describes expected dynamics of working liquid usage is compared to derivative of movement of output shaft of hydraulic motor which is assessed by state identifier and is proportional to real usage. Result of comparison and signal corresponding to difference between real movement of output shaft of hydraulic motor and model output are connected to relay element which implements sign function which output is connected to inputs of regulator, state identifier and model integrator in order to correct force. EFFECT: increased precision, increased speed and increased reliability without additional detector. 2 dwg