AUTOMATIC CONTROL METHOD FOR BACKLASH SYSTEM AND TRACING SYSTEM WHICH IMPLEMENTS THE METHOD Russian patent published in 1999 - IPC

FIELD: automatic control equipment. SUBSTANCE: method involves addition of error signal to pulse correction signal, which is generated in case of backlash presence by means of subtraction of current backlash value from signal, which is equal to backlash half zone and which sign is same as error signal sign. Also the signal, which is equal to backlash half zone and which sign is same as error signal sign, is produced by continuous storage of previous maximal backlash value. Corresponding tracing system has meter of mismatch of setting signal to signal of main feedback unit signal, three adders, relay, regulator, electric motor with angle detector, non-linear backlash unit, controlled object with angle detector and adaptive unit for measuring backlash half zone. EFFECT: increased precision of backlash compensation, improved dynamic characteristics. 2 cl, 6 dwg