METHOD FOR AUTOMATIC CONTROL IN NON-LINEAR SYSTEM AND TRACING SYSTEM WHICH IMPLEMENTS SAID METHOD Russian patent published in 2000 - IPC

FIELD: automatic control equipment, in particular, generation of control signals for robot equipment, space industry and tracing systems. SUBSTANCE: method involves addition of signal which is proportional to first coordinate, which corresponds to error, to linear combination of two feedback signals with respect to second coordinate, which corresponds speed of power drive, one of which has limited amplitude, and application of total signal to input of power drive. Goal of invention is achieved by proportionality of second feedback signal with respect to second coordinate to this coordinate. Also input of power drive receives depends, which is proportional to first coordinate with limited amplitude. For materials, which order is greater than two, input of power drive receives additional feedback signals with respect to coordinates of power drive greater than two, each of which is equal to non-linear combination of two signals, one of which is limited with respect to amplitude of respective coordinate, and another one is proportional to this coordinate. Tracing system, which implements said method has serial circuit of meter of setting signal mismatch and unit main feedback signal, first amplifier, first adder, power drive, clock oscillator, two parallel circuits, one of which has non-linear unit with limiting region and second amplifier. Another one has third amplifier and also non-linear unit with limiting region. EFFECT: increased precision, increased speed of tracing system. 4 cl, 4 dwg