BACKLASH SYSTEM AUTOMATIC CONTROL PROCESS AND SERVO SYSTEM IMPLEMENTING IT Russian patent published in 2000 - IPC

FIELD: automatic control systems. SUBSTANCE: novelty in shaping control signals in backlash system is that in adding error signal to correcting pulse signal shaped in case of backlash by subtracting current amount of backlash from signal equal to half-zone of backlash and having same polarity as that of error signal additional negative-feedback signal equal to linear combination of signals of direct-feedback (n - 1) coordinates for no-backlash optimal- speed servo system is added to correction signal during backlash moment. Backlash servo system implementing this process has series-connected setting-signal error and main unity feedback signal meter, first adder, regulator, no-backlash actuator with output coordinate sensor, nonlinear link of backlash type, and controlled entity with output coordinate sensor, as well as second adder, relay member, third adder, fourth adder, switch, fifth adder, and amplifier with actuator coordinate sensors (n - 1). EFFECT: improved precision of backlash correction and dynamic characteristics of servo system. 2 cl, 3 dwg