METHOD AND DEVICE FOR SELECTION OF BACKLASH IN KINEMATIC TRANSMISSION OF SUPPORT-ROTARY DEVICE WITH TWO INTERCONNECTED ELECTRIC DRIVES Russian patent published in 2020 - IPC H02P5/46 H02P5/52 

FIELD: electromechanics.

SUBSTANCE: method of controlling interconnected electromechanical drives with a backlash selection based on an electromechanical brace principle consists in isolating a mismatch error signal between a drive output link reference and actual position with a control object, converting an error signal through its branching, two of which are filtered, both filtered signals are multiplied by an error signal and shifted by cross-connection signals, each of which comprises delay links with time constant, depending on individual characteristics of electric motor and kinematic circuit of channel, generated shift of phase error signals provides difference of amplitudes, corresponding to value of play, and these signals generate currents and developed moments in the drive channel so that when the error signal commensurate with the backlash zone, a brace is created, and if the value of the signal exceeds the play zone, the moment in one direction is summed up and created.

EFFECT: achieving the required dynamic characteristics, higher efficiency.

2 cl, 4 dwg