LOW-SPEED PRECISION ELECTRIC DRIVE WITH COMPENSATION FOR THE INFLUENCE OF MISALIGNMENT OF THE MECHANICAL TRANSMISSION Russian patent published in 2022 - IPC H02P21/04 H02P21/06 G05B13/00 H02P27/08 

FIELD: electrical engineering.

SUBSTANCE: low-speed precision electric drive with compensation for the influence of misalignment of the mechanical transmission comprises angular velocity integrators, series-connected angular position controller, pulse-width modulator, power amplifier, an engine connected with the controlled object via a mechanical transmission, and angular position sensors positioned along the axes of the engine and the controlled object. A correcting apparatus is included in the electric drive, receiving at the input a signal of misalignment of the angle along the axis of the controlled object, further evaluated by said apparatus. The output of the correcting apparatus is connected with an adder wherein the output signal of the correcting apparatus is added to the signal of set angular velocity, thereby correcting said signal accounting for the parameters of misalignment of the mechanical transmission. The modified set angular velocity signal is then supplied to the angular velocity integrator of the rotor of the engine.

EFFECT: increase in the quality of developing and adjusting small angular velocities of the controlled object by compensating for the error caused by misalignment of the rotor of the engine and the controlled object in case when the feedback circuit is closed for the angular position of the rotor of the engine.

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