DEVICE FOR COMPENSATING THE INFLUENCE OF MECHANICAL GAP ON THE OPERATION OF THE FOLLOWING ELECTRIC DRIVE Russian patent published in 2022 - IPC G05B11/01 H02P7/00 

FIELD: electromechanical systems.

SUBSTANCE: invention relates to the control section and can be used to create electromechanical systems that require compensation for the effect of gaps between elements of mechanical transmissions on the quality of position control. A device for compensating the effect of a mechanical gap on the operation of a servo drive, comprising a first comparison element, a position controller including a proportional link, an integrator and a second comparison element, a third comparison element, a speed controller, a fourth comparison element, a current regulator, a power converter connected to a DC motor current sensor, equipped with a current sensor and a speed sensor, the shaft of which is mechanically connected to the input shaft of the working body, a rotation angle sensor, a fifth comparison element, a position sensor, a block for adjusting the gap parameters, a gap monitor, a feedback block for the angle difference, a switch, additionally contains a second switch, comparator, reference voltage source, differentiation block, module definition block, low-pass filter, bias block, movement direction detection block, multiplication block, sixth comparison element. The output of the position sensor is connected to the normally open contact of the first switch and the normally closed contact of the second switch. The non-inverting input of the first comparison element is connected to the first input of the comparator through a serially connected differentiation unit, a module determination unit, a low-pass filter, to the second input of which the output of the reference voltage source is connected. The output of the comparator is connected to the control input of the second switch. The switching contact of the second switch is connected to the inverting input of the first comparison element. The switching contact of the first commutator is connected to the normally open contact of the second commutator. The output of the bias block is connected to the first input of the multiplication block. The non-inverting input of the first comparison element is connected to the second input of the multiplication block through a block for determining the direction of movement. The output of the multiplication unit is connected to the first non-inverting input of the sixth comparison element. The output of the rotation angle sensor is connected to the second non-inverting input of the sixth comparison element. The output of the sixth comparison element is connected to the normally closed contact of the first switch, and the output of the proportional link is connected to the input of the integrator.

EFFECT: increasing the accuracy of position control.

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