METHOD OF CONTROLLING SERVO DRIVE WITH GAP IN RIGID KINEMATIC TRANSMISSION Russian patent published in 2025 - IPC G05B11/01 

FIELD: mechanical engineering; controlling.

SUBSTANCE: invention relates to machine building, to the section of control, and can be used in creation of electromechanical systems, such as metal-working machines, robots, rotary tables of antenna devices, etc. In the method of controlling a servo drive with a gap in a rigid kinematic transmission using a system of slave control of coordinates with circuits of current, speed and angular position, in which the value of the gap between the angular displacements of the motor shaft and the shaft of the working member is preliminary measured, the angular displacement of the shaft of the working member is measured, compared with a given value, angular displacement of the motor shaft is measured, the angular displacement of the shaft of the working member is recalculated taking into account the gear ratio of the mechanical part, the angular displacement of the shaft of the working member is brought to the shaft of the electric motor, setting the upper and lower limits of the motor shaft angular displacement modulus, when the motor shaft reaches the upper limit, its modulus is gradually reduced to the lower limit with simultaneous reduction of the working member shaft angular displacement modulus by the same value, the converted angular displacements are obtained, determining their difference, comparing it with the gap value, evaluating the gap state "open" or "selected" and depending on the gap state, the control device structure is changed, based on the obtained difference in angular displacements, an additional control action is generated on the electric motor through the power converter, angular displacement of the motor shaft is recalculated taking into account the gear ratio of the mechanical part, the angular displacement of the motor shaft is brought to the shaft of the working member, in the "selected" gap state, the angular displacement preset value is compared with the working member shaft measured angular displacement, and in the gap state "open" comparison of the specified displacement is carried out with the measured angular displacement of the electric motor shaft, reduced to the shaft of the working member, wherein at the initial moment of opening the gap, the initial value of the reduced angular displacement of the motor shaft is set, taking it equal to the angular displacement of the working member shaft at the initial moment of opening the gap ϕ2(0), and reading of the reduced angular displacement of the electric motor shaft during movement within the measured gap is carried out from the set initial value

EFFECT: high accuracy of position control.

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