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1. WO1986006512 - METHOD AND DEVICE FOR STABILIZING A FEED-BACK SERVOMECHANISM

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[ EN ]

' Claims

1. Method to stabilize a feed-back servo mechanism, which comprises a servo motor (1), especially a spring-centered torque motor with friction and a control unit (2) with an integrating filter designed to control the motor c h a r a c t e r i z e d in that a signal (x) proportional to the difference between the set value (z_) and the actual value (z.) of the output quantity of the servo motor (1), which signal provides the input signal of the control unit (2), is connected to a play-creating means (7), that the output signal (y) of the play-creating means (7) is connected to the integrating filter (9), that the output signal (y) of the play-creating means (7) is subtracted from the said input signal (x) to provide a difference signal (s) and that the output signal of the integrating filter (9) and said difference signal are added to provide a control signal, which is connected to the servo motor (1).

2. Method according to claim 1, c h a r a c t e r i z e d in that the output signal (y) of the play-creating means (7) is subtracted from said input signal (x) after having passed a differentiating filter (14).

3. Control unit to accomplish the method according to claim 1 to stabilize a feed-back servomechanism, which comprises a servo motor (1) especially a spring-centered torque motor with friction, and the control unit (2) designed to control the motor, which control unit comprises an integrating filter (9), c h a r a c - t e r i z e d in that a play-creating means (7) and a subtracting means (12) are arranged to receive a signal (x) proportional to the difference between the set-value (z„) and the actual value (z.) of the output signal of the servo motor (1) which signal constitutes the input signal to the control unit, that the integrating filter (9) is arranged to receive the output signal (4) of the play-creating means (7), that the subtracting means (12) is arranged to receive the output signal (y) of the play-creating means (7) to subtract this from the said input signal (x) and provide a difference signal (s), that an adding device (18) is arranged to receive the difference signal (s) as well as the output signal of the integrating filter (9) in order to add these signals to provide a control signal to be connected to the servo motor (1).

4. Control unit according to claim 3 c h a r a c t e r i z e d in that a means (13) is arranged for optional connection of a differentiating filter (14) designed to receive the input signal (x) of the control unit, before the subtracting means (12).

5. Control unit according to claims 3 or 4 c h a r a c t e r i z e d in that the play-creating means (7) is constituted by a subtracting means (71) which is arranged to receive the said input signal (x) at its positive input and by an amplifier (72), a diode circuit (73) and an integrator (74), which are series connected whereby the output of the subtracting means (71) is connected to the amplifier (72) and whereby the output of the integrator (74) constitutes the output of the play-creating means (7) and is fed back to the negative input of the subtracting means (7).