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A METHOD FOR COMPENSATING FOR THE INFLUENCE OF MECHANICAL TRANSMISSION MISALIGNMENT IN LOW-SPEED PRECISION ELECTRIC DRIVES

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A method is considered to minimize the influence of errors caused by misalignment of the shafts of the engine and the control object, in the presence of a mechanical transmission as part of the executive electric drive, when the control system is organized along a feedback loop closed by the sensor of the angular position of the rotor of the engine. Peculiarities of the low-speed precision electric drive design are described on the example of executive electric drive of the power gyroscopic complex of a spacecraft orientation control system. Experimentally obtained difference in the readings of the angular position sensors located on the axes of the executive motor and the control object, reduced to the control object, shows the influence of the misalignment of the mechanical transmission. Results of mathematical modeling are presented, demonstrating the influence of the misalignment of the mechanical transmission on the angular velocity exerting by the electric drive in the case of a closed feedback loop with angular position sensor located on the shaft of the executive motor. A method for compensating for mechanical transmission misalignment is described and the results of resulting angular speed of rotation when a control system using this method is implemented for the electric drive are presented. Based on the results of mathematical modeling, it is shown that the use of the proposed compensation method can significantly reduce the error in resulting angular velocity of the control object. The advantage of the proposed method is that its implementation affects only the software of the electric drive without the need to modify the hardware.

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