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ACCOUNTING FOR NET DELAY TIME IN DIRECT CIRCUIT WHEN CALCULATING DISCRETE CORRECTION OF DIGITAL TRACKING SYSTEM WITH MINIMUM TIME OF FREE PROCESS TOTAL ATTENUATION

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The use of a well-known method for calculating a digital tracking system with a minimum time of complete attenuation of a free process in the presence of a net delay time in a direct circuit does not allow the correction device to be physically implemented. The adaptation of the calculation method to the case under consideration is based on the preliminary determination of the minimum attenuation time of the free process. This made it possible to reduce the order of the numerator of the desired transfer function of the closed digital tracking system to the order of the numerator of the transfer function of the continuous part of the system and to ensure the physical implementation of the correction device. The minimum transition time of the digital tracking system is shown to increases by the time of the net delay t in the forward circuit, and the speed error increases by an amount equal to the product of t and the tracking speed. It is proved that the choice of the numerator of the desired transfer function of a closed digital tracking system equal to the numerator of the discrete transfer function of the continuous part, not only simplifies the correction device and ensures the digital tracking system "roughness", but is also a necessary and sufficient condition for the exclusion of "hidden oscillations" after the total attenuation of the discrete transient process. The proposed calculation method is compared with the method based on the use of the Smith predictor. An example of calculating a digital tracking system with a net delay in a direct circuit is considered. Its digital modeling was carried out in the MatLab system when working out linearly increasing and discontinuous setting effects, which confirmed the minimum attenuation time of the free process and the calculated value of the velocity error.

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