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A force return servosystem between a master actuator and a slave actuator connected by transmission lines, which introduce a delay, tqqtqtqt

A force return servosystem between a master actuator and a slave actuator connected by transmission lines, which introduce a delay, tqqtqtqt

대표청구항 ▼

A servosystem comprising: a master actuator; a slave actuator; a first control device associated with each of said master actuator and said slave actuator for controlling the associated actuator; each of said actuators having an output, said output being connected to a first input of the first contr

A servosystem comprising: a master actuator; a slave actuator; a first control device associated with each of said master actuator and said slave actuator for controlling the associated actuator; each of said actuators having an output, said output being connected to a first input of the first control device associated with the other actuator through a first delay device and to a second input of the first control device associated with the actuator, each of said actuators producing a first signal at said output; each of said first control devices comparing the delayed first signal received at said first input and the first signal received at said second input and producing a first force signal in response thereto; a second delay device connected to the output of the master actuator for delaying the first signal by an amount equal to the sum of the delay amounts of the two first delay devices; and a second control device receiving and comparing said delayed first signal from said second delay device and said delayed first signal from said slave actuator for producing a second force signal in response thereto.