MASSACHUSETTS INST OF TECH CAMBRIDGE INSTRUMENTATION LAB
The design and compensation of a synchronous contactor or relay type servo for a pendulous integrating gyro accelerometer is described. Although the servo design is based mainly on the requirements for this system, the compensation techniques discussed can be used in other systems where relay type control is employed. Describing function analysis is used to predict the steady-state operation of the system. Limit cycles with zero and nonzero average value are considered and lead compensation is added to raise the limit cycle frequency. The nonlinearity transfer characteristics are then modified to provide for an increase in torque during transient operation. The describing function for the modified nonlinearity is determined and by an extension of the describing function analysis, the transient response is predicted. The theoretical work is verified experimentally. The results of the experimental work indicate that the describing function approach is an accurate means of analyzing nonlinear systems of this type. Author
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