Servo System Pure Delay Compensation for Actuator Control

The patent transforms the complex Smith predictor structure into a simplified parameter-based compensation method. Instead of implementing the full Smith predictor algorithm with its complex feedback loops and parameter adjustments, the invention uses a simplified transfer function model with predetermined parameters that can be directly integrated into the position regulator. This changes the structural parameters of the control system from a complex adaptive structure to a simplified fixed-parameter structure, reducing computational load and device complexity while maintaining delay compensation effectiveness.

The patent extracts the essential delay compensation function from the complex Smith predictor algorithm and isolates it as a separate, simplified module. By taking out only the critical parameter calculations and predetermined transfer function evaluations needed for delay compensation, the invention removes the computationally intensive adaptive identification and parameter tuning components of the original Smith predictor. This extraction reduces the computation load significantly while preserving the core delay compensation capability that improves servo-control quality.

The patent applies preliminary action by compensating for the pure delay effect in advance through the simplified transfer function model. The delay compensation module calculates and applies corrective signals before the actual delay occurs in the actuator response. This preliminary compensation allows the position regulator to maintain a more aggressive, faster response without causing excessive oscillations, because the delay effects are already accounted for in advance. Consequently, the system achieves both fast torque response and acceptable position stability, resolving the contradiction between response speed and oscillation control.