Automatic drift compensation method and device for position-loop controller

Claim 1

An automatic drift compensation device for a position-loop controller that generates position instruction signals to control displacement of a working machine, the compensating device comprising: instruction detection means to detect the position instruction signals; a timer; timer control means to start the timer for a predetermined period in response to the detection of a predetermined position instruction signal by the instruction detection means; accumulated instruction calculating means for calculating an accumulated instruction position value, ΣPC, from the position instruction signals; feedback means to generate feedback signals in response to actual displacement of the working machine, and to transmit said feedback signals to the position-loop controller; accumulated feedback position calculating means for calculating an accumulated feedback position value, ΣPF, from the feedback signals; compensation lag error setting means for setting a compensation lag error value, PE', by means of a first formula: PE'=ΣPC-ΣPF+vF, wherein vF represents actual drift of the position-loop controller; lag error calculating means for calculating a current lag error value, PE, in response to the timer control means starting the timer, and according to a second formula: PE=ΣPC-ΣPF; reset detection means for detecting the value of PE', and for generating an arrive signal when the value of PE' is less than or equal to a given value; and compensation lag error resetting means for receiving the arrive signal from the reset detection means and for resetting the compensation lag error value at the end of said predetermined period if no arrive signal has been received from the reset detection means during the predetermined period; wherein after the compensation lag error resetting means resets the compensation lag error value, the lag error calculating means resets the lag error value, PE, according to a third formula: PE=-vF.