We consider the predictive virtual model as a time forward observer and constructing the dynamics equation of the system. The control law of teleoperation system based on virtual predictive environment with error compensate observer is put forward. 本文通过将虚拟预测环境作为时间前向观测器,构造了基于虚拟现实的力反馈遥操作机器人系统的动力学方程,并在此基础上提出和分析了基于虚拟预测环境误差补偿的控制方法。
A feed forward voltage decoupling vector control system based on flux observer is brought forward. The main feature of this system is the compensation for the flux observer and feed forward part using predicted current error. 提出基于磁通观测器的电压前馈型解耦矢量控制系统结构,该系统的特点是用电流预测误差对磁通仿真器及电压前馈型结构进行补偿。