To remedy this problem, a real-time hysteretic compensation control strategy combining a dynamic recurrent neural network ( DRNN ) feedforward controller and a proportional derivative ( PD ) feedback controller was proposed to implement the precision position tracking control of the GMA. 为了克服这个问题,将动态递归神经网络(DRNN)前馈和PD反馈控制器相结合,提出了一种实时滞回补偿控制策略,以期实现GMA的精密位移跟踪控制。
Feedforward controller composes of a zero phase error tracking controller and a zero phase low pass filter. Feedback controller consists of a proportional derivative controller and a disturbance observer. Columb friction model based fixed compensation was used in friction compensation term. 前馈环节由零相差跟踪控制器ZPETC(ZeroPhaseErrorTrackingController)及FIR滤波器构成,闭环由比例微分(PD)控制及干扰观测器构成,摩擦补偿采用基于库仑模型的固定补偿方法。
With both the Automatic Dynamic Analysis of Mechanical System ( ADAMS in short ) and Matlab, an alternant simulation system is established. The position control for the second-step ( mechanical ) arms is also simulated with the proportional derivative ( PD in short ). 运用虚拟样机软件ADAMS和数值计算软件Matlab建立交互式仿真系统,并采用比例微分控制法(Proportionalderivative,简称PD)对二阶机械臂进行定位控制模拟。
The problem of proportional plus derivative ( PD ) feedback eigenstructure configuration and its applications in optimal control problems are investigated in a second-order linear systems. 考虑了二阶线性系统的比例微分(PD)反馈特征结构配置问题以及其在最优控制问题中的应用。
Through the robust stabilization of singular systems being investigated, the closed loop system is to be robust stabilized by proportional and derivative output feedback. And the step of computing feedback controller is given. Finally, an example is given to illustrate the validity of our method. 通过对广义系统的鲁棒稳定性分析,利用比例导数(PD)输出反馈的方法使得闭环广义系统是鲁棒稳定的,并给出了鲁棒稳定控制器的设计方法,最后通过数值例子说明了该方法的有效性。