| 1. | The design and simulation of the servo controller had been researched based on the optical track device for lunar rover made by dept . of astronautics engineering of hit . the main research are following : firstly , according to performance requirements , the control scheme is determined , and the control model are selected after analyzing the steady and dynamic characteristic . and the control equation are obtained
首先根据系统的性能指标要求,在分析了系统的稳态和动态性能的基础上,确定了系统的控制方案,建立伺服控制系统各环节的数学模型,对视觉平台的控制方程进行了简化处理,消除了方位轴和俯仰轴之间的力矩耦合,得到了相互独立的方位轴和俯仰轴的控制方程。 |
