| 1. | Research on ultra - precision machine tools ' servo control technique based on disturbance feedforward compensation
基于扰动前馈补偿的超精密机床伺服控制技术研究 |
| 2. | A hybrid controller with neural - variable structure for trajectory tracking of robot manipulators with uncertainties is proposed
摘要针对不确定性机器人的轨迹跟踪控制问题，提出了一种神经网络前馈补偿加变结构的混合控制器。 |
| 3. | But direct pd control has better robustness against modeling error and uncertain disturbance compared with pd control with feedforward compensation
与pd加前馈补偿控制相比，直接pd控制对机器人手臂动态模型误差及外界不确定性干扰具有更强的鲁棒性。 |
| 4. | By applying the structure invariant theory in the control strategy , the feedforward - feedback control theory is applied in the control system design to reduce the redundant force
论文从控制系统的结构方面，利用结构不变性原理，针对位置扰动设计专门的前馈补偿控制器，减小位置扰动的影响。 |
| 5. | On the base of finishing the practical project , it comes out a state observer to make up the load disturb and load disturb fore - feedback compensation controller
在完成实际项目基础上，文中还对冷带轧机速度控制系统进行了理论研究，提出了采用状态观测器重构轧制负载扰动，并设计了负载扰动前馈补偿控制器。 |
| 6. | Based on the mathematical expression , the paper researches the factors which influence the surplus force . a feed - forward compensation method with the structure invariance theory is brought forward and it effectively reduces the surplus force . the paper analyses the coupling of multi - channel harmony loading system and constructs its mathematical model
论文结合多余力产生的机理以及多余力产生的数学表达式，研究了影响多余力的因素，采用结构不变性原理对其进行了前馈补偿，仿真效果表明，采用的控制策略是可行的。 |
| 7. | After analyzing compensation conditions for 3 - axis stabilization to overcome disturbance from ship surge , sway and yaw , two control strategies - feed - forward compensation and closed - loop feedback compensation - are given . these two strategies are applied to antenna stabilized tracking system with good performance . intelligent pid is used in closed - loop feedback compensation to get high tracking precision and rapid response
重点分析了天线稳定控制系统的三轴补偿条件，提出了稳定系统抑止载体扰动的控制策略：对于横滚和俯仰系统采用前馈补偿的控制策略；对于方位系统，在以步进电机为驱动元件的特定条件下，研究了变控制周期的闭环反馈策略，同时成功将智能pid算法应用于实际系统，提高了系统的跟踪精度和响应快速性。 |
| 8. | The above circumstances will create some difficulties for the design of a discharge header pressure of coke oven control system , whose difficulties make it hard to realize an accurate control . in this paper , after comparing the difference of some kinds of decoupling control method , aiming at the feature of the coke oven pressure system and based on the coupling phenomena caused by the fluctuate between border upon channels , using the theory of feedforward and thinking about the influence between the fan suction and the discharge header pressure , a kind method of fuzzy feedforward is presented and used to control the discharge header pressure
本文在比较了目前各种解耦方法的优缺点后，针对集气管压力控制的特点，基于相邻通道的波动引起的耦合现象，采用前馈补偿原则，同时考虑鼓风机吸力对集气管压力的影响，将常规pid控制技术、多变量经典控制技术和多变量模糊控制技术相结合，提出了一种基于模糊逻辑的模糊前馈解耦方法，用于集气管压力控制。 |
| 9. | Presents a simple method of compensating friction against the character of the nonlinear model of a brushless dc motor system which transfers the original system model to a simple linear model using the method of input - output linearization , and estimates the coulomb friction in the system in real - time using a nonlinear friction estimator , and then compensate the friction in the system using a friction feedforward , and concludes from simulation results that this method can effectively eliminate the influence of friction in brushless dc motor systems
针对无刷直流电动机系统的非线性数学模型特点，提出了一种简单的摩擦补偿方法.该方法首先利用输入输出线性化方法将原系统模型转化为一种简单的线性模型，然后给出一种非线性摩擦估计器实时估计系统中的库仑摩擦值，最后利用摩擦前馈补偿方法对其进行补偿.仿真结果表明该方法可以有效地抑制无刷直流电动机系统中的摩擦影响 |
| 10. | Simulations show that this method can quickly and accurately recognize the object in input image and has a few strong robustness against noise in the input image . secondly , the simulations for two kinds of control algorithms based on pd , namely , direct pd control and pd control with feedforward compensation , have been completed in this thesis . simulations show that both control algorithms have good control performance in tracking a known trajectory and the effect of dynamic compensation of pd control with feedforward compensation is obvious
本文首先根据二值图像的特点结合距离变换提出了一种基于ga模式匹配的复杂背景下目标的识别方法，该方法能快速准确的匹配图像中的目标，而且对噪声有较强的鲁棒性；接着对基于pd的2种机器人控制算法(直接pd控制和pd加前馈补偿控制)进行了仿真研究，实验结果表明这两种pd控制算法都具有较好的轨迹跟踪性能，而且pd加前馈控制的动态补偿效果也很明显。 |
