external feedback controller 中文意思是什麼

external feedback controller 解釋
外反饋控制器
  • external : adj 1 外部的，外面的；【哲學】外界的，客觀的，物質的。2 表面上的 （opp intrinsic）; 膚淺的，淺薄...
  • feedback : 反饋的信息
  • controller : n 1 管理人，主管人。2 （會計的）主計人，檢查員；〈英國〉（特指宮廷、海軍等的）出納官〈常作 comptr...
  1. The innovative ideas in this paper are that robust h control theory based on conventional ip controller is applied to the high - precision feed of a single axis, and the controlled plant is composed of ip velocity loop and two - order model of linear motor. a constraint condition on y in the problem of h2 / h is deduced from the frequency criterion of riccati equation, which makes the repeated computation on r simple. considering the two - loops control problem, the h state feedback controller based on ip controller as the inner controller is applied to satisfy the velocity performance of the system, and a pi controller, the external controller, is used to satisfy the position performance

    本文的創新之處在於將傳統的ip速度控制器和直線電動機的二階模型作為一個廣義的被控對象，利用魯棒h _控制理論設計了一個h _狀態反饋控制器，以此解決高精度進給的控制問題，並在此基礎上研究了h _ 2 h _混合控制問題，結合h _代數riccati方程正定鎮定解存在的頻率判據，推出了一個控制器存在的約束條件，使以往須反復試探的，有了更進一步的約束范圍，簡化了計算。
  2. This dissertation presented two new methods of robust adaptive track control for a class of mimo strong nonlinear system with external disturbance. one method makes use of taylor approximation principle to linearize the mimo strong nonlinear system at the ideal equilibrium point, meanwhile external disturbance is considered, and then designs two on - line neural network controller respectively, which can dynamically compensate the high order items of taylor series and the control signals at ideal equilibrium point under the drive of state error between linear and nonlinear system. a linear feedback controller obtained by pole assignment and two on - line neural network act on the practical mimo high nonlinear system together, guaranteeing the whole system robust stable and tracking the specified signal ; the other method designs three on - line neural networks for this class of system

    本文對於一類含有外部擾動的多輸入多輸出（ mimo ）強非線性系統，提出了兩種新的魯棒自適應跟蹤控制方法，第一種利用了taylor近似的原理，在考慮了外部擾動的情況下，將mimo強非線性系統在理想平衡點處線性化，分別設計了兩個在線神經網路控制器，在線性和非線性系統之間的狀態誤差驅動下動態補償系統的taylor近似高階項及理想平衡點處的控制信號，滿足極點配置方法的線性反饋控制器和兩個在線神經網路聯合作用於實際的被控mimo強非線性系統，在保證整個系統魯棒穩定性的情況下，能夠跟蹤給定的指令信號；另一種方法是針對這類系統設計了3個在線神經網路，分別實時抵消這類非線性系統中的非線性部分、與控制量耦合的非線性項以及外部擾動，使得受控系統的輸出可以完全跟蹤給定輸入參考信號。
  3. A new robust adaptive scheme which are used for tracking of this robot with parametric and bounded external uncertainties is proposed in this thesis. the controller is consist of a controller which is proposed by slotine1 ' 1 and nonlinear continued feedback compensation part. by estimating the unknown physical parameters of robot on - line, it can eliminate the effects result by parameters and external disturbances and guarantee gas and uniform boundedness of parametric estimation. the only information required in setting up the strategy is the output states of jionts, while the inversion of the inertia matrix or estimation the bound of the inertia matrix and measure the jionts accelerations are not needed. it is shown by simulations that the proposed control scheme has quicker convergence velocity and better control precision than paper [ 1 ] and control schemes at present

    針對該模型具有參數及有界外部擾動不確定性時提出了一種新的魯棒自適應控制策略，控制器由基於slotine的控制器和非線性連續反饋補償控制器構成。通過在線估計機器人的未知物理參數，有效的消除了由參數及外部擾動所引起的不確定性影響，保證系統達到漸近穩定和參數估計一致有界。與現存的許多控制方法相比，該控制策略不需求解慣性矩陣的逆或估計慣性矩陣的界，不需測量關節加速度，而唯一需要了解的只是系統輸出的位置及速度狀態。
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