| 1. | Thirdly , explore surveillance system and design position loop system
再次，开发实验台监视系统和研制位置环系统。 |
| 2. | As a kind of servo control card , it is important for the pcl - 832 card to compensate the error of position loop
Pcl ? 832控制卡作为伺服控制卡，对其位置环的位置偏差量的补偿，是实现精确位置控制的关键。 |
| 3. | Moreover , some beneficial practical research has been done about fuzzy - pid control algorithm in position loop design
其中电流环采用比例调节算法；速度环采用比例积分调节算法；位置环采用模糊自整定pid控制算法。 |
| 4. | Finally , signal waves of every part of the system were tested and adjustment of the position loop and velocity loop control parameters were finished
最后,测试了系统中各部分电路的信号波形,完成了速度回路和位置回路控制参数的整定。 |
| 5. | The paper presents a three - loop control system for servo of the grp wined system ; i . e . , the system is consist of current loop , speed loop and position loop
在本文中，伺服系统的设计采用了典型的三环控制，既系统由电流环、速度环、位置环组成。 |
| 6. | For the position loop designs , considers the exact orientation for overall system and insure the steady - state accuracy of complete system , we also use the pid control for the position loop
为了确保整个系统的稳态精度和精确定位，位置环的设计也采用了传统的pid控制。 |
| 7. | The paper also shows some key source routine carefully . the main algorithm - completely - digital triple - loop control , composed by current loop , velocity loop and position loop is adopted
在具体算法设计方面，论文提出了由电流环、速度环和位置环所组成的全数字三闭环控制算法。 |
| 8. | Secondly , the control of position loop was improved by using compound control with velocity and acceleration feed - forward control and digital notch filter control in feeding servo system
其次对位置环的控制进行了改进，将位置前馈改进为速度前馈和加速度前馈，并在前向通路中增加了一个数字阶式滤波器组成复合运动控制器。 |
| 9. | As a result , a high robust controller was easily accomplished , consisting inner - loop , the current loop , outer - loop , the position loop , pre - filter controller , feedforward controller , repetitive controller , and disturbance observer
该控制器由内环的电流控制器和外环的位置控制器、前置滤波器、前馈控制器、重复控制器和扰动观测器组成。 |
| 10. | In which integrate compensator was introduced in slide mode controller of velocity loop for reducing torque chattering , and compound sliding controller was designed to avoid chatter in slide mode controller of position loop
其中速度环通过增加积分环节来消除滑模控制的力矩抖动，位置环通过复合滑模拉制的设计来消除稳态滑模控制的抖振。 |
