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发表于 2018-6-27 13:07:18
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我们正在与MTS竞争一个类似于第4节第4.3节所示的项目。
第57页显示了将加速度积分到速度和位置。 我们也必须这样做。 然后该位置可以用作目标位置。 目标速度和目标加速度可以用作前馈。 这显示在幻灯片#62中
在幻灯片#61中有控制器增益的公式。 这些公式与我以后在ITAE主题中显示的内容类似。
注意有三个控制器增益。 Kdf,Kvf,Kaf。 我将说明为什么必须有三个控制器增益。 只有一个比例增益是不够的。
写控制算法的人非常好。
第4-5节解释如何生成模型,以便可以准确估计频谱。 没有足够的数据显示它是如何完成的,或者为什么估计频谱比估计实际系统更重要
We are in competition with MTS on a project similar to what is shown in ppt #4 section 4.3.
Slide 57 shows integrating accelerations into velocity and positions. We must do this too. Then the position can be used as target positions. The target velocity and target acceleration can be used as feed forwards. This is shown in slide #62
In slide #61 there are formulas for the controller gains. These formulas are similar to what I will show in my ITAE topic later.
Notice that there are three controller gains. Kdf, Kvf, Kaf. I will show why there must be three controller gains. One proportional only gain is not enough.
The person that wrote the control algorithm is very good.
Section 4-5 explains how to generate a model so the spectrum can be estimated accurately. There isn't enough data shown there to show how it is done or why estimating the spectrum is more important than estimating the actual system.
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