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 論文從控制系統(tǒng)的結(jié)構(gòu)方面,利用結(jié)構(gòu)不變性原理,針對位置擾動設(shè)計專門的前饋補(bǔ)償控制器,減小位置擾動的影響。
So how to minish the surplus torque by selecting proper control strategy is a main aspect discussed in this paper . by applying the structure invariant theory in the control strategy , an equivalent structure invariant loading system is produced , which proved to be very effective in reducing the redundant force 論文闡述了多余力產(chǎn)生的機(jī)理,研究了影響多余力的因素,在控制策略方面,采用了結(jié)構(gòu)不變性原理,建立加載系統(tǒng)等效的結(jié)構(gòu)不變性系統(tǒng),從根本上來減小多余力的影響。