A force control method based on inner position loop was discussed and applied to the control of exoskeleton suit.
讨论一种基于位置内环的力控制方法，并将其应用于骨骼服的控制之中。
INNER LOOP control, For autopilot operation this is the basis control of airplane pitch and roll attitude without regard to flight path.
内环路控制，对于自动驾驶仪操作，这是无关飞行航道的飞机俯仰姿态和坡度的基本控制。
The control laws of the inner closed loop system and post stall maneuver are obtained through using symbol operations design.
使用符号运算方法设计了系统闭环控制律和大攻角下的过失速控制律。
Then, this thesis applies IP control algorithm to change controller in outer loop but not in inner loop based on basic double closed loop control system.
然后，本文在传统双闭环控制的基础上，内环的控制算法不变，改变外环控制器的设计算法，主要采用IP控制方案。
The two parts both adopt double loop PWM control mode which consists of outer voltage loop and inner current loop.
该系统包含升压和逆变两个环节，均采用电压外环、电流内环的双环pwm控制方式。
The output signal of the outer loop ACTS as the input signal of the inner loop. The inner loop engenders a synchronism drive signal to control current.
控制器由内环和外环两部分组成，外环的输出信号作为内环所需的输入信号，内环产生一个同步驱动信号，实现对电流的快速控制。
Decoupled control structure consisting of current feedback and voltage feed-forward is adopted in the inner current control loop which can track the reference current quickly.
内环电流控制器采用电流反馈和电压前馈的解耦控制策略，实现电流的快速跟踪控制；
According to all of these characteristics of the system, a three-loop fuzzy sliding control mode is adopted, the speed and position loop are outer loop, and the current loop is inner loop.
根据系统这一特点，采用三闭环模糊滑模控制策略，外环为速度和位置闭环，内环为电流闭环的方法设计控制器，并进行了仿真实验研究。
Two closed loops are constructed in the control system; the inner loop is currentfeedback that is to adjust the torque of the motor.
系统采用双闭环控制，内环采用电流负反馈对电机转矩进行调节；
In the inner closed loop, general PID control method based on encoder feedback of motor is adopted, and in the outer closed loop, a new fuzzy control based on position feedback of joint is adopted.
利用电机码盘反馈构成内位置环控制，采用一般的PID控制律；通过关节位置反馈形成外位置环控制，采用模糊控制算法。
The system has retained the advantages of traditional cascade control systems, which consist of overcoming inner-loop disturbances and increasing the working frequency of the system.
系统保留了传统串级控制系统克服内回路扰动、提高系统工作频率的优点。
This PFC was realized by employing sliding-mode variable-structure inner current loop control and outer voltage loop PI control with digital low-pass filter to achieve high performance.
提出了采用滑模变结构电流内环与由PI调节器和数字低通滤波器组成的电压外环相结合的控制系统，以实现高性能高速度的功率因数校正。
Flywheel control system has two closed loops, the inner is voltage stabilization loop, other is current loop or is speed loop in different mode.
飞轮控制系统是个多回路系统，内回路为电压稳定回路，外回路在不同的工作模式下分别为电流回路和转速回路。
A DC voltage outer loop control for power balance and PI correction and an ac current inner loop control for feedback are designed to ensure the current quality and stabilize the DC voltage.
通过直流电压外环的功率平衡控制及比例积分校正，配合内环并网电流反馈控制，使并网逆变器在保持并网电流质量的同时更好地控制直流电压。
The winch of inner loop and speed regulator are researched by means of classical control theory.
分别利用经典控制理论研究了绞车部分的内环、速度调节器；
A compliant force control strategy is developed based on the inner loop position control of 6-dof parallel robot in order to simulate the push and pull process of forcible alignment in space docking.
为模拟空间对接强制校正阶段的推出和拉近过程，提出基于6自由度并联机器人位置内环的柔顺力控制策略。
The Special Burst may also carry layer 1 control symbols such as TPC bits for the purposes of inner-loop power control.
特殊突发还可以承载物理层控制符号如用于内环功率控制的TPC符号。
The control system is made of double closed loops: the inner current loop and the outer temperature loop, and satisfies the EAF's temperature need and three phase current balance.
采用温度控制外环和电流平衡控制内环的双闭环结构实现电弧炉温度和电极三相电流平衡的智能集成控制。
Secondly, the DC voltage loop and inner current closed-loop control method, both to ensure zero static error of the inverter output, but also to ensure that the inverter output waveform.
其次，本文采用直流电压外环、电流内环的双闭环控制方法，既保证了逆变器输出的静态误差为零，又保证了逆变器良好的输出波形。
Force tracking experiments of contacting various stiffness environments of sponge, foam, and iron surfaces have been performed under both position inner loop control and impedance inner loop control.
在基于位置内环和阻抗内环的力外环控制方式下，进行了机器人接触刚度变化较大环境(海绵、泡沫和铁块)的力跟踪实验。
The spacecraft's attitude control system was divided into the outer loop that was Angle loop and the inner loop that was Angle velocity loop based on their time scales.
基于奇异摄动思想，将飞行器姿态控制系统分为慢变化的姿态角回路和快变化的角速度回路分别设计。
The aerocraft's attitude control system is divided into the outer loop that is an Angle loop and the inner loop that is an Angle velocity loop based on their timescale separation principle.
基于时标分离思想，将飞行器姿态控制系统分为慢变化的姿态角回路和快变化的角速度回路分别设计。
We can use SPWM to control power tube on or off, can use the double-loop control with the inductance current inner loop and capacitor voltage outer loop is introduced.
可采用SPWM控制功率管的关闭与导通，采用外环电压环，内环电流环的双环控制。
With the strategy of the UC3525 core as well as an inner current-loop and an outer voltage-loop control, the output stable voltage and limited current are realized very well.
控制电路以UC3525为核心，构成电流内环、电压外环的双环控制模式，实现系统稳压和限流。
The inner-loop controller is composed of a third-order ESO, a linear proportional-derivative control law and a static decoupling law.
内环控制器由三阶ESO、线性比例微分控制律和静态解耦律组成。
Outer inner voltage-current dual closed loop control system to improve the system accuracy and stability of the output and improve the system dynamic response.
采用电压外环电流内环双闭环控制系统，提高了系统的输出的精度和稳定性，改善了系统动态响应特性。
The controller studied in this paper is based on cascade control system. Intelligent fuzz control is used to the outer loop and traditional PID law is applied to the inner loop.
在串级控制系统的基础上，主调节器采用智能模糊PID控制算法，副调节器采用常规PID算法。
The inner loop adopts the current feed-forward decoupled mode to control the active power and reactive power independently.
同时，内环采用电流前馈解耦方式，分别独立控制有功功率、无功功率。
The main control structure of the servo drive is formed by two cascade loops, which are the current inner loop and the velocity outer loop.
驱动器控制架构采用电流与速 度迴路串级的双迴路控制架构，其中可调参数为电流与速度控制器参数。
Inner-loop control for quick system respondence for changes in Arc length are constantly;
采用内环特性控制；系统响应速度快，能迅速响应弧长变化，不断弧；
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