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。
The inner-loop controller is composed of a third-order ESO, a linear proportional-derivative control law and a static decoupling law.
通过优化算法，设计出的LQR控制器取得了良好的动、静态解耦效果。
Through the optimization algorithm, the control system with the LQR controller gets very well dynamic and steady state decoupling performance.
本文首先根据中储式球磨机制粉系统对控制精度要求不高的特点，将传统解耦方法中的逆矩阵方法应用于制粉系统解耦中，设计了基于逆矩阵静态解耦的PID控制系统。
According to the demands of ball mill coal pulverized system, inverse matrix decoupling theory, a traditional decoupling method, is used in the system control, and a PID controller is designed.
仿真结果表明，所设计的控制系统具有良好的解耦性能，可以同时完成较精确的纵向和侧向机动，并且系统动静态品质良好。
The results show that the system, which can accomplish longitudinal and lateral maneuvers simultaneously, not only has excellent decoupling performance, but also has better static and dynamic quality.
在研究基于最小二乘理论的多维力传感器静态线性解耦方法的同时，提出了一种基于BP神经网络的静态非线性解耦方法。
The least square theory-based static linear decoupling method is studied, and a new static decoupling method based on BP artificial neural network is proposed.
最后证明了：系统可用动态状态反馈解耦，也可通过拟静态状态反馈进行解耦。
Moreover, we prove that if the disturbance decoupling problem is solvable by a dynamic state feedback, then it is solvable by a quasi static feedback.
最后，研究了传感器的静态标定原理，并对传感器进行了静态标定实验，得到了传感器的标定实验解耦矩阵。
Finally, principle of the sensor calibration is analyzed, and the sensor coupling matrix is calculated according to the data of the static calibration experiment.
最后，研究了传感器的静态标定原理，并对传感器进行了静态标定实验，得到了传感器的标定实验解耦矩阵。
Finally, principle of the sensor calibration is analyzed, and the sensor coupling matrix is calculated according to the data of the static calibration experiment.
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