本文根据极限环特性对单舍入量化器二阶数字滤波器的零输入稳定性进行了分析。

In this paper the zero-input stability of second-order digital filters with a rounding quantizer has been analyzed by the properties of limit cycles.

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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。

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.

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前者在常规的采用电压外环、电流内环的双闭环控制基础上，搭建数字锁相环、数字滤波器。

Digital PLL and digital filter are built based on conventional double closed-loop control which contains voltage loop and current loop.

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