The system mainly consists of 21bit all quantity encoder feedback, digital PID computation and DC servo mechanism.
该系统主要由21位全量编码反馈、数字PID运算和直流伺服机构组成。
To raise the resolution capacity of the encoder feedback signal, this paper still study the technology of having signal frequency 4 times handled, and designs the principle circuit.
为了提高编码器反馈信号的分辨率,本系统还进行信号四倍频处理技术研究,并设计了原理电路。
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。
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