提出了一种对抗前径信道的重叠结构均衡算法，可以降低系统对抗前径时对前馈滤波器长度的依赖，提高系统的性能并降低复杂度。
Propose an overlap structure equalization algorithm for the pre-echo channel, which can weaken the dependence on feedforward equalizer, enhance the performance and reduce the complexity.
并采用一种前馈型的时滞滤波器技术，对加速度控制信号进行滤波来有效地控制抓斗的摆角。
A time delay filter technique is applied to shape the acceleration control signal, thus prevents the swing grab.
利用滤波器解决了前馈控制的物理不可实现问题。
By using a filter the physically unrealizable problem of the feedforward control is realized.
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