To solve the problem, a nonlinear model of the electrohydraulic servo system was established and linearized accurately under large scale with nonlinear control theory. Then a nonlinear controller was designed according to zero dynamics theory.
为解决这一问题,本文又建立了电液伺服系统的非线性模型,并应用非线性系统的几何控制理论,使系统的非线性模型在大范围内精确线性化,然后根据零动态原理设计出系统的非线性控制率。
参考来源 - 电液伺服系统的非线性控制·2,447,543篇论文数据,部分数据来源于NoteExpress
并根据李导数和导数的关系提出了一种实用的零动态算法。
Accordding to the relationship between derivative and Lie derivative, an new zero dynamic algorithm is proposed.
最后在零动态稳定的假设下,实现了整个系统的半全局渐近稳定。
Under the assumption of stable zero dynamics, the whole system is semi-global asymptotically stable (Semi-GAS).
基于反馈线性化控制理论,推导出了平面3r刚性冗余度机器人的零动态方程。
Based on the control theory of feedback linearization, the zero dynamics equation for a planar 3r rigid redundant robot was derived.
I am going to say if that electron is to stay in its orbit, that is to say it doesn't flee the atom, it doesn't collapse under the nucleus then the sum of the forces on the electron must be zero No net force. And so that will be the sum of a dynamic force plus an electrostatic.
如果电子会保持在它的轨道上运行,既不脱离原子的话,它就不会由于原子核对它的吸引力而被瓦解掉,电子所受的合力一定为零,由于没有合力,所以电子所受力为动态力和静电力的总和。
应用推荐