double-ring

According to that, a double-ring position control system is designed, in which the speed references are produced by directly resolving the inverse-kinematics.

建立了五自由度关节式机械手的运动学模型,设计了一种双环路位置随动系统实现机械手的位置控制。

To solve the problem of PWM mode of switching power supply which efficiency is low in light load,and the problem of PFM mode which output noise bandwidth is wide,wave filtering is difficult,a novel switch power supply modulation mode is presented-skip cycle modulation(SCM) combining double-loop control mode with variable current limit comparator.

提出SCM的控制机理和理论模式,SCM模式的效率比常规的PWM高,且基本上与负载无关;通过可变极限电流比较器对负载进行监测形成双环路控制模式,提高了电源的响应度,降低了开关电源的电磁干扰和输出纹波电压。