目前，有许多方法用来 研究多电机同步控制策略，本文采用的是偏差藕合控制方法，利用模糊PD作为速度 同步补偿器的控制算法，使用遗传算法来整定Por的参数范围，解决了多电机同步控 制系统中多电机速度的同步控制问题。-At present, there are many methods used to Study of the motor synchronous control strategy used in this paper is the deviation of coupli

基于重力补偿控制的二自由度机器人，仿真表明较传统机器人PD控制，其控制轨迹精度大大提高-Two-degree-of-freedom robot based on the gravity compensation control, simulation shows that the more traditional robot PD control, greatly improved the accuracy of the control track

pi pd pid基于MATLAB控制编程 算法 实现-pi pd pid Implementation of control programming algorithm based on MATLAB

对微机械臂受力分析得到运动学方程，求解后得出微机械臂的关节力矩和宏机械臂末端作用力的关系。在已知柔性臂末端的弹性变形和振动情况的基础上，用PD控制原理使微机械臂关节产生所需力矩(The kinematics equation of the mechanical arm was obtained. The relationship between the joint torque of the micromanipulator and the end force of the macro mani