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一、引言系统闭环极点决定着系统的稳定性与动态模式。经过分析我们认为:闭环极点决定系统的基本运动模态,闭环零点却决定着每个运动模态在输出中所占比重。后者对系统的动态性能有着很大的影响,因此可以通过配置零点来改变各状态的动态加权系数,以调节状态变量的变化过程对系统输出的影响,从而达到改善系统动态性能的目的。二、零点配置原理本文提出采用“前馈控制”方法来进行零点配置,同时又把“前馈控制”分为二种,即“输入前馈”和“状态前馈”。从输入量引出信号加到各状态变量上的控制方式称为输入前馈,从各状态变量引出信号,在
I. INTRODUCTION The closed-loop pole of the system determines the stability and dynamic mode of the system. After analysis we think: the closed-loop pole determines the basic movement mode of the system, the closed-loop zero determines the proportion of each movement mode in the output. The latter has great influence on the dynamic performance of the system. Therefore, the dynamic weighting coefficient of each state can be changed by configuring the zero point so as to adjust the influence of the change process of state variables on the output of the system so as to achieve the purpose of improving the dynamic performance of the system. Second, the principle of zero allocation This paper proposes the use of “feedforward control” approach to carry out the zero point configuration, while the “feedforward control” is divided into two types, namely “input feedforward” and “state feedforward.” From the input leads to the signal state variables added to the control method is called input feedforward, leads from the state variables, in the