本文提出一种非线性数字式PD型校正器,通过在具有PD特性的非递归式数字滤波器中引入“反间隙”非线性环节,并使其按照表征自控系统动态品质的某个量实时地整定自己的参数,而使该滤波器获得新的性能。利用它作为校正器,能够比线性滤波器(校正器)更显著地改善动态品质(稳定性与精度)。 本文以一个时变的姿态控制系统为例,定量地说明它的校正作用。 In this paper, a nonlinear digital PD-type corrector is proposed. By introducing non-linear anti-backlash in the non-recursive digital filter with PD characteristic and making it in real time according to the characterization of the dynamic quality of the self- Tuning your own parameters gives the filter new performance. Using it as a corrector can improve dynamic quality (stability and accuracy) even more significantly than linear filters (correctors). In this paper, a time-varying attitude control system, for example, quantitatively illustrates its correction.