摘要
本文介绍了二自由度理论及用8097单片机实现了前馈型二自由度PID控制算法.实验结果表明,该伺服系统鲁棒性强,能明显改善系统的动态特性.
The two degree of freedom theory is introduced in the paper.Realize the forwardback two degree of freedom PID regulator by using 8097 single chip comput- er. The experiment result show the servo system has strong robust and the dynamic characteristics that the servo system is perfected obviously.
关键词
二自由度
伺服系统
鲁棒性
two degree of freedom
servo system
robust
