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2 APPARATUS FOR CONTROLLING ACTUATOR OF TWO-MASS INERTIA SYSTEM
2 APPARATUS FOR CONTROLLING ACTUATOR OF TWO-MASS INERTIA SYSTEM
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机译:2两质量惯性系统执行器的控制装置
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摘要
A two-inertial system driver control apparatus according to an embodiment includes a two-inertial system driver including a driving unit, a load unit, and an elastic unit connecting the driving unit and the load unit; And a dynamic model of the two inertial system driver based on an output generated by applying a control input and the control input to the two inertial system driver, and disturbance controlling an output of the two inertial system driver based on the dynamic model. It includes an observer, and the dynamic model includes, as parameters, a resonance frequency, a gain, and an attenuation coefficient, and the resonance frequency, the gain, and the attenuation coefficient are applied as a set signal is applied to the two inertial system driver. Each can be determined based on the reactions that occur.
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