系统误差

The stability and the frequency response of open loop and close loop system are analyzed.

详细探讨了系统的稳态误差、静态误差对系统精度的影响。

It also discusses the effect upon the dynamic performance of this gyrostabilizer system when the gyro error compensation has been complted.

本文紧密结合工程实践，详细讨论了在陀螺稳定系统中通常所采用的两种不同的陀螺仪误差模型，并实施误差补偿之后，对陀螺稳定系统动态性能的影响，同时给出了仿真结果。

The error models of strapdown inertial navigation system are given, and error models of low cost system are given according to the specialties of low cost IMU.

列出了捷联惯导系统的误差传递方程，并结合低成本IMU的特点，给出了低成本捷联惯导系统的误差传递方程。

The effects of the initial values and the network approximation error using neural network model composed of feedforward neural net and delayed output feedback in the approximation of NARMAX system are studied, and a conclusion is drawn that under some weak conditions the output of the network model has little difference from that of the actual system.

研究了用带有延迟环节的前馈网组成的网络模型逼近NARMAX系统时网络逼近误差及运行初始误差对网络模型输出的影响，指出在一些弱的条件下网络模型输出与实际系统输出间相差不大。

The initial alignment error is one of the main errors of SINS,and it affects the precision directly.

初始对准误差是捷联式惯导系统的主要误差源之一，它直接影响到惯导系统的工作精度。

Firstly, applying spectral factorization to minimize an integral square performance criterion containing tracking error and control energy, an optimal control law for the nominal model is derived on condition of control energy constraint. Then, for model uncertainty, using spectral factorization to minimize the variance of the actual system performance from the nominal performance over all frequency range, a robust controller design method is abtained, which has optimal robustness of the system nominal performance to model errors.

首先针对控制对象的标称模型应用谱分解最小化一个包含跟踪误差和控制能量在内的积分平方性能指标，导出一个控制能量约束条件下的最优控制律；然后再针对模型不确定性应用谱分解最小化实际系统性能和标称性能在整个频段上的方差，得到一个鲁棒控制器的设计方法，可使系统的标称性能对模型误差具有最优的鲁棒性。

The objective of this research was control a long stroke inchworm type positioning stage. Consider the factors that may affect positioning precision include the nonlinearity of piezoelectric actuator and phase lag cause by feedback control. Use model of hysteresis and zero phase error tracking controller to improve the tracking ability and reduce the phase lag of the system.

因此在本研究中，对於一个蚇蠖式长行程平台研究控制方法，考虑可能影响定位精度的因素，包括压电致动器的非线性特性与系统因为闭回路控制架构造成的响应相位落后现象，利用迟滞数学模型的建立与零相位误差追踪控制器的设计来改善系统的追踪能力与相位误差。

In order to reduce the measuring error of automatic detection systems, it is needed to adjust the non-linear error for automatic detection systems.

为减少检测系统的测量误差，在自动检测系统中需要对非线性误差进行校正。

As one part of the project, the dissertation is developed with thelocalization problem in mobile robot navigation. Combined with "MobileRobot 1 of Central South university (MORCS-1)", a mobile robot designed byus that equipped with a 2D laser measurement system to sense the environmentand the proprioceptive sensors such as the odometry, gyroscope to calculate itsdead reckoning, the approach about the four kind uncertainty factors of mobilerobot localization is studied. These researches include that the error analysisand calibration of position sensors is implemented to reduce the measurementnoise, the 3D kinematic model of mobile robot is built to gain the accuratepose in complex terrain, some work on the automatic detection of static ordynamic obstacles based on laser scanner is investigated to eliminate thedynamic influence of the environment and to realize the reliably absoluteposition, and lastly a robust algorithm is presented to involve the incrementalenvironment mapping and self-localization of mobile robot with unknown dataassociation and to improve the self-localization performance of mobile robotunder unknown environment.

作为该项目研究的一部分，本论文以移动机器人导航中的定位问题为研究内容，利用自行研制的装配有二维激光雷达环境感知系统，并通过里程计、陀螺仪等内部传感器来实现航迹推测的移动机器人"中南移动1号MORCS-1"，重点围绕影响移动机器人系统定位的四类不确定性处理展开研究：通过移动机器人定位传感器的误差分析及校准，旨在消除传感器噪声所带来的测量误差；通过建立移动机器人的三维运动学模型进行航迹推测，以期实现复杂地形下精确的移动机器人本体姿态感受；通过基于激光雷达的动静态障碍的自主检测等相关研究，尽量消除环境的不确定因素影响进而实现可靠的移动机器人绝对定位；通过以上研究，针对未知数据关联下移动机器人增量式环境建图与自定位的研究提出一种鲁棒的滤波算法，改善未知环境中移动机器人自定位的性能。

In the dissertation the influences from the fabricating error and operation status of a pentagonal prism were discussed. The factors influencing the measurement accuracy of the system were analyzed theoretically.

文中还论述了五角棱镜的制造误差和工作状态对系统测量精度的影响，对大尺寸形位误差测量系统的精度进行了分析和实验，理论分析与实验结果相符。

I didn't watch TV last night, because it .

昨晚我没有看电视，因为电视机坏了。

Since this year, in a lot of villages of Beijing, TV of elevator liquid crystal was removed.

今年以来，在北京的很多小区里，电梯液晶电视被撤了下来。