误差补偿

The cumulative error of the robot is compensated effectively and the mobile robot trajectory distortion is reduced.

并对移动机器人累计误差进行了有效的补偿，减少了由于累积误差造成的移动机器人轨迹扭曲失真。

Further, the error of the measurement system is being analyzed,and proposed the method for improving system and monishing error.

此外，对测量系统中的误差进行了分析，提出了改善系统，减小误差的补偿方法。

To ensure consistency of the data between the two systems and reasonableness of their data, G-M tube detectors of the new system are calibrated and corrected to background, 20% system error was eliminated. After 18 months parallel operation and comparison, the relative error of monthly average reading is mostly less than 5%.

为了确保新旧监测系统数据的衔接与可比性，对新系统CP-110探测器进行了刻度校准和自身本底的补偿校正，纠正了约20%的系统误差；并对新旧系统进行了18个月的并列运行监测，其月均值的相对误差大多小于5%。

Experimental results show that after compensation flatness of machined part whose diameter is 100mm is reduced by 80%.

实验结果表明：补偿后工件的圆柱度误差减小了60％，母线直线度误差减小了80％。

Using the model, the thermal error can be predicted without measuring the temperature field of machine tool.

作者研究了一种预补偿方法，其核心是—基于机床主轴转速的热误差自回归模型，通过主轴的转速来预测热误差。

Integrated SINS/GPS navigation system, which plays key roles in the navigation field, is also studied. The design principles and implementation problems are investigated and discussed.

陀螺和加速度计的误差，圆锥效应的补偿剩余误差对长时间工作的SINS系统的性能仍有很大的影响。

To some problems of it, the design train of thought that only A/D, subdivision and counting circuit compose open-loop control system is proposed in this paper. It thoroughly renovates traditional design train of thought; Integrated subdivision circuit on the basis of AD2S90 and QA740210 is proposed and designed; Digital readout system has simple PLC function and realizes communication between it and PC; Advanced LCD technology is adopted; Using software error amendment realize dynamic compensation for error; Intelligence digital readout system by inductosyn having high accuracy and multifunction is designed.

针对目前感应同步器数显表存在的一些问题，本论文研究中提出了仅有A/D转换、细分和计数电路组成的开环控制系统的设计思路，彻底革新了传统的设计思路；提出并设计了基于AD2S90和QA740210的集成化细分电路；使数显表具有了简易PLC的功能，实现了上位机PC和数显表之间的通讯；采用了先进的LCD液晶显示技术；利用软件误差修正方法可以实现对误差的动态补偿；开发设计了精度高、功能多的智能数字化感应同步器数显表。

The conditions of the filters that should be satisfied are also derived. By analyzing the transformation structure of orthogonal wavelets and biorthogonal wavelets, the data acquisition method based on multichannel structure is proposed. The compensation method is discussed, and the design method of compensation filters is also derived.

在分析了正交小波与双正交小波变换的结构的基础上，利用多分辨理论的性质，提出了基于小波方法的双通道及多通道数据采集方法，最后对这种结构中可能存在的误差的补偿方法进行了研究，得出了去除误差的滤波器设计公式，从而完成信号的采集与恢复。

A simulation model was set up. Simulation outcome shows that compensating torque can be rapidly regulated according to demands of dynamic loading.Stable-state error is less than one percent,and dynamic error is much more less than that of traditional PID.In the

建立了仿真实验模型，运行结果表明：补偿转矩能够根据动态加载的要求进行快速调整；稳态运行速度误差小于1%，动态误差远远小于传统PID控制。

Test results show the linearity of COCT is better than IEC 0.2 class limit, and is suitable to the applications, in which the voltages are higher than 220 kV, the COCT accuracy is almost not affected by the existence of neighbor phases. The temperature test result tells in the temperature range of 50 ℃ the error of COCT is less than 1%, much better than an uncompensated one 16%. And thus the effectiveness of COCT is verified.

试验结果表明：比较式光学电流互感器的线性度可达到IEC 0.2级要求；在光学电流互感器适用的220 kV以上电压等级应用场合，比较式光学电流互感器具有较好的抗干扰性能；在50 ℃温度变化范围内，普通光学电流互感器的误差变化量高达16%，而比较式光学电流互感器的误差变化仅有1%，证实了基于比较法的补偿方案的有效性。

But we don't care about Battlegrounds.

但我们并不在乎沙场中的显露。

Ah! don't mention it, the butcher's shop is a horror.

啊！不用提了。提到肉，真是糟透了。