电传飞行控制系统信号补偿技术

针对履带式移动机器人的轨迹跟踪控制问题进行研究，首先，建立了履带式移动机器人的运动学模型和跟踪误差模型；其次，设计了转速有限时间控制和线速度滑模控制的轨迹跟踪控制律，并给出了考虑运动受限作用下的控制律修正表达式；最后，基于MATLAB对所提控制律进行仿真，对比分析了不考虑运动受限情况下跟踪控制效果。结果表明，设计的跟踪控制律能够实现履带式移动机器人对圆轨迹的有效跟踪，且考虑运动受限作用的控制律更加符合实际。文章研究分析了运动受限作用对于移动机器人轨迹跟踪控制的影响，分析结果对其他移动机器人的运动控制研究具有参考价值。

Fly-by-wire Flight Control System Signal Compensation Technique[JZ)][HS)]

Signal acquisition accuracy has a great influence on the control accuracy of the control system, the sensors characteristics of flight control system are analyzed, and the using problems of sensor like power supply instability and mechanical installation zero which influence the measurement precision were also discussed. In view of the influence of power fluctuation on the accuracy of signal acquisition accuracy problems, proposed a causal compensation method to solve the volatility of the output caused by fluctuation of input. To the difficulty of mechanical zero adjusting and thus caused the design complexity, the strategy of electrical adjusting zero is put forwarded based on the method of contradiction separation. Analysis and application shows that the proposed methods can realize signal compensation for fly-by-wire control system command and feedback signals acquisition accuracy more easily, thus can realize the control accuracy of the system in the whole control range, reduce the system demand for mechanical zero adjustment and high precision excitation power supply, thus simplifying the design of system components.