...位置闭环控制；纠偏控制 [gap=563]Key words: Shipyard goliath gantry crane; Position detection; Position close-loop control; Gantry skew control ...
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The double close loops of speed and current control is introduced in the system and the PI control is implemented in the current and speed loop, the position of rotor pole is detected by hall element.
系统采用电流、速度双闭环控制，电流、速度的调节采用PI调节，转子磁极位置通过霍尔元件检测。
In order to realize the close-loop control to the cabin, three target points on the cabin must be got to solve the position and orientation of the cabin.
为了实现对馈源舱的高精度控制，需要精确测量馈源舱上不共线的三个目标点的坐标，实时确定馈源舱的位置和姿态。
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