XK716铣床数控系统设计-计算机毕业论文|计算机毕业设计 关键词：数控系统；电气原理图；误差补偿；参数； [gap=580]Key words：CNC system；Electrical schematic diagram；The error compensates； Parameter；
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So a compensator is constructed, which is compensates the approximation error's effect on system output at the condition of the approximation error thought as disturbance of the system.
所以利用系统跟踪误差构造线性最优补偿器，该补偿器用于减少逼近误差对系统跟踪误差的影响。
The strategy utilizes with ZMP error and its change, compensates the motion control commands of pitch and roll DOFs of support ankle joint online.
该策略根据ZMP误差及其误差变化，实时补偿支撑踝关节自由度的运动角度。
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