【摘要】 根据半实物仿真系统中期望输出预知的特点，讨论了相应的离散控制问题。首先提出了给定带宽的零相位滞后离散模型，对不可抵销零点的补偿方法进行了研究，并按该模型设计了相应的利用未来信号的前馈控制器。根据该方法可以获得近似的理想闭环模型。典型模型的设计、实验和仿真结果表明了该方法适用于半实物仿真系统中的高速高精度伺服控制。更多还原

【Abstract】 This paper discusses the control problem of discretetime system that the desired output is konwn in advance in hardwareintheloop simulation system.At first, a predetermined bandwidth zerophase lag discretetime model is presented.The compensation scheme for uncancellable zeros is studied and the corresponding feedforward controllers based on the preview steps are proposed. The proximate desired closedloop model is got by the controller.Mathematics simulation and experimental results show that the controller is suited to high speed and high precision servo control in hardwareinthe loop simulation system.更多还原