ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

In order to improve the response and vibration suppression abilities of stabilized platform servo system, a novel vibration suppression strategy was proposed by using an integration of fractional-order improved disturbance observer (FIDOB) based on adaptive grey predictive controller (AGPC) in stabilized platform system. A method of system modeling output module was established based on GM(1,1) power module and an adaptive adjust module was designed. The predicted error and actual error were combined together to form an integrate error, according to the values of the actual control system error and the predicted error, the prediction step and predicted error weight were adjusted to improve the response ability of system and decrease the influence of predicted error on the system output. The fractional-order improved DOB was established, and the robust stability was derived in detail. FIDOB was used to obtain disturbance estimate and generate compensation signal, and as the order of Q-filter was expanded to realnumber domain, FIDOB had a wide range to select a suitable tradeoff between robustness and vibration suppression. Finally, numerical simulation results illustrated that the method can suppress external disturbances and measurement noise well, and it can also improve the response ability of system. The proposed control strategy was simple in control-law derivation, and its effectiveness was validated by numerical simulations. In numerical simulation experiments, with the interference of friction and measurement noise, the tracking error of stabilized platform system was no more than 0.1rad/s. In the static and dynamic experiments, the regulating time of the stabilized platform was decreased by 0.258s, and the stable precision was increased by 1.5°~2.5°.