An impedance control strategy based on firing-angle modification feedback is proposed,which compared with that based on impedance error modification feedback,avoids the firing-angle table search for each modification and speeds up the response of low-level control.
提出触发角修正反馈阻抗控制策略,与常规阻抗误差反馈修正命令阻抗的方式相比,避免了每次修正后都需查表求触发角,提高了底层响应速度。