| 摘要 |
<p>A method for controlling a dynamic system comprising two guides extending parallel to each other and a beam extending transversely to said guides, which beam is movable over said guides, with a slide being movable over said beam, characterized in that
- a first difference is determined between the desired position and the actual position of the beam on the first guide,
- a second difference is determined between the desired position and the actual position of the beam on the second guide,
- the position difference between the desired position and the actual position of a specific point on the beam is determined on the basis of said first and second differences,
- a variation between said first difference and said second difference is furthermore determined on the basis of said first and second differences,
- after which the force and the torque to be exerted on the beam are determined at least in dependence on said position difference, said variation and the position of the slide relative to the centre of mass of the beam.</p> |
