The discrete state transition of the hybrid control system
is shown in Figure 4.
According to this method, hybrid control system
of manipulator is synthesized on the basis of the local control's subsystems of the electric servo actuators of the separate degrees of freedom (DOF) of manipulator, but mutual influence between all DOF and control channels are considered and remain.
A Hybrid Control System
is comprised of hardware and software that provides integrated process control for continuous and hybrid process applications.
According to ISE, the ThunderVolt diesel hybrid system combines Siemens' ELFA electric drive system with Cummins' heavy-duty ISB 260H engine, which is integrated and controlled by the ISE ThunderCan hybrid control system
A separation principle for hybrid control system
When the hybrid control system
is engaged, the feedback controller with the same weights and the feedforward controller with the same filter length are used, and the step size is set to be 0.5 to accelerate the convergence rate.