误差补偿

For the problem that the extended Kalman filter is difficult to design and prone to diverge, the unscented Kalman filter algorithm based method is presented to solve the problems of the filter design and convergence. The error from the low-cost inertial gyro and accelerometer is compensated to achieve optimal attitude estimation. The filtered model is applied to the two-wheeled self-balanced robot system.

针对扩展卡尔曼滤波器设计困难并且容易发散的问题，提出基于采样卡尔曼滤波的方法解决滤波器设计及收敛问题，并补偿低成本的惯性传感器陀螺仪和加速度计的误差，从而得到机器人姿态的最优估计。

To solve the above problems, a novel resonance injection type hybrid active power filter is presented, it allows the energy exchange between the DC-side capacitor and grid, DC-side voltage will be stabilized after the proposed control method base on the regulation of reactive current is adapted. On the other hand, a new current control method is proposed which is based on the control of error between injection current and harmonic current compensated by passive power filter using recursive PI.

在此基础上结合提出的基于基波无功电流闭环调节的直流侧电压控制方法，保证了直流侧电压的稳定；提出了采用递推积分将无源滤波器作用后电网谐波电流与注入支路补偿电流进行闭环比较控制以获得参考电流的方法，减小了误差，提高了系统的控制精度。

If you are unfortunate enough to the lovelorn, please tell me, I will help you out, really, please contact me!

如果你不幸失恋了，请告诉我，我会帮助你摆脱困境，真的，请联系我啦！

China's plan to cut energy intensity by 20 percent and pollutant discharges by 10 percent between 2006 and 2010 is a case in point.

中国计划在2006年到2010间降低20%的能源强度和减少10%的主要污染物排放，就是一个这样的例子。