執行器IC20-30W3T芯科技，芯創新；84234125
不同控制方式下位置伺服系統的階躍響應系統僅采用了PID調節控制的實驗結果，由于在位置附近控制器輸出量較小，常使閥工作在死區內，當閥工作在死區時，液壓缸停止運動，直到由于誤差積分作用使控制器輸出量超出死區，閥又突然開啟，缸又加速運動，通常會引起大的超調，振蕩、過渡時間長，控制精度低。在定位階段采用模糊控制器，控制器的輸出可以快速補償閥死區非線性，有效克服死區的影響，提高控制精度，見圖4b。系統對方波輸入信號的響應實驗曲線見圖5。
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在鐵刃中有高、低鎳層狀組織，確認系采用含鎳較高的隕鐵鍛制而成。另有一件是1977年在北京平谷縣劉家河村的商代墓葬中發現鐵刃銅鉞。其中的鐵刃被鍛造成2毫米左右厚的薄片。這一鐵刃銅鉞明顯是經歷過鍛造和退火加工。相比之下，的隕鐵加工較兩河流域晚些，這些制品的退火加工是否是先民所為，在考古學界仍有爭議。國外有相當多的學者認為，這一件物品很有可能是從中東或亞洲其它地區引入的，他們認為用鐵歷史較短，在當時還沒有能力進行類似的金屬加工。
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