查询词典 command control

Based on the analysis of the mechanism of robot manipulators, a trajectory tracking controlling research model is first built up with ADAMS, and its mathematical model is formulated through the study of robot kinematics and dynamics. After the modeling errors are analyzed in practical robotic systems, a conception of centralized error is brought forward according to the theory of weighting functions. In the case of modeling errors' exist, the robotic uncertain model is derived by introducing an auxiliary control variable into inverse dynamic analysis. The control strategy of robust exponential convergence is applied to the robotic uncertain model, the applicable conditions and the applicable controller with this application are presented. The stable control effect under three main model uncertainties (parametric errors, joint disturbs, joint frictions) are systematically studied on the previously built research model. The problems of robust exponential convergence controller which often results in unstable output and so produces a large relative error when the input trajectory is in a small range are resolved by adjusting the control parameters based on the controller's structure.

本文在机械手的机械结构分析基础上，利用ADAMS建立了用于机械手轨线跟踪控制研究的机械手模型；通过对机器人运动学和动力学问题的研究，建立了机械手研究的数学模型；分析了机器人系统中模型误差的主要来源，根据加权函数法分析，提出了模型集中误差的概念；在存有模型误差的情况下，采用逆动力学结构并引入辅助控制量，由机器人误差模型推导了机器人非确定性模型；提出了采用鲁棒指数收敛法对上述机器人非确定性模型进行鲁棒镇定的控制策略，并给出了对机器人进行鲁棒指数收敛控制时系统不确定因素应满足的匹配条件；针对机械手研究模型，深入研究了鲁棒指数收敛控制器对机器人系统中常见的模型参数误差、关节扰动、关节摩擦等不确定因素的镇定控制效果；针对鲁棒指数收敛控制器易产生控制量振荡的问题以及在小范围内系统轨线跟踪的稳态误差过大问题，本文分别提出了基于控制器结构的控制参数调整法和基于轨线跟踪范围大小的控制参数分段切换法。

In the display/control interface design of sander, the layout of the display and control component, the geometric size of control platform, the matching and arranging of display and control interface of belt Sander for the woodworking industry was considered.

在！〕前，对降低或隔离砂光机的噪声尚无有效方法和技术措施的情况下，提出合理选择砂光机控制台的安装位置和佩带噪声个体防护用具是防噪声的有效途径。

Using the proposed identification and control strategy, the identification results of two kinds of systems and the simulation of a bilinear process control system are presented. The generality of the model and the simplification of identification and control method together with the simulation results show that the above strategy has strong possibility to nonlinear system and high order system identification for process industries and the excellent control performances superior to a standard PID controller for the same process.

用该方法进行了两个非线性系统的模型辨识和一个双线性系统的控制仿真，模型的通用性、辨识和控制方法的简单易用和仿真结果表明，所提出的方案对过程工业和非线性、高阶系统有很好的实用性，有着比标准PID控制器好得多的控制效果。

Blood were obtained for blood RT and plasma endotoxin concentration check. 6 All data underwent ANOVA analysis. Results: After 3hrs of LPS injection, 1 in hypermetabolic sepsis group, the average HR went to 334/min, the average body temperature went to 41.0℃, while in control group they were 274.9/min and 38.2℃ respectively. p=0.000, presented significant statistical differences. The average BP and breath rate in HS group were 97.1mmHg and 94.3/min , while they were 95.9mmHg and 76.4/min in control group, respectively presenting no statistical differences. 2 In HS group plasma endotoxin concentration was 0.088EU/ml while it was 0.013 EU/ml in control group presenting statistical significance, p=0.002. 3 Blood white cell ratio and total white cell counting were 82.73% and 1.90×109 in HS group, while they were 64.39% and 7.58×109 in control group presenting very significant statistical differences(p=0.001). There was no statistical significances in RBC counting and hemocrit between two groups.

结果：LPS持续灌注3h后，结果如下：1）高代谢脓毒症组的心率升高至334.0次/min、体温升高至41.0℃，而对照组则分别为274.9次/min和38.2℃，两组间有显著的统计学差异，p=0.000；血压在高代谢脓毒症组是97.1mmHg，而对照组为95.9mmHg，两组间无统计学差异；脓毒症组的呼吸加快至94.3次/min，对照组则提高至76.4次/min，两组间无统计学差异(p=0.212)；2）其血浆内毒素含量为0.088EU/ml，而对照组为0.013 EU/ml，两组间有显著的统计学差异，p=0.002；3）血中性粒白细胞比值升高至82.73%，对照组则为64.39%，两组间有显著的统计学差异（P=0.001）；白细胞总数则明显下降至1.90×109/ml，而对照组则为7.58×109/ml，p=0.001，两组间有显著的统计学差异；两组间的红细胞数及血细胞比容均无统计学差异。

The company is mainly engaged in development, manufacturing, sales instrumentation, instrumentation control valves, wire and cable, cable tray, electrical control cabinets, instrument panel and the optical fiber and cable and other products, after years of product structure adjustment, and has formed WZ series instrumentation including thermal resistance, WR Series thermocouple, WSS series bimetallic thermometer, SWB temperature transmitter, pressure gauge, TYB pressure change delivery device, UHZ level gauge, level transmitter, speed transducer and flow transmitter, instrument control valves, temperature, pressure, flow, speed, level series fieldbus instrumentation products; wire and cable including power cables, high temperature silicon rubber cables, inverter cables, control cables, computer cables, cross-linked power cable, ACSR, fire-retardant cables, heating cables, railway signaling cable, fire cable, marine cable, wire compensation, compensation cables, cable tray series wire and cable products; communications center beam tube fiber optic cable, including fiber optic cable, twisted layer type optical cable, ribbon cable, ADSS fiber optic cable and wiring products; business for many years was rated "provincial contract Shou credit advanced enterprises "," provincial advanced enterprises to pay taxes according to law "," Bank Credit AAA Grade Enterprise "," provincial-level high-tech enterprise "," China Electronics hundred enterprises "," National Association of temperature instrumentation "," National Cable exemption Products "and other honorary titles.

公司主要从事开发、制造、销售仪器仪表、仪表管阀件、电线电缆、电缆桥架、电气控制柜、仪表盘和光纤光缆等产品，经过多年的产品结构调整，已形成仪表包括WZ系列热电阻、WR系列热电偶、WSS系列双金属温度计、SWB温度变送器、压力表、TYB压力变送器、UHZ液位计、液位变送器、速度变送器和流量变送器、仪表管阀件、温度、压力、流量、速度、液位现场总线等系列仪器仪表产品；电线电缆包括电力电缆、高温硅橡胶电缆、变频电缆、控制电缆、计算机电缆、交联电力电缆、钢芯铝绞线、阻燃电缆、伴热电缆、铁路信号电缆、防火电缆、船用电缆、补偿导线、补偿电缆、电缆桥架等系列电线电缆产品；通信光缆包括中心束管光缆、层绞式光缆、带状光缆、ADSS光缆及其配线系列产品；企业连续多年被评为"省级重合同守信用先进企业"、"省级依法纳税先进企业"、"银行资信AAA级企业"、"省级高新技术企业"、"中国电子百强企业"、"全国温度仪表协会理事"、"国家电缆免检产品"等荣誉称号。

This paper makes a comprehensive analysis of the current conditions and developing tendency of industrial design and CAID. It also studies produce style design and its disadvantage from the view of process control of produce style design. Visualzation and control method of the process control of produce style design and CAID model of the process control is presented creatively.

本文全面分析了工业设计以及CAID 的现状，以及发展趋势，从产品造型设计的流程控制出发，研究了现有的产品造型设计流程以及不足之处，提出产品造型设计流程控制的思想以及控制方法，创造性的提出基于产品造型设计流程控制的CAID 模型。

On the basis of the above results of detecting methods, the instruction signal calculating circuit is designed according to i〓, i〓 calculating mode. Compensation current generating circuit is also designed and implemented. Its current following circuit is designed according to the instantaneous value comparing mode that used constant time control. The source current detection based control mode and composite control mode and their implementation are firstly introduced in our country. The method and the principle of dc side capacitor voltage control are explained clearly.

根据检测方法的研究成果，采用i〓、i〓运算方式构成并联型电力有源滤波器的指令电流运算电路；对补偿电流发生电路进行了电路设计和实施，其中电流跟踪控制电路采用电流跟随性能好、可靠性高的定时控制瞬时值比较方式；在国内首次研究并实施检测电源电流控制方式和复合控制方式；清楚地阐明了并联型电力有源滤波器直流侧电压控制的原理和方法，并在装置中实施。

A PID control method based on BP neural network was proposed,concerning the multi-layered temperature control of calenderer rollers and the limitations of the conventional PID control which resulted from the control of the nonlinear and time-varying system.The system design and software development were also presented.

针对压延机辊筒多段温度控制以及常规PID控制在非线性的、时变系统中控制效果的局限性，提出了一种基于BP神经网络整定的PID控制方法，给出了计算机控制系统设计，建立了比例、积分和微分三种参数自学习的PID控制器。

This paper also analyzes control problem in cartesian space and presents several improved indirect methods , to counter kinematic uncertainty ect.. Then, a sliding mode control and an adaptive control are proposed as direct cartesian space control scheme. All of them has been extended to redundant manipulator.

本文研究了机械手工作空间控制问题，提出了考虑具有不确定运动学参数等多种改进的分解运动控制方案，它是机械手控制的间接方法，进一步本文又提出了滑动模及自适应两种分别考虑运动学及动力学不确定性的工作坐标直接控制方案，它们均被推广至具有冗余自由度的机器人控制中。

Firstly, oscilloscope control system based on GPIB technique is presented with friendly operation environment to the HIFU system, and it uses multithreading technique in programming to realize real-time recording and display of the signal; Secondly, temperature collection and data recording system is designed, which also could get real-time recording and display of the 16 channel temperature signal, and it's believed to be of great use for further experiments of the HIFU system; Thirdly, multiple ultrasonic phased array's phase shifter is designed,which could provide 8-bit phase control in a range of frequency where the centrical frequency is 1MHZ. Fourthly, the module of serial communication is realized to insure the communication between devices and computer, including both synchronous and asynchronous communication, which enables the system to transfer data reliably and stably; Finally, the module of digital quantity control is accomplished, which provide for upper application the consistent solution to the control of exterior devices via digital interface. It can get or set the devices state using interrupt mode to receive input signal or send output signal.

主要有以下几个方面：设计了基于GPIB的示波器控制系统，给课题的研究工作提供了一个良好的环境，它采用了多线程编程的方法，能够较好的实时显示当前波形并记录数据；设计了温度采集和数据记录系统，能够对16路温度信号进行并行同步的实时采集，用于HIFU剂量学研究中温度场检测和医疗评价；设计了相控阵相位延时电路并且通过调试，满足了课题的相位控制的要求，在中心频率为1MHZ左右的频率范围内都能够达到8-bit相位控制；实现了串口通讯模块，为各项设备与计算机之间的通讯提供保证，它提供同步和异步的通讯能力，使系统能够可靠稳定的传输数据；建立了数字量控制模块，为上层应用程序提供一致的方法使用数字接口控制外部仪器，它使用中断的方式来接收输入或输出设定的开关量信号，从而得到或设定各种仪器的状态。

Pachomius manual labour was organized as an essential part of the monastic life; and since it is a principle of the monks as distinguished from the mendicants, that the body shall be self-supporting, external work of one sort or another has been an inevitable part of the life ever since.

根据圣pachomius体力劳动组织作为一个重要组成部分寺院生活；以来，这是一个原则的和尚，作为有别于乞丐，该机构应自支撑，对外工作的这种或那种已一个必然的一部分，生活至今。

In order to study the effects of parametrical rolling on the ship movement and tilts, in allusion to ship's navigating in regular following waves, the equation of ship rolling motion is transformed into normal Mathieu equation by proper variable replacement when strong parametrical excitation in restoring moment varied according to sine or cosine wave.

为研究参数横摇对船舶运动和倾覆的影响，通过对船在规则波上随浪航行时，恢复力矩中出现的1个以正余弦规律变化的强参数激励项进行适当的变量置换，将船舶的横摇运动方程转换成标准形式的Mathieu方程。