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To the various control circuit and the driving force circuit, the frequency conversion controller , servo controller , circuital various driving force connection test and the malfunction analysis handles our to can systematic all-round grasping.

对各种控制电路以及动力电路，变频控制器、伺服控制器、各种动力电路的连接调试以及故障的分析处理我都能全面系统的掌握。

By transforming the nonlinear saturation constraint into the special linear constraint, the problem of solving the feedback controller with saturated actuator is converted to the design of controller with linear constraint. The stochastic stability is ensured by using the intersection of ellipsoid invariant set of different modes existing in the attraction domain of the closed loop system. In this case, solving controllers can be equivalent to a solvability problem of linear matrix inequalities.

通过将非线性饱和约束转化为特殊的线性约束，使具有饱和执行器的控制器求解问题转化为线性约束控制器的求解问题，利用位于闭环系统吸引域内的不同模态下椭圆不变集的交集来保证系统的随机稳定性，此时控制器的求解可等效为线性矩阵不等式的可解性问题。

This paper adopted a course keeping nonlinear robust controller based on closed-loop gain shaping algorithm and exact feedback linearization algorithm and a speed robust controller which was based on closed-loop gain shaping algorithm.

该文采用基于闭环增益成形算法和精确反馈线性化算法的航向保持非线性鲁棒控制器与基于闭环增益成形算法的速度鲁棒控制器。

For a nonlinear course keeping system for ships, a kind of nonlinear robust PID is presented, which is based on an exact feedback linearization and a closed-loop gain shaping algorithm. The nonlinear PID controller is constituted of a nonlinear items with a robust PID controller.

针对非线性船舶航向保持系统，给出一种基于精确反馈线性化和闭环增益成形算法的非线性鲁棒PID控制器，该非线性PID控制器由非线性函数项和鲁棒PID控制器组成。

Another nonlinear robust PID controller is wholly based on closed-loop gain shaping algorithm, which includes a nonlinear switching component with a timer. The algorithms improve the robustness of the system and simplify the design of controller, the simulation results show that the course-keeping performance is improved well.

另外，还给出一种完全基于闭环增益成形算法的非线性鲁棒PID控制器，其包含了具有定时功能的开关元件，两种非线性PID控制器在提高系统鲁棒性能的基础上，简化了控制器设计，从仿真结果可以看出，航向保持效果良好。

The algorithm shapes the closed-loop gain without selecting weighting functions in H∞ control algorithm. Its core is to determine the final shape of the transfer function of the closed-loop system, the robust PID controller is directly constructed using parameters having engineering sense. The algorithm guarantees fundamentally that the designed controller has fine control performance and robustness.

该算法避免了常规H∞控制算法中权函数的选择而对系统进行闭环增益成形，其核心是确定闭环系统传递函数的最后希望的形状，用闭环系统具有工程意义的参数直接构造出鲁棒PID控制器，从根本上保证了设计出的控制器具有良好的鲁棒性和鲁棒稳定性。

The main controller compatible with DS87C550 and P87C552, implements the functions of system resource management and task schedule. The communicatory part, which expands the serial interfaces by TL16C554, implements the communication among the main controller, the remote communication terminal and the field devices. The interface part implements isolation between field devices and monitoring terminal with photoelectric coupling; Solar battery supplies power for the monitoring terminal.

主控部分兼容DS87C550和P87C552两种MCU，实现了系统资源的管理与任务调度；通讯部分采用TL16C554扩展了多个串口，实现了主控部分与远程通信终端及智能仪器之间的通信；接口部分采用光电耦合技术实现了现场设备与监控终端之间的电气隔离；采用太阳能供电技术为监控终端提供了电源。

In order to improve the characteristics of transient response,an initial value compensation method based on compensating the difference outputs between current controller and former controller is proposed and compensated math model and response for this system are given.

针对这些问题，设计了一种基于补偿控制器输出的初值补偿切换算法，并给出了加入初值补偿之后的系统数学模型和响应形式，以及该算法的具体实现。

Experiments show that this kind of controller has better steady state response than the normal fuzzy controller. Secondly, two kinds of compensating method for the nonlinearity of mechanical transmission system are developed.

其三是一种可变结构的模糊控制算法，在响应的初期和稳态采用不同结构的模糊控制器，输入输出变量的量化也采用不同的台阶，实验证明这种控制器比一般的模糊控制器具有更好的稳态响应。

The output of the controller was connected to a group of resistors and inductors to draw the rated value of the controller (35 A minimum).

控制器的输出端与一组电阻器和电感器相连接，以获取控制器的额定数值

This paper designs the communication system of radio telescope FAST.

针对500m口径球面射电望远镜FAST分布式控制系统的特点完成了其通信系统的设计。

Political sheep's step-by-step a large number of fossils unearthed in the county soil Ma Ali after rural village in the middle of sallow pelitic siltstone.

步氏和政羊化石大量出土于广河县阿力麻土乡后山村，产于灰黄色泥质粉砂岩中。