查询词典 variable error

In the population model, the dependent variable y is related to the independent variable x and the error u as

在总体模型中，因变量 y 和自变量 x 和误差

In the population model, the dependent variable y is related to the independent variable x and the error u as

在总体模型或称真实模型）中，因变量y与自变量x和误差项u关系如下

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。

By taking advantage of the modeling capacity of neural networks, the dependence on model of inverse system is reduced. Neural networks error model is used to estimate the uncertainty to decrease the error bound set in variable structure control.

围绕这两个目的，本文首先介绍了挠性结构发展的现状，以及所面临的主要控制问题和采用的主要控制方法，分析了各自的优势和存在的不足。

The simulation result for an actual boomshows that the incremental equations, derived from infinitesimalincrement, can be used in large variable range, and the computational error makes a slight trajectory deviation from reference straight linewhile makes no final positioning error, which is important in actualsituation.

仿真结果表明，本文提出的算式是正确的，控制系统结构是合理的；增量算式尽管是在微变量情况下推导的，在大的运动范围所带来的误差不大，适于工程应用；实现了双三角臂运动驱动的动态解耦。4。

Then the error sources in IMU are analyzed, it is concluded that the error from motion sensors is a high order variable.

然后分析了来自IMU数据的各种误差源，表明惯性运动传感器的误差相对于飞行时间具有高阶特性。

The weakness of fixed step-size is that step-size is not variable regardless the curvature of each point of the integral curve change or not, which will affirmatively bring serious error in these points that the value of curvature is bigger. And, this kind of error will accumulate in calculating process.

定步长的缺点在于不管是积分曲线的各个点的曲率如何都取一样的步长，这样肯定会在曲率大的一些点带来比较严重的误差，这种误差将在每一步的计算中积累。

The basic idea Is: using the standard value inserting the dynamic measuring errors which involve systematical errors and random errors, constructing the original error model which is revised at the same time and follows the variable law of the dynamic measuring errors, establishing a more suitable error model.

基本思想是：利用标准量插入动态测量数据实时分离含有系统误差和随机误差的动态测量误差值，建立误差的初始数学模型，并根据不断获得的标准点处的测量误差，实时修正或校正所建的初始误差模型，使误差模型不断跟踪动态测量误差的变化规律，建立更加符合动态测量过程的误差模型。

It's pointed out that soft sensor will play more important role in field bus network control system. According to this, a crude solution was addressed. At last, we point out that soft sensor technology must used to build an information warehouse for the whole enterprise, combined with data fusion, data warehouse, data rectification and other related technologies. The main contributions of this dissertation are as follows: The background, requirement, and application situation of soft sensors are expounded, the theories, methods and skills of soft sensing technology are analyzed, and the fruits and problems in current soft sensor technologies are summarized. Some new methods of soft sensor is proposed: A principal component analysis-based secondary variable selection method are proposed; A new conception which modeling data should have gross error detection is addressed, and then a cluster analysis-based modeling data gross error detection method is given.

本文的主要贡献有：对软测量技术根据实践的要求进行了一定的理论研究，针对具体问题提出了新的方法：讨论了辅助变量选择问题，研究了基于主元分析的辅助变量选择方法，该方法克服了传统方法只能利用数学模型产生的仿真数据进行最优辅助变量选择的缺点，可以根据历史数据进行辅助变量选择；提出了建模数据显著误差侦破的概念，指出传统的显著误差侦破研究的是已知过程数学模型的情况，而建模时数学模型是未知的，但是直接来自现场的数据并不能保证不含显著误差，并用基于聚类分析的方法解决了该问题，该方法利用聚类分析原理，直接面对过程数据，不需以过程模型为基础，在此基础上给出了软测量建模过程中样本数据的处理方法。

A new switching scheme to the gain of variable structure control signals is proposed. The following important open problems in standard VS-MRAC and MRAC are solved by using the scheme: 1 . a prespecified transient and steady-state performance index for tracking error can be achieved without requiring any information about the plant high frequency gain sign when relative degree of modelled part of plant is one, and 2 . it is shown that as long as the performance indexes are guaranteed for the auxiliary errors, each of which in dynamics is a sub-system with relative degree one, the tracing error will converge to a small residual set in a prespecified transient time when relative degree of modelled part of plant is greater than one.

提出了一种控制增益可切换的变结构自适应律，解决了如下变结构模型参考自适应控制（包括基于调参律的模型参考自适应控制）理论研究中长期没有解决的问题：当对象建模部分相对阶为1、高频增益符号未知且存在非线性输入扰动和未建模动态等情况下，系统跟踪误差可满足预先给定的动态和稳态性能指标；当对象建模部分相对阶大于1且存在非线性输入扰动和未建模动态时，可保证系统跟踪误差在预先给定的过渡过程时间内收敛到一个残差集中； 5。

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。