控制变换

Analysis shows that the robot model containing uncertainty can be transformed into a quasi—linearized form by using nonlinear feedback and diffeomorphism. Based on this result, a simple design method is proposed for robot tracking control.

第一种算法将谈自忠等提出的机器人反馈线性化控制推广到存在不确定性的情形，指出通过非线性反馈和微分同胚变换可将含不确定性的机器人模型变换成准线性形式，基于此给出一种简单的跟踪器设计方案。

The circuit topology of the differential Forward DC-DC converter mode inverter with high frequency link was proposed. Circuit topology, transient voltage control strategy, steady principle characteristic and design criteria for the key circuit parameters were deeply investigated.

提出差动正激直流变换器型高频环节逆变器电路拓扑，并对该变换器的电路拓扑、瞬时电压控制策略、稳态原理特性、关键电路参数设计准则等进行了深入地分析研究。

Mathematical basis is provided to measure form and position tolerance of roller rim using coordinate value electrometry and microcomputer data processing.

探讨一种在统计意义下控制功能等效的变换算法，将生产图样中标注的尺寸公差变换成以参数方程形式描述的形位公差。

Another important contribution of this thesis is the proposal of two nonlinear learning algorithms based on Fourier series.

方法二是将Fourier变换用于实时控制的信号滤波，本文提出了一种实时映象移位数字Fourier变换的方法，并将其用于实时加速度负反馈的加速度信号滤波，以增强系统抗干扰和抵抗模型不确定性的能力。

Then, under the consideration of mixed boundary value condition, a pair of dual integral equations for the rocking vibrations of a disk on saturated grounds are obtained, which can be reduced to a Fredholm integral equation of the second kind and solved by numerical procedures. Consequently, the dynamic compliance coefficient is evaluated and numerical results are presented to portray the influence of poroelastic effects on the dynamic interaction problem.

对于刚性圆板，作者首先采用Hankel变换对波动方程进行求解，得到了该控制方程在Hankel变换域内的通解，然后由混合边值条件建立了饱和地基上刚性基础摇摆振动的对偶积分方程，并将其化为第二类Fredholm积分方程，用数值方法计算了不同频率下基础的动力柔度系数，从而考察孔隙水的存在对基础摇摆振动特性的影响。

The thesis focuses on the circuit design and parameter selection, including the power circuit, control circuit and drive circuit of the front-end converter. Apart from that, for the load-end converter, the design and critical components selection of the traditional full-wave rectification and synchronous rectification are presented.

本文设计和确定电路的各种参数，包括前端变换器的功率电路、控制电路和驱动电路，对于负载变换器则给出了普通全波整流和同步整流的滤波器设计和一些关键器件的选择。

Asynchronous loading of control parameters · Rapid (25ns per pixel) rotation, warping, panning, and scaling of images · Three-dimensional image addressing capability · General third-order polynomial transformations in two dimensions on-chip · Three-dimensional transformation of up to order 1.5 also supported · Flexible, user-congurable pixel datapath timing structure · Static convolutional ltering of up to 16 x 16 Pixel, 256 x 256 pixel or 256 x 256 x 256 pixel windows · User-selectable source image subpixel resolution of 2-8 to 2-16 · Pin-compatible upgrade to TMC2302 · 24-bit (optional 36-bit) positioning precision within the source image space, 48-bit internal precision · Low power CMOS process · Available in a 120-pin Plastic Pin Grid Array and 120-lead Metric Quad Flat Pack

1第1页，本页显示记录1-11，共11条记录分1页显示·异步控制参数加载·快速（25ns的每个像素）旋转，弯曲，平移，缩放和图像·三维图像处理能力·一般二维三阶多项式变换片·三高达1.5三维变换命令也支持·灵活，用户可配置的数据通道的静态时序结构·高达16 × 16像素滤波卷积像素，256 × 256像素或256 × 256 × 256像素（3通）窗口·用户可选的源图像亚像素分辨率的2-8 2-16·引脚兼容的升级TMC2302·24位（可选36位）的定位源图像的空间内，48位内部高精度·低功耗CMOS精密加工·提供120引脚塑料针栅阵列和120引脚公制四方扁平封装

Uncertain singular systems are transformed into the form of restricted equivalence by a nonsingular linear transformation. By the method of Lyapunov function, a new terminal sliding mode control strategy based on the form of restricted equivalence is proposed for the first time, and the hypersurface of a special terminal sliding mode is given. A terminal sliding mode controller is designed correspondingly such that the motion of sliding mode can be guaranteed and the systems state variables can converge to the equilibrium point in a finite time.

通过非奇异线性变换把不确定奇异系统变换成受限等价形式，利用Lyapunov函数方法，首次提出了一种新的Terminal滑模控制策略，给出了特殊的Terminal滑模超曲面，设计了相应的滑模控制器，实现了滑模运动，保证了系统状态变量在有限时间内收敛到平衡点。

At first, the governing differential equations are solved by Fourier transform, then, under consideration of the mixed boundary value condition, a pair of dual integral equations about the vertical vibration are listed which are converted to linear algebra equations by the Jacobi orthogonal polynomial and solved by numerical procedures. Consequently, the dynamic compliance coefficient Cv versus the dimensionless frequency is derived, and the program is compiled.

首先，采用Fourier积分变换解析求解了Biot方程，得到了该动力控制方程在Fourier变换域上的一组通解，然后由混合边值条件建立了地基上基础竖向振动的对偶积分方程，并应用Jacobi正交多项式将其转化为一组线性代数方程组，通过求解得到了不同无量纲频率下基础振动的动力柔度系数Cv，编制了相应的计算程序。

The bio-switches of the matrix converter were controlled logistically can transform the voltage and frequency of matrix converter.

通过对矩阵式变换器中双向开关的逻辑控制，可变换其电压和频率。

Chrysanthemum of 10 thousand birthday is lax to edaphic requirement, with the arenaceous qualitative loam with fecund, good drainage had better.

万寿菊对土壤要求不严，以肥沃。排水良好的砂质壤土为好。

He unstepped the mast and furled the sail and tied it.

他拔下桅杆，把帆卷起，系住。