控制机构

The dissertation presents a mathematical modeling approach for the high-speed flexible linkage mechanisms equipped with bonded piezoelectric sensing/actuating elements employing a mixed variational approach with Hamilton's principle in conjunction with the finite element formulation. This model includes both the terms coupling the elastic and rigid-body motions of linkage mechanisms and the terms coupling the elastodynamics and piezoelectricity of the elements, incorporating their effects upon the mass and stiffness matrices which are in general non-symmetric.

本文以国家自然科学基金资助项目《弹性连杆机构有害振动的主、被动控制及混合控制研究》（资助号：59605001）和广东省自然科学基金项目《开链及闭链机构有害振动控制研究》（资助号：970381）为依托，对高速弹性连杆机构振动的主动控制中的建模、求解、控制律的选择、作动/传感元件的优化以及实验研究等几个关键问题进行了比较深入细致的研究，取得了一些具有重要理论意义和重大实际应用价值的成果。

Some key part is ameliorated to meet the demands of working. This thesis mainly includes:(1) Analysing the working principle of the spring operateing mechanism, expatiating the character of the mechanism;(2) With the design aim of the spring operating mechanism, accomplishing the design of ZW□-12/630-20 outdoor HV vacuum breaker based on the systemic design theory of the spring operating mechanism, which includes spring mechanism of open-close switch; cam mechanism based on the principle of power balance; buckle-off mechanism with force-minished device; ratchet wheel mechanism with number-increased detent;(3) In the design on the spring operating mechanism for the outdoor vacuum breaker, using the air cushion device with speed controller to ensure the steady working of the spring operating mechanism;(4) Accoding the problem of daily maintenance for HV circuitbreaker, giving some effective steps of daily maintenance.

论文工作主要包括以下几个方面：(1)从真空断路器弹簧操动机构的功能原理出发，详细分析了该机构的工作原理，阐述了机构工作的基本特性；(2)根据工程实际提出了真空断路器弹簧操动机构的设计目标，在系统分析弹簧操动机构设计理论的基础上，完成了ZW□-12/630-20型户外真空断路器弹簧操动机构的设计工作，其中包括真空断路器弹簧操动机构的分合闸弹簧机构的设计；以输出力特性曲线设计机构理论演化出的功率平衡原则为基础的凸轮机构的设计；带有减力机构的滚动摩擦扣结方式的脱扣机构设计；根据实际情况增加了棘爪数量的棘轮机构设计；(3)在真空断路器弹簧操动机构的设计中，引入了速度控制模式空气缓冲器，对惯性负载起到了良好的自动缓冲效果，从而保证了真空断路器弹簧操动机构稳定、有效地运行，保证了真空断路器的动作质量；(4)针对目前真空断路器运行过程中存在的问题，提出了有效的日常维护措施。

The fourth chapter talks about the weft carrier, in this part, we mostly introduce the big gripper shuttle in the comparative way and not only analyze the structure but also analyze the stress of the fatigable parts. In the fifth chapter, the shuttle box is our research emphasis, we start with the design principle and analyze its structure and the logic of the action of the parts. The sixth chapter discusses the shoot mechanism, builds its theory model and analyzes its law of motion from the view of kinematics and kinetics during the wefting. And then, we can consider the hydraulically shoot mechanism and comprehend its principle and some special parts. Subsequently, the content is about the flying of a shuttle, because the course of the flying of a shuttle is very complex, it is necessary to study the shuttle according to mechanics and to analyze its course of motion and its change of speed from the view of energy.

第五章谈的是梭箱，这部分从梭箱的设计原理入手，从结构的角度对梭箱进行分析，考虑到梭箱上各执行件间的动作存在一定的逻辑关系，还对执行件动作时间与控制作出论述，从中可以看出重型宽幅织机所独有的特性；第六章论述投梭机构，先构造出投梭机＿重型宽幅织机引纬机构与梭箱的设计＿构的弹性理论模型，从动力学的角度剖析投梭规律，随后分析液压式投梭的工作原－－理和一些特型元器件；第七章论述梭子的飞行运动，考虑到梭子飞行运动的复杂性，我们把梭子飞行运动划分为三个阶段，然后分阶段介绍其运动规律，在对梭子进行＿运动分析的同时还详细分析它的受力情况，在这一章的最后，我们对影响梭子飞行＿的因素也作出了讨论；顺沿这一过程，即是第八章对制梭机构的论述，在这一部分，、主要研究制梭过程与制梭力的情况，同梭子飞行过程一样，制梭过程也分为三个阶段，就每个阶段而言，我们都对其进行受力与运动方面分析，同时也就一些容易出现的问题作出讨论；最后两章是对纬纱交接机构和纬纱的退绕与张力控制作出讨＿论，鉴于这两部分不存在复杂的动力学方面的问题，论述重点便放在结构与原理的分析上面，包括分解纬纱交接机构，解析其动作过程，介绍储纬与纬纱张力的一些情况。

Aimed at the problem of inability for traditional PID controller to control such a nonlinear system as scissors platform, a fuzzy PID control system was designed for eleratory platform on the basis of both the fuzzy and PID control, which could well eliminate the unfavored effect due to the nonlinearity.

针对传统PID控制对剪叉机构升降台的非线性系统无法控制的问题，利用模糊控制较好地解决非线性因素造成的不利影响，设计基于模糊控制和PID控制的FUZZY PID剪叉机构升降台控制系统。

This dissertation, which starting by analyzing the existing problems and legal barrages of our country's credit guarantee institutions, attempts to establish a framework of the credit guarantee institutions' risk controlling legal system by taking the advance experience from America and Japan, and give advice on how to improve the credit guarantee institutions risk control.

本文试图从分析我国信用担保机构风险控制中存在的问题与法律障碍出发，借鉴美日两国的先进经验，构建我国信用担保机构风险控制法律制度的基本框架，并对如何完善信用担保机构内外部风险控制提出法律建议。

Linkage mechanism of study. Forepart all gather be linkage mechanism structural analysis and agency designer. In recent years so emphasize in kinetic synthesis dynamic and motility analysis. So text needle towards inquire into slider four-bar linkage mechanism agency positioning control.Research emphases are as PID control, fuzzy control, Fuzzy sliding mode control three kinds of controllers for control core. Permeate practical mechanism to positioning control to function. Simple exertion market vends signal extract card (PCL-833) and multi-function card (PCI-1711). Make it make signal extract and bring forth exportation control voltage. Will AC servo motor turn signal, as positioning system point of angle sensor. Reach to slider four-bar linkage mechanism servo positional control research.

连杆机构的研究，早期都集中在连杆机构的结构分析和机构设计，近年来也多著重於运动及动力分析上，因此本文就是针对於探讨滑块四连杆机构的定位控制，研究重点是以PID控制、模糊控制、模糊顺滑模式控制三种控制器为控制核心，透过实际的机构达到控制定位的功能，运用市面上贩卖的讯号撷取卡(PCL-833)和多功能卡(PCI-1711)，使其对讯号做撷取和产生输出控制电压，将AC伺服马达的转动讯号，作为定位系统的角度感测器，达到滑块四连杆机构伺服定位控制的研究。

In this paper,the threshold of the automatic control system for the synchronous differential lock of off road vehicle is analyzed.With the cornering model of a three-axle vehicle,the response limit of the system is analyzed theoretically.Through the analysis of the mechanical strength and the engaging characteristics of the dog clutch,the maximum difference of rotation speed between two parts of the dog clutch and hence the upper activation limit of the system are calculated

本文阐述了越野汽车差速器同步锁止机构自动控制系统的组成和工作原理，分析了其控制门限；利用所建立的三轴汽车转向行驶运动模型，在理论上确定了越野汽车差速器同步锁止机构自动控制系统的响应界限；通过对同步锁止机构牙嵌式离合器强度和接合特性的分析研究，确定了牙嵌式离合器允许的最高转速差，从而确定了动作限值的上限

The main work of this paper: Firstly, Basing on the summarization and analysis of the walking mechanism, Parallel drive five-bar mechanism is applied for walking mechanism. And then the characteristic of the trail and positive kinematics as well as reverse kinematics are discussed. Secondly, the model of walking mechanism is established according to Parallel drive five-bar mechanism, and then a figure planning is designed for the foot-end trail. The characteristics of the parallel drive are emphasized to research in this paragraph by the method of insert value. At last, the simulation is performed in the ADAMS to compare the real result to the theoretical value. Thirdly, a sealed structure of a Quadruped Walking Robot is designed and established. The whole control system, including motor, sensor and control circuit, is sealed in the robot. Walking is derived in the way of the shaft driving and the dynamic torque sensor is used to the surrounding conditions of the robot's foot-end to be the foundation of the robot's control. At last, the applying principle of the dynamic torque sensor is researched in detail basing on the traditional sensor of the walking robot. Moreover, the principle is divided into several sorts to discuss. Finally, simulation and verification of the monitor principle are come through in the Mechanism of the Pro/Engineer.

论文的主要工作有：在对传统步行机构总结分析的基础上，提出将平面并联五杆机构应用于四足步行机器人的腿部结构，并对其轨迹特性、正运动学、逆运动学特性做了详细计算分析；依据平面并联五杆机构的模型，建立机器人步行机构的实体模型，对其足端的轨迹做了图谱规划，并利用插值法对并联驱动端的特性曲线作了研究，并在ADAMS中进行仿真，将结果与理论值相比较；然后设计了一套四足步行机器人密封装配结构设计方案，建立四足步行机器人单足结构、驱动以及传感器监测的三维实体模型，将机器人的整个控制系统，密封装配在步行机器人的机体中，通过轴传动来驱动步行机构实现步行，采用动态扭矩传感器监测步行机构的驱动关节受到的扭矩变化，从而获得四足步行机器人足端的周围情况，为步行机器人的控制方案奠定了基础；论文的最后在分析步行机器人传统控制传感器的基础上，详细分析了动态扭矩传感器的监测原理，并分几种情况分别分析了其监测原理，并在Pro/E的Mechanism模块中实现了监测原理的仿真与验证，最后给出了传感器监测信息与系统判断之间的关系。

In this paper RoboCup Mid-size Robot are the object of study from the two sides of the robot system and the system of multi-robot cooperation, the main research results are as follows: First, this paper reasearches the problom of the hardware and software architecture of Mid-size robots. According to the real-time requirements of the competition, the paper designs the mechanism of omni-direction wheels, which achieves a great improvement on the traditional mechanism of two wheels robot, and a more flexible response. This mechanism can adapt well to the increasingly rapid pace of the competition. In allusion to the mechanism of omni-direction wheels, this paper designs the electrical control system of three nodes in the bottom, which could communicate fast to the laptop with serial port and match the real-time requirements well. According to the problom of hitting power and speed of robot when shooting, this paper designes a motor-driven tongue-shaped spring shooting mechanism, which has a simple mechanical structure, smaller space in size and simple control circuit. This shooting mechanism meets the real-time requirements of the competition better.

本文以RoboCup中型机器人作为研究对象，分别从机器人自身系统和多机器人协作系统两个方面进行了研究，主要研究成果如下：首先，研究了中型机器人的软硬件体系结构问题，针对实时比赛的要求，提出了万向轮机构的设计方案，大大改进了传统两轮机器人结构，动作反应更加灵活，该机构能够很好的适应节奏越来越快的比赛；针对万向轮机构，设计了3节点的底层电机控制系统，它可以通过串口与上层笔记本电脑快速通讯，能够很好的实现实时工作要求；针对机器人射门时击球力量和速度的问题，设计了一套电机驱动的舌形弹簧射门机构，机械结构简单，占用空间体积小，控制电路简单，较好的满足了比赛中实时射门的要求。

It can lower its belly to the ground, making it easier for astronauts in spacesuits to climb on and off.

宇航员所处的位置——控制机构、驾驶员和所有其他东西都能旋转360度。

Since historical times,England ,where the early inhabitants were Celts, has been conquered three times .

从有历史以来，英国，在此地早期居住的是凯尔特人，已经被征服了三次。

Bluetooth OBEX File Transfer Enables the sending and receiving of files on your phone via Bluetooth.

蓝牙OBEX文件移动允许经过蓝牙传送和接受文件。。。。