集中控制

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。

The general orthogonal polynomial is adopted for model approximation of DPS and the predictive control of DPS is translated into the lumped one. Model algorithmic control is applied to deal with the lumped parameter system and a control law is given. The predictive controller of DPS is obtained by inverse transformation. The method and steps are discussed in detail.

该方法采用广义正交多项式对分布参数系统的模型进行逼近，将离散时间分布参数系统的预测控制问题转化为集中参数系统的预测控制问题，运用模型算法控制方法对集中参数系统进行预测控制，求出控制律，经反演变换得出分布参数系统的预测控制。

According to modern enterprise system and the enterprise internal control theory, and based on extensive practical investigation and research, this thesis firstly analyzed product sale managements, financial affairs management, basic condition of organization construction and the existing problems, facing situation. Furthermore it demonstrated that it is imperative that the end product oil sale corporation of CNPC carries out the concentrated and unified business accountings of financial affairs and it brought forward the design of the reforger of varies business flows under the concentrated and unified accounting model of financial affairs. On this foundation, it analyzed the problems such as processing program of supply of final product oil, financial flow of sale commodity, processing program of sale fund final accounts, the recognition of the key of internal control, etc. Finally, some problems, which is worth paying attention to, have been carried on analysis and discussion, such as the control relation of the final product oil sale corp. and distributive corp. of regions and provinces, the balanced equivalent of centralization of state power and division of power, etc. during the course of putting into effect the system of concentrated and unified business accounting of financial affairs.

本论文根据现代企业制度和企业内部控制理论，在广泛实地调研的基础上，分析了中油成品油销售公司的产品销售管理、财务管理、组织结构等的基本状况及其存在的主要问题和面临的形势，论证了中油成品油销售公司实行财务集中统一核算势在必行，并对在财务集中统一核算模式下的各项业务流程再造进行了设计；在此基础上，具体对成品油供应的处理程序、销售商品的账务流程、成品油销售资金结算的处理程序、内部控制关键点的确认等问题进行了有针对性的分析和设计；最后，对在实施财务集中统一核算制度过程中，中油成品油销售公司与各区域、省市分公司的控制关系、集权与分权的平衡等值得注意的问题进行了分析和讨论。

Current research efforts focus on interworking of IN and Internet via gateway.

但是当前的研究侧重于通过网关实现IN与Internet的互通，这种方案的不足之处在于沿袭了传统IN集中控制的缺点。

Current research efforts focus on interworking of IN and Internet via gateway. The problem of this solution is that it inherits the drawbacks of conventional IN.

但是当前的研究侧重于通过网关实现IN与Internet的互通，这种方案的不足之处在于沿袭了传统IN集中控制的缺点。

Re-W alloy is oxidized and separated through air lancing reaction in a tubular oxidizing furnace with different temperature zones, and the Re oxide is heated and reduced in H2 atmosphere to obtain high purity Re powder.

将钨铼合金在具有不同温区的氧化气氛管式炉中进行吹扫反应，同时对不同区域温度、吹扫气体流量、反应系统出口气流量进行集中控制，以便在合适的气氛与温度下使钨铼合金充分氧化，并得到有效分离，最终对铼的氧化物在氢气氛中加热还原，制得高纯铼粉。

The algorithms make the solution process correspond to the process of producing, growing and maturating of the T cells, the make use of the powerful maintaining variety mechanism in the developing process of Tcells to design the selection mechanism of the algorithm in order to improve the capability of the algorithm.

国外的代表性工作有：Hunt等人从模拟免疫系统角度提出了一种人工免疫模型；Ishida从仿生免疫系统的分布式处理出发，提出一种非集中控制的调节模型等〔1 - 4〕。

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。

Purchase managers, system integrators, AV products distributors, architecture and AV systems design consultors, AV academic researchers etc are included in ProAV China readership.

内容覆盖：专业显示/演示(大屏幕单机投影、多机边缘融合和拼墙；大尺寸LED、LCD和PDP平板显示)；专业音频；音、视频会议交流系统；AV信号处理及传送；集中控制系统的产品、应用和行业发展趋势信息。

Combined system simulation with optimal control, selected a typical water cooled primary/secondary chilled water system, used the research achievements of Annex 30 in IEA for the reference, this work firstly presents both the basic component models and the control system component models. Secondly gives the main models for parameter identification and experiment validation. Finally a dynamic digital simulator is set up using TRNSYS as the platform to substitute a real system to test and evaluate some kinds of online optimal supervisory control strategies after giving some essential data file input and finishing all the PID controllers'tuning.

本文将空调系统的仿真模拟与优化控制相结合，首先选择比较典型的水冷式二级泵集中空调系统，在国际能源组织IEA第30子课题Annex 30多年研究成果的基础上，建立了系统各设备的部件模型和控制系统部件模型，对主要模型参数的辨识方法进行分析，同时对其准确性给予验证；在此基础上，建立了以TRNSYS为仿真平台的集中空调水系统数字仿真器；通过必备数据文件的输入和对所有下位机控制回路PID参数的调试，最终完成可用于评估各种上位机优化控制方案的空调水系统数字仿真器。

We will see more and more activist government policies that distinguish economic activities according to the nationality of the actors.

我们将看到越来越多激进的政府政策，这些政策根据企业的国籍来区分经济活动。

If we can prove the independence of an axiomatic system, then we can guarantee the conciseness of this system, ie.

如果能够证明某个一阶谓词系统的独立性，那么就能够保证该系统的建立是精炼的，即没有任何一条公理或推理规则是多余的。