集中控制

The dissertation gives a brief description about the developing situation and control theory of robot firstly, and then the underlying idea and characteristic of CTC are introduced in detail. Subsequently three classes of control strategies with compensation control structure which are based on CTC are proposed. The overall idea is that the system of robotic manipulators is decomposed as two parts: one is nominal system with perfect knowledge of dynamic model and the other is system with uncertainties. CTC is used to control nominal system. For uncertainties system, we utilize the regressor of robotic system or bounding function on uncertainties to design different compensation controllers. The outputs of the two parts control the robotic

本论文首先介绍机器人的发展概论概况，然后对计算力矩控制算法的基本思想和主要特点作详细的阐述，紧接着探讨基于计算力矩结构不确定性机器人的补偿控制方案，其中的基本思想都是将不确定性机器人系统分解成标称系统和不确定系统：对于标称系统，采用计算力矩控制；对于不确定系统，利用机器人系统的回归矩阵或集中不确定性上界的包络函数，设计不同的补偿控制器。

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。

Fieldbus and Ethernet are applied to the control system of sluice gate, the three-layer control structure that consists of field, plant and remote control is realized.

将现场总线和以太网技术应用于水电厂闸门控制系统，实现水电厂闸门的现地控制、内集中监控、方监控三级控制。

First, in the view of engineering cybernetics, according to the principle of the inclination control, the wellbore trajectory control system based on steerable tools is analyzed.

本文立足于井眼轨道控制技术研究现状，研究重点集中于井眼轨道控制工具的设计研究和井下控制机构的理论分析和探讨。

Researchers have paid more attention on discretional access control,role-based access control and view based technology,rather than mandatory access control.

目前关于XML安全性的研究主要集中于自主访问控制、基于角色的访问控制和视图技术，而对于强制访问控制很少有研究。

This text aim at the neutral spot not connect the ground or through eliminate arc coil to conncect ground of connecting a ground of system, put out to connect a ground of electricity arc ability existently low and starts of the system occurrence Human body feeling electricity connect the ground to conduct electricity to press, the equipments inner part breaks down to connect the ground, having no problem of protect the ability.On the foundation of the thorough research protection method, put forward to change into above-mentioned system the protection project that the intelligence connects a ground of system movement.At the same time, introduced the intelligence to connect a ground of composing of system, the work principle, function and characteristicses and system to circulate the circumstance.

本文简要分析了我国配电网自动化的现状和面临的主要问题，指出合理、高效的配电系统网络结构是提高供电可靠性和供电质量的前提条件，本文在对国内现有配网方式进行全面分析的基础上，结合我国城网改造的目标的显状，提出了一种科学&田&字型接线，对其技术性、经济性和可靠性进行了论证，（分析了不同故障情况下系统如何完成故障的定位、隔离，网络的重构及负荷的转移，指出该方案具有很高的供电可靠性和相对较低的备用容量，是一种符合国情国力并能适应配网自动化发展的组网方案）；给出了适合该方案的不同控制模式并进行了优劣比较，指出集中远方控制模式划配网自动化发展的必然趋势；最后本文给出了该控制模式下的测控方式。

The analysis of the application of grooveless rolling technology proves that grooveless rolling can be successfully realized in the big-distance mills.

通过对无孔型轧制的工业试验和技术分析，得出无孔型轧制可在大间距轧机上实现，脱方控制的关键点是导卫控制和宽展控制，翻平宽展能使轧件产生圆弧钝角，避免了应力集中和裂纹，采用无孔型轧制具有可统一坯料、提高轧辊寿命2～4倍、降低能耗6%～7%等优点。

The software called Protel99SE for circuited signed is used to develop the hardware of the controller. The hardware includes the power supply Printed Circuit Board, the signal modulation board, the interface board of human %26amp; machine,and the main control board which is the core of this controller.

锅炉的特点，研制开发了基于MCS-51单片机的小型家用燃气锅炉智能控制器，旨在改变城镇居民使用燃煤锅炉集中采暖时所遇到的室内温度不易控制、无法实现智能控制等的不便，减少因燃煤而产生的大气污染，提高天然气的使用率，改进家庭采暖的控制方式，提高采暖的经济性，改善人们的生活设施。

According to the algorithmic characteristics of video coding, general video decoder can be classified by three classic tasks. First is the low-leveled task for simple control, which focuses on calculation. It is called dense-calculation task when the requirement for calculation is higher. Second is the data-dependence task for simple calculation but sophisticate control, which belongs to middle-level task. More sub-states exist inside the task and the transition of the sub-states depends on input data and lacks of rules. Third is the simple-system task, part of advanced tasks, with simple calculation but no rules, the complexity of which mainly lies in the control of multi-tasks to complete certain function coordinately.

根据视频的编解码算法特性，一般的视频解码器可以分为三种典型的任务：以运算为主，控制简单的低级任务，当运算要求很高的时候我们可以称之为运算密集型任务；运算简单，但是控制复杂，任务内部子状态繁多，而且跳转依赖于输入数据而无规律，这类任务我们可以称之为数据依赖型任务，属于中级任务；运算简单而无规则，复杂度主要集中在控制多个任务协同进行以完成某一特定功能的简单系统型任务，属于高级任务。

From the curve, we linearised the CCS nonlinear model and constructed the T-S fuzzy model of the unit by linking together the linear models of the unit with membership functions. A kind of fuzzy supervisory control system in which using the multi-variable inner model controller or robust controller as its local controller and T-S fuzzy model as the inner model of the supervisory controller has been proposed.

本文的研究内容集中在如下几个方面：根据非线性系统平衡流型和非线性测度的定义，提出了关于平衡流型参数的相对非线性测度的概念，据此绘出了一个具体单元机组机炉协调控制系统模型的相对非线性测度曲线，对此协调控制系统非线性模型进行了线性化，并用隶属度加权的方法将各线性化模型连接成协调控制系统T-S模糊模型。

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。