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In order to avoid the chattering phenomena in the general slide mode control, this dissertation introduces a nerve cell discrete sliding mode control method based on CMAC (cerebella model articulation control) that combines the merit of sliding mode control and CMAC.

针对常规滑模变结构控制中存在抖振问题，本文将小脑模型关节控制器与滑模控制相结合，提出基于CMAC的神经元离散滑模控制策略，并对该控制算法进行了仿真研究和实验研究。

Results The IC50 of SPG-Rg3 was (155.7±0.71) mg·L-1,when the concentration of SPG-Rg3 was arranged from 37.5 to 600.0 mg·L-1,the growth inhibitory rate of MCF-7 cells was higher following the increase of its concentration,the cell growth was greatly inhibited compared with control group(P.05); cell cycle was changed,the cell number of S period increased compared with control group(P.01),the cell number of G2/M period decreased compared with control group(P.01),in experiment group there was an apoptotic apex before G1 apex,and the number of apoptotic cells increased; most of cell nuleus in SPG-Rg3 (150 mg·L-1)experiment group appeared yellow or chrysoidine fluorescence,contracted,beaded and crescent; the result of immunocellularchemical staining of caspase-8 indicated that caspase-8 protein had no expression in control group,but stronger expression in SPG-Rg3 group.

结果：SPG-Rg3 IC50为（155.70±0.71） mg·L-1，当SPG-Rg3浓度在37.5~600.0mg·L-1时，MCF-7细胞的生长抑制率随SPG-Rg3浓度的增加而增大，与对照组比较，细胞增殖受到明显抑制（P.05）；MCF-7细胞的生长周期也发生变化，S期细胞数增加，明显高于对照组（P.01，G2/M期细胞数则明显少于对照组（P.01；并且在G1峰前出现明显的凋亡峰，凋亡细胞数增加。

Based on the computer vision method, we have proposed use of a nonlinear rotational observer and a linear translational observer to estimate the relative motion rate; To ensure the completement of the spacecraft docking task, we have also proposed a new nonlinear control csheme for attitude control and a linear control scheme for orbit control.

针对具体的测量手段，提出了一种非线性观测器来重构出相对姿态变化；为了保证对接任务的完成，提出了一种新的姿态控制的非线性控制方案及轨道控制的线性控制方案，在理论上分析了其稳定性。

A new dynamic sliding mode control law is presented for tracking control of robot manipulator.New switch function based on backstepping method is designed to transfer discontinuity to derivativeness of the control law,so that the chatterings of control can be eliminated.

针对机器人跟踪控制问题，设计了一种新型的动态滑模控制器，采用反演方法设计一种新的切换函数，将不连续项转移到了控制的一阶导数中，得到了输入的平滑性的动态滑模控制律。

Results In animal study, lumbricus could inhibit the growth of staphylococci, bacillus coli and bacillus aeruginosus. The time of wound healing in experimental group was 4 days shorter than that in control group. At 4d and 7 day the numbers of the capillary, blood vessel endodermis and desmohemoblast desmocyte and splitting epithelium of trial group were much more than those of control group. At 4d the trial group′s numbers of splitting mesenchymal cell were much more than that of control group. From 3d on the wound healing and granulation filling of experimental group were much quicker than those of control group.

结果 动物实验中，地龙能抑制金黄色葡萄球菌、大肠杆菌及绿脓杆菌的生长；实验组创面愈合时间较对照组提前了4天；第4、7天实验组动物创面的毛细血管数、血管腔内皮细胞数及间质成纤维细胞数均较对照组明显增多，上皮细胞分裂象也高于对照组，第4天的间皮细胞分裂象也高于对照组；自第3天始创面愈合及肉芽充填速度实验组明显快于对照组。

To investigate the change of these indexes after treatment between traditional Chinese drug treatment group and control group, and the difference between control group and TCDT group.Methods:1. 40 cases with CHD were divided into TCDT group and control group randomly. The control group was treated by regular western medicine of Isosorbide Dinitrate and ASA while the TCDT group was treated by Guanxinshengmaiyin.

1、选择40例冠心病患者，随机分为两组，即中药治疗组与西药对照组，中药组用&冠心生脉饮&治疗，西药组常规给予消心痛和阿司匹林口服；2、检测两组病人治疗前后血清VEGF和NO的含量；3、选择16例健康体检者作为健康对照组。

In chapter Ⅰ, a historial review of structure control is given; In chapter Ⅱ, A discussion of the controllability and observablity of flexible structures is given, Two kinds of controllability and observablity index are defined, and applied to actuator allocation; chapter Ⅲ considers the reduction of high order flexible structure mode; the content of chapter Ⅳ is about the basic problem of distributed parameter control system design. It is proved that a stable controllor in mode space may be unstable in real use in distributed paramater systems, also, by closed loop mode concept, a pole assignment method of flexible structure controllor design is given; chapter Ⅴ is about the low-authority controllor design, it is pointed out by use of high order eigenvalue/eigenvector perturbation, a better controllor can be designed; chapter Ⅳ considers flexible structure reduced order control; chapter Ⅶ disscusses the basic problem of flexible structure computer control, analyses discreate controllablity and observablity and its computing, the sample period and coefficient wordlength; chapter Ⅷ is on the problem of low flexibility compensation; chapter Ⅸ is a design example.

在第一章简要回顾了挠性结构控制的历史，并且指出控制中的一些问题；第二章讨论了挠性结构的能控性与能观性，定义了两类能控性程度和能观性程度指标，还将能控性程度概念应用于执行器位置的确定；第三章论述了高阶模型的降价问题，比较了适于挠性结构模型降阶的方法，指出其适用范围；第四章内容是分布参数系统设计的基本问题，首先证明在模态空间中设计的稳定的控制器在实际分布系统上可能是不稳定的，进而根据闭环模态的概念，获得挠性结构控制器设计的极点配置方法；第五章的内容是关于低权控制器的设计问题，指出利用特征值高价摄动和特征向量的摄动，可以设计出更加完善的低权控制器；第六章讨论挠性结构降阶控制问题；第七章讨论挠性结构计算机控制的基本问题，分析了时间离散化模型的能控性和能观性及其计算问题，讨论了采样周期选择和系数字长问题；第八章讨论低挠性结构的补偿问题；第九章的设计例子用来说明第二章和第四章的结果。

Vehicle's collision with the speed control hump would lead to vehicle damage, driving unconfort, noise pollution and speed control hump would lead to damage. The units of speed control hump were laid dividually in transverse direction to solve the problems. Inequations were given to guarantee that vehicles would not tilt when passing speed control hump would lead to.

提出将垄单元横向间断布设以解决车辆与减速垄反复碰撞造成车辆损坏、驾乘舒适性差、周边环境振动、噪音污染和减速垄损坏等问题，列出不等式组保证车辆通过垄单元时不发生倾斜。

Entomologenous fungi are important biological control agents, and are widely applied to control insect pest. It is for some years to control M. alternatus by entomogenous fungi. But it is limited to control pest because only spore can be used.

虫生真菌是一类重要的生防真菌，在生产上应用广泛，防治松墨天牛在生产上也早有应用，但目前多利用其孢子粉剂或液剂，在应用中受到很大限制。

This product is applicable to coal mine where has explosible dangerous gas and coal dust,It is used for controlling direct starting stop and reversion of three-phase squierrel cage type asynchronous motor whose rated current up to 400A in system of AC50Hz rated voltage 1140V or 660V, Meanwhile it protects the electromotor and relative circuit, The starter can be combined with firedamp sensor and used to test the consistency of mining working area,the starter will trip when it exceed the limit ;adopt intrinsic safety type circuit for the control circuit; possess the function of local control and remote control by single set and multi sets procedure control; display working voltage current and gas consistency can remember fault parameter

该产品适用于具有爆炸性危险气体和煤尘的矿井中，在交流50Hz，额定电压为1140V或660V ，控制额定电流只400A的三相鼠笼式异步电动机的直接起动，停止及反转，同时对电动机及有关电路进行保护，起动器可与甲烷传感器相连接用于检测才掘工作面的甲烷浓度，当其超限时起动器跳闸；控制电路采用本安型电路；具备单台就地控制与远方控制及多台程序控制功能，能显示工作电压、电流、瓦斯浓度，并能记忆故障参数。

The shaping method of noncircular part and the tool holder's radial motion characters in noncircular turning process are discussed in detail in the thesis.

论文详细研究了非圆零件的成型方法和加工过程中刀架的径向运动规律。

I have not really liked him,I do not like his this kind of disposition.

我没有真的喜欢他，我不喜欢他的这种性格。