查询词典 convergence frequency

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。

Firstly, convergence condition of a binomial is discussed, and along with the calculating formula of region of convergence, the matching band of fractance circuit attained by binomial expansion method is indicated definitely.

首先讨论了二项式的收敛条件，并结合收敛域的计算公式，明确指出使用二项展开法所得到的分抗电路的逼近带范围。

FR conjugate gradient methods with perturbations are proposed. The global convergence property of the first method is proved under the condition of main directions' sufficient descent. Whereas, in the proof of the convergence for the other two methods, we only need main directions' descent. Importantly and quite interesting, boundedness conditions such as objective function being bounded below, boundedness of level set are not needed. Chapter 5 presents a version of Dai-Yuan conjugate gradient method with perturbations.

在主方向充分下降的条件下证明了第一个方法的全局收敛性，而后两个方法的收敛性是在主方向下降的条件下证明的，这些收敛性证明的一个共同特征就是不需要目标函数有下界或水平集有界等有界性条件，第5章采用Wolfe或Armijo步长规则提出了带扰动项的Dai-Yuanabbr。

Based on present work of genetic algorithms, the arising process of incest and premature convergence is discussed. The operating efficiency of genetic algorithms is analyzed from different view of points, and the conclusion is drawn from the analysis that there exists a lot of caducous operation during the evolution in the case of premature convergence.

在遗传算法现有研究成果的基础上，讨论了近亲繁殖和早熟收敛的产生过程，并从不同角度对遗传算法的操作效率进行了分析，得出在早熟收敛的情况下遗传操作存在大量无效操作的结论； 3。

However,authors still do not find the relevant references on convergence and symmetric problems of the semi-analytical solution.Based on the semi-analytical solution for Hamilton canonical equation theory,the formulations of the clamp and simply supported and symmetric boundary conditions on the Hamiltonian element are derived by the variational principle.Several numerical examples show that with increase of meshes,the convergence rate of the semi-analytical solution is faster than the convergent rate of traditional finite element method based on displacement.

①在厚度上没有任何位移和应力模式的假设，由于传递矩阵方法的引入，从理论上讲，不受板壳厚度或层合板壳层数的限制；②采用弹性力学的Hamilton正则方程半解析法，可以克服边界的局部化效应[8]；③由于在平面内或圆柱壳的曲面内采用了有限元法，所以一般的板壳问题不受结构侧面边界条件的限制，在复杂工程板壳问题上具有广泛的应用领域。

SIP modularity and SOC have important effects on 3C industry convergence. Modulization, industry convergence not only change the base of production structure but also the ...

模块化、产业融合不仅使生产结构基础改变了，竞争的基础也发生了转变，使企业之间的合作与竞争都达到了极致，这集中表现为企业之间的合作竞争，而企业之间的竞争又分为两个层面：设计规则的标准竞争和模块供应商之间激烈的"背对背"竞争。

With enough free-surface range and collocation point number, this paper discusses the effects of the two kinds of distances on the numerical convergence, proposes the expressions for the inner distance, and has obtained consistent and convergence results.

本文研究了潜水椭球和Wigley船型的兴波问题和绕射问题，计算了非线性的兴波阻力系数、纵向一阶波浪扰动力和二阶倍频波浪扰动力，以及兴波武汉理工大学博士学位论文波形和绕射波形。

The experimental results prove that the convergence speed of the proposed method is non-linear and the use of convergence points can lower the complicacy of process of iteration.

实验结果表明，改进后的高斯核均值漂移算法以超线性的速度收敛，收敛点的应用降低了收敛过程中的计算量。

Our results show that there is no obvious conditional convergence in china, that is, given the same level of human capital, market openness and other factors the economic provinces have demonstrated an unconspicuous growth convergence.

本文研究得出，中国地区间的经济增长，存在不明显的条件收敛的特征，即在具有相同的人力资本、市场开放度等结构特征的经济地区间不存在明显的增长收敛趋势，但是存在着很显著的"俱乐部收敛"特征，即按东中西划分的区域内部人均经济产出具有明显的聚集现象。

We prove that the economic growth mode will be nonlinear in a region restricted by Minimum Government Scale, conditional convergence and club convergence would be found and the regional gap would reduce the first, then enlarge and reduce in the last.

我们证明，存在最小政府规模的经济其增长是非线性的，经济收敛性在短期表现为条件收敛与俱乐部收敛的双重特征，并且地区差距的变化将呈现出缩小-扩大-再缩小的动态特征。

They're shooting fish in a barrel.

她们是在桶里钓鱼。

These constructions have been shown to produce objects with the desired properties with probability 1 in an appropriately defined measure space.

这些建筑已显示出物体的产生所期望的性能与概率1在一个适当的定义测度空间。