查询词典 robot control system

The paper is based on the project background which manufactures the Air propeller flooding automatic ultrasonic testing system. The servo control equipment based on double CPU of the IPC and the PMAC is the core of the robot system. Combined with the corresponding error compensation and control strategies, the robot system achieves the high-precision ultrasonic testing automation.

论文以&航空螺旋桨水浸超声自动检测系统&研发为背景课题，开发了基于PC和PMAC双CPU伺服控制系统为核心的机器人检测系统，结合相应的误差补偿和控制策略实现了超声检测的高精度自动化。

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。

Then, it studies the supply chain management system as a complex system to confirm the state existing during operating of the system. After that, it conducts a probability analysis on the state which the system located by applying supplement variable method, and establishes the model of distributed parameter system in a form of partial differential equations. Combining C0 ? semigroup theory in the functional analysis, it conducts a dynamic analysis on the established mathematical model. Using this method, it obtains the mathematical expression of the dynamic solution and the steady state solution, and proves the uniqueness, non-negativity and the asymptotic stability of the system solution. This dissertation applies the Matlab tool and uses two-step, three-step Simpson integral equation to imitate the condition of system solution. Then, it adds possible mode of failure and the optimization adjustment state to the system, based on which it has established the distributed parameter system model which is described by partial differential system of equations. Combining the functional analysis C0 ? semigroup theory, it studies the established mathematical model, and obtains the mathematical expression of the dynamic solution system and the steady state solution. It has proven the existing of uniqueness of the system solution, the asymptotic stability of system solution and the system solution. In addition, it has lying the theory rationale for further analysis and the research on the optimization of system.

本文首先简要综述了供应链理论、可靠性研究、鲁棒性研究以及供应链鲁棒性研究的现状；然后，将供应链系统作为一个复杂系统来分析，确定了系统运行过程中所经历的状态，通过引入补充变量的方法，建立了用偏微分方程组描述的分布参数系统模型，用泛函分析中的C_0 -半群理论得到了系统动态解和稳态解的数学表达式，证明了系统解存在的唯一性、非负性和指数阶渐近稳定性；并借助Matlab工具，利用二阶、三阶辛普森积分方程模拟系统解的性态，并给出系统动态解的仿真图；本文又对上述系统增加了系统可能失效状态和优化调整状态，并在此基础上建立了用偏微分方程组描述的分布参数系统模型，同样用泛函分析中的C_0 -半群理论对所建立的数学模型进行了研究，得到系统动态解和稳态解的数学表达式，证明了系统动态解存在的唯一性、非负性及渐近稳定性，为进一步分析和研究供应链优化奠定了理论基础。

The thesis contains five chapters. The first chapter summarizes the development and research of switched reluctance drive, discusses the main research direction, and explains the main work in this paper. In chapter 2, hardware system which includes the design of power converter and various control circuit is discussed. TMS320LF2407 DSP is used to design the hardware circuits of SRM control system, and design details including the current detection, position sensing, fault protection, speed detecting, keyboard and display etc. are provided. Because of the full use of the abundant peripheral resources of DSP, it comes to the aim simplifying the circuit structure and heightening the reliability. In chapter 3, the application of neural network on SRM control system is introduced, a new the application of neural network and the method of sampling is proposed and a simulation system based on Matlab/Simulink is established. Chapter 4 discusses the routine designing issue. Because the modularized programming method is adopted, and multi-interrupt processing technique is used, operation efficiency of the control software is highly raised. At last, the foregoing SRM control system is tested. Speed adjustment is realized, and other targets on the research and design of SRM control system are reached, which establishes a good foundation for further research.

本文共分五章，第一章概述了开关磁阻电机调速系统(Switched Reluctance Drive，简称SRD)及其发展和研究现状，论述了其主要研究方向，并说明了本文的主要工作；接下来的一章主要讨论了SRM的硬件系统，主要包括功率变换器的设计和各种控制电路的设计，本文以TMS320LF2407为核心设计了开关磁阻电机控制系统硬件电路，给出了包括电流检测、位置检测、故障保护、测速电路及键盘和显示电路等部分电路的详细设计，充分利用了DSP的丰富外设资源，达到了简化电路结构、提高运行可靠性的目的；第三章介绍了人工神经网络在开关磁阻电机控制系统中的应用，提出了一种新的应用方式(利用GPFN神经网络调节PI参数)以及如何采取样本，搭建了基于Matlab/Simulink的仿真系统；在第四章中，讨论了开关磁阻电机控制软件的设计，采用模块化编程方法，采用基于多中断的控制程序，提高了控制软件的效率；最后，对所设计的开关磁阻电机控制系统进行了实验，实现了电机调速，达到了开关磁阻电机控制系统研究和设计的预期目标，为更近一步研究打下了基础。

boiler is a important power equipment,the require is to provide qualified vapour,let the amount of vapour maked by boiler suit for the load.because of this,every main parameter in the process of the product should be strict controlled.this paper is introduced same main control system in the process of boiler control、concentrate and disperse control system 、the characteristic and the develop of the MCGS compose status software.integrate with the technique of the boiler, discuss the single momentum, double momentum, three momentum boiler control system distinguishly.we think in the process of micro boiler control, three momentum control is the best choice,and has been well implemented in the water level mediation.further more,use the concentrate and disperse control and MCGS compose statue sofeware can achieve the control of the boiler,and can reach a fine effect..

锅炉是一个重要的动力设备，其要求是供给合格的蒸汽，使锅炉发气量适合负荷的需要。为此，生产过程的各个主要参数必须严格控制。本设计了研究锅炉控制过程的几个主要控制系统，以及集散控制系统和MCGS组态软件的特点和发展状况。结合锅炉的工艺情况，针对单冲量、双冲量、三冲量锅炉控制系统，对它们存在的利弊做出了比较和分析。结合生产实践，对三冲量的算法进行比较，认为在小型锅炉控制过程中，三冲量控制是最好的选择，并在水位调节中得到很好的应用。

The inverse kinematics algorithm of redundant robot is studied in depth in this dissertation, especially the apery arm-7 d. o. f. robot. The apery arm robot system is an important technology for nucleus industry, space station and other remote telecontrol tasks.

本文对冗余度机器人逆运动学算法问题进行了较为深入的研究，尤其对七自由度拟人手臂机器人逆运动学的研究，具有一定的实际意义；所设计的拟人手臂机器人系统对于核工业、空间站以及其它远程遥控作业自动化具有重要意义。

Dead reckoning of mobile robot in complex terrain is analyzed by therigid-body kinematic constraints of mobile robot that is on the basis oflocomotion architecture with the wheeled and rocker-bogie suspension system.At the same time, the kinematic model of mobile robot is obtained using themultiple sensors information from odometry, fiber optic gyro, tilt sensor, et al.

根据刚体运动学的约束分析了一种轮式结构与悬浮式摇架系统相结合的移动机器人在复杂地形下的航迹推测，采用里程计、光纤陀螺仪、倾角传感器等传感器信息推导移动机器人的运动学模型，提出一种运动学模型与车轮。

Based on the foundation of anatomizing the structure of robot, taking full advantage of parallel move performance of the double triangle boom of the rock-drilling robot ac-cording to the condition of the diversification of the boomend location brought by the change of each joint, integrating the knowledge of robot kinematics, an expert system is established to adopt the personate means, that is" the first toorientate the end, then to orientate the location "to realize the speediness orientation.

作者在分析凿岩机器人钻臂结构的基础上，利用钻臂的双三角支架的空间平移性能，根据各关节变化所引起的钻臂端部位姿的变化，综合机器人学中运动学知识，建立一个专家系统，采用拟人化的方案———"先定点，再定位姿"，解决凿岩臂的快速定位问题，以实现描述各关节位置的变量的快速逆运算。

In order to research the overall dynamic performance of the robot,firstly,a overall structural design of the robot is carried out,and a 3D model of the 5-Dof robot is established in the Pro/E environment,then a three dimensional dynamic simulation research of the kinematics and dynamics is carried out using the ADAMS software,finally the rationality of the system design is discussed as well as the significance in the practical application according to the output results,which have been measured in the simul...

为了研究机器人的总体动态性能，首先进行了机器人的总体结构设计，并在 Pro/E环境下建立了五自由度机器人3D机械装配模型，运用ADAMS软件对其进行了运动动力学的三维动态仿真研究，最后根据测量输出结果讨论了系统设计的合理性以及在实际应用中的意义。对机器人的后续研究，这些研究成果具有一定的参考价值。

Cavitations in foreign hydraulic turbines appear in clear water condition, so its destructive extent is not far more serious than in Yellow River hi our country. Stronger stiffness and more agility are required for Special-purpose robot for hydraulic turbine repair used in our country. Foreign robot for hydraulic turbine repair could not satisfy our working require, so we develop special-purpose robot system that is used to polish and weld repair cavitate flow path surfaces of hydraulic turbines on all location.

国外水电站的水轮机汽蚀是在清水条件下产生的，其破坏程度远不及我国黄河等水域严重，用于我国水轮机修复工作的专用机器人，要求有更强的刚度和更大的灵活性，国外水轮机修复机器人满足不了我国水轮机修复工作的要求，因此我们开发了用于在机坑内对水轮机空蚀磨损破坏表面进行修复的&水轮机修复专用机器人&。

Putt your way through 36 fun-filled holes of minigolf on 3D designed courses with elevated greens, bunkers, bridges and water hazards, among other crazy obstacles.

您的推杆方式，通过36个有趣的填孔迷你的三维设计的课程，以提升绿党，掩体，桥梁和水的危害，除其他疯狂的障碍。

Some participles can be used either as attributes or as predicatives.

有些分词既可当定语用，也可当表语用。