查询词典 under control

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。

Gain-scheduling flight control law is used to determine the deflexion angles of the control surface and control the trajectory of the vehicle, and the trajectory simulation results are obtained. The results indicate that under the control system the latter is complicated, so direct acceleration is superior.

结果表明，操纵控制下的飞行器能够按照预定轨迹飞行；使用螺旋加速方式，可以延长激光加速的时间，但是这两种加速方式最后得到的速度差不多，而螺旋加速的操纵复杂，因此竖直平面内直接加速有一定的优势。

Under normal temperature.the Ca2+-ATPase activity was found on the innerside of the PM.on the vacuole envelope and the chloroplast envelope,and theenzyme activity declined upon heat stress.The Ca2+-ATPase activity on the vacuoleenvelope,PM.and the chloroplast envelope in both Ca2+-and oxalate-treated peppermesophyll cells was higher than that in the control under the same condition.TheCa2+-ATPase was also found at the granum lamella,and it was activatedsignificantly by exogenous Ca2+ and oxalate treatments.Under heat stress.the Ca2+-ATPase activity declined slowly in both Ca2+- and oxalate-treated mesophyll cells.But La3+ treatment inhibited the enzyme activity under both normal condition andheat stress.

常温下生长的叶肉细胞，在质膜、液泡膜、叶绿体被膜等处有Ca2+-ATPase活性，热胁迫后酶活性下降；外源Ca2+和草酸预处理对辣椒叶肉细胞各种膜上Ca2+-ATPase活性具有促进作用，特别是定位于液泡膜、质膜和叶绿体被膜上的酶活性明显比对照提高；在叶绿体基粒和基质片层上也有酶活性，并且Ca2+和草酸预处理对该部位上的酶活性激活作用更明显；La3+处理的作用与Ca2+和草酸处理的效果相反。

The so-call'exportable equation'is found by nonlinear geometry method for general non-autonomous chaotic control systems which coefficient matrix of control term is functional matrix contained system variables. The homeomorphic transformation of coordinate is found under specified conditions, the coefficient matrix of control term can be transformed as constant matrix, the synchronization among chaotic systems can be realized by common control methods.

针对一般的非自治混沌控制系统中控制项系数矩阵是含有系统变量的函数矩阵，利用非线性几何线性化的方法找出所谓的"输出方程"，在一定的条件下求出坐标的同胚变换，将控制项系数矩阵变换为常矩阵，然后利用常规的控制方法进行混沌系统之间的同步化。

Traffic signal control system Settings in each intersection signal lights color control parameters, to signal under the control of the intersection in all directions of traffic flow in the intersection of the stalled minimum delay time, and in a number of intersection signal chain control , To seek optimal within the region, to further improve vehicle operating conditions, making pollutant emissions reduced.

交通信号控制系统通过在每个交叉口设置色灯信号控制参数，使其信号控制下的本交叉口所有方向的交通流在交叉口的停顿延误时间最小，以及在多个交叉口信号联锁控制时，寻求区域内最优，进而达到改善机动车运行工况，使得污染物排放量降低。

An impulsive control scheme of the Lur'e system and several theorems on stability of impulsive control systems was presented, these theorems were then used to find the conditions under which the Lur'e system can be stabilized by using impulsive control with varying impulsive intervals. The parameters of Lur'e system and impulsive control law are given, a theory of impulsive synchronization of two Lur'e system is also presented.

提出了Lur'e系统的脉冲控制系统，利用关于脉冲系统稳定的几个定理，得到了具变化的脉冲区间的Lur'e系统镇定的充分条件；并且给出了Lur'e系统的适当参数与脉冲控制律，使得两个Lur'e系统脉冲同步。

At last, the application of above modeling and control strategies has been demonstrated by the simulations of a nonlinear dc motor control problem. Under this control strategy, system identification phase is not needed, and only a controller based on the recurrent neural network is provided. Because the control and learning laws are designed with stable theory, stability and convergence problems are solved here with rigorous analysis, which can not been analyzed easily when usual BP neural networks are used.

最后通过非线性电机模型的仿真研究，表明了基于上述动态动态递归神经网络模型对非线性系统进行自适应控制的实际可行性，并且采用这种方法不需要对系统进行离线辨识，整个系统只采用了一个基于动态递归神经网络的控制器，由于整个系统是基于稳定性理论设计的，有效地解决了应用BP网络等其它前向网络时系统的稳定性和收敛性难以分析的问题。

Using electric operation controlled lifting system so that the floating plate safe, stable, powerful stress job to ensure that the molding, simpler and quicker. 2 strong suction system without phase vacuum suction, negative pressure may have been the ideal state, the use of more convenient. 3 equipment, power can achieve the best working state of the lowest electricity consumption standards. 4 soften me with automatic temperature control system can be made under different heating plate settings required. 5 operating system, the use of numerical control system to operate, effective improve the efficiency of the operator. 6 advanced technology can be a cooling suction pressure molding, may also be under the light box, the different effects of the word alone or in a separate suction pressure, so that light boxes, forming a word.

产品特点：1。采用电操作控升降系统，使浮动板安全，平稳，工作压力强大，确保成型更简便，快捷。2 吸气系统功能强劲，无需阶段吸真空，可一直处于理想负压状态，使用更方便。3 设备功率可达到最佳工作状态的最低电耗标准。4 软化箱装有自动恒温控制系统，可根据板材不同的加温需要设定。5 操作系统采用数控系统操作，有效的提高了操作人员的工作效率。6 技术先进，可吸压冷却一次成型，也可根据灯箱，字的不同效果，单独吸或单独压，使灯箱，字一次成型。

Consequently,in this study we introduced genes that encode the xylose isomerase and xylulokinase precisely under the control of a strong,constitutive glyceraldehydes-3-phosphate promoter by PCR-mediated overlap extension,which is in charge of xylose assimilation;and also we introduced genes that encode the transaldolase and transketolase precisely under the control of enolase promoter,which is in charge of xylose utilization,then transformed plasmid with the two operons into Z.

因此，本文通过代谢工程手段，将负责木糖代谢转化的木糖异构酶基因和木酮糖激酶基因置于强组成型启动子3-P-甘油醛下；同时将负责木糖转化利用的转醛醇酶和转酮醇酶基因置于强组成型启动子烯醇酶下，通过电转的方式将上述四个基因转入到Zymomonasmobilis CP4中，从而在运动发酵单胞菌中构建起一套完整的木糖代谢途径。

This paper makes use of PID control, Fuzzy- PID control based on single parameter these two control strategies to simulate the systems model. Compared with common vehicle, the results of simulation show that the vehicle equipped with the electromagnetic power steering system has better yaw velocity frequency response characteristic under condition with step input of steering wheel, so it has more betterhandling stability; Compared with PID control strategy, the results show that the Fuzzy-PID control strategy has the advantages, such as response fast, stabilize itself quickly and less over-altitude.

本文使用了PID、单参数自整定Fuzzy-PID两种控制策略对系统模型进行控制，仿真结果表明：相对于普通汽车，装有电磁式助力转向系统的汽车在方向盘转角阶跃输入的情况下，汽车横摆角速度频率响应特性更好，因此具有更好的操纵稳定性；而相对于采用PID控制，采用单参数自整定Fuzzy-PID控制又可以使系统响应更迅速、超调量更小、稳定更快。

This one mode pays close attention to network credence foundation of the businessman very much.

这一模式非常关注商人的网络信用基础。

Cell morphology of bacterial ghost of Pasteurella multocida was observed by scanning electron microscopy and inactivation ratio was estimated by CFU analysi.

扫描电镜观察多杀性巴氏杆菌细菌幽灵和菌落形成单位评价遗传灭活率。