查询词典 variable error

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。

By taking advantage of the modeling capacity of neural networks, the dependence on model of inverse system is reduced. Neural networks error model is used to estimate the uncertainty to decrease the error bound set in variable structure control.

围绕这两个目的，本文首先介绍了挠性结构发展的现状，以及所面临的主要控制问题和采用的主要控制方法，分析了各自的优势和存在的不足。

A new variable step-size LMS adaptive filtering algorithm is presented, which makes use of the intercorrelation function of the relative output error signal to control the new variable step-size.

针对上述问题，提出了一种新的变步长LMS自适应滤波算法，它采用相对的误差互相关函数来控制步长更新。

The research is carried on from four aspects. One is, based on answering the above open problem on a finite dimensional Euclidean space by means of partially ordered theory, to research the existence of solutions, global error bounds of proximal solutions and sensitivity of parametric unique solutions and present a class of variable-parameter three-step iterative algorithms for generalized set-valued variational inclusion problems by using - resolvent operator of set-valued mapping.Two is to consider the convexity, closedness and boundedness of the solution set of general set-valued variational inclusion problems and the sensitivity of the parametric solution set by means of graphical convergence theory. Three is to discuss directly the existence of solutions by using analytical methods for set-valued mixed quasi-variational-like inequalities and suggest a class of direct variable-parameter three-stepiterative algorithms for solving generalized set-valued variational inclusions.

研究分有三个方面：一是借助于偏序理论在有限维欧氏空间中解决了上述公开问题，在此基础上利用集值映射的η-预解算子，研究了广义集值变分包含问题解的存在性、逼近解的全局误差界、参数唯一解的灵敏性，并提出了一类变参数三步迭代算法；二是借助于图收敛理论研究了一般集值变分包含问题解集的凸性、闭性和有界性以及参数解集的灵敏性；三是用分析的方法直接讨论了集值混合拟类变分不等式问题解的存在性并提出了一类求解广义集值变分包含问题的直接变参数三步迭代算法。

Based on the analysis of bistatic SAR geometry model, bistatic SAR echoed signal is modeled in the double range variables domain in this paper, and the relationship between the double range variable domain and the single range variable domain is established. Then a range-dependent Doppler algorithm for imaging processing airborne bistatic SAR raw data of the translationally invariant configuration is derived, and the effect of error of the algorithm is analyzed by simulating.

摘要该文通过对机载双基地SAR非移变几何模型的分析，建立了双距离变量域的回波信号模型，由于回波数据是在距离和域，该文推导了距离和变量与双距离变量的转换关系，解决了该模型向距离和变量域转换的问题；提出了适用于非移变模式的变多普勒参数的双基地RD算法，并对该算法中引入变多普勒斜率所存在的误差进行了仿真分析。

It's an effective measure of fast valving in improving the dynamic stabilities of power system and preventing the overspeed of steam turbines, but the fast valving technique available can satisfy the need of modern steam turbines no more. On the basis of the new type fluid logic valve, which combines the regulating systems and safety systems happily, the steam turbine EHC based on new principle is put forward, one of its outstanding characteritics is, the fast valving is operating in a closed control loop. For the implementation of control for steam generator regulation and safety systems with nonlinear mult-operating modes, a new methodology for designing a fuzzy logic controller is proposed, which is based on the combination of"error phase plane"and"variable universe of discourse". Application of a double-mode FLC with the new methodology is presented, the validity of the design methodolody is desmonstrated by test; A new methodolody is also presented to improve the design and tuning of a FLC using variable structure control theory.

本文还详细讨论了快关控制在提高电力系统暂态稳定性及超速保护中的应用，分析了现有的快关控制规律的局限性，研究出一种基于新型快关阀的汽轮机电液控制系统，其突出特点是使汽轮机闭环快关成为现实，指出这种基于新的组成原理与设计方法的汽轮机电液控制系统对不同工况下的适应能力；针对汽轮发电机组多工况、非线性的特点，提出一种把&误差相平面&方法与&可变论域&思想有机结合的双模FLC设计与调整的新方法，试验结果表明该系统具有良好的动、静态特性；为改善FLC控制规则的设计与调整，作者还介绍了一种把滑模变结构理论成功应用于模糊系统设计的新方法。

In the population model, the dependent variable y is related to the independent variable x and the error u as

在总体模型中，因变量y与自变量x和误差项u关系可以写作

It is an error if the variable name is not bound to any value in the set of variable bindings in the expression context.

如果变量名在表达式上下文的变量绑定集合中没有被指派任何值就会发生错误。

In the population model, the dependent variable y is related to the independent variable x and the error u as

在总体模型中，因变量 y 和自变量 x 和误差

In the population model, the dependent variable y is related to the independent variable x and the error u as

在总体模型或称真实模型）中，因变量y与自变量x和误差项u关系如下

Do you know, i need you to come back

你知道吗，我需要你回来

Yang yinshu、Wang xiangsheng、Li decang,The first discovery of haemaphysalis conicinna.

1〕 杨银书，王祥生，李德昌。安徽省首次发现嗜群血蜱。