伺服控制

In the dissertation, the principle to deicide the design parameters of the system based on spectrum reproduction and the design method of the hydraulic system for random vibration, are put forward.

论文提出了谱再现电液伺服系统参数的确定原理及随机振动电液伺服系统的设计方法，分析了电液振动台使用域和极限工作曲线，建立了以电液比例阀为控制元件的电液伺服系统的数学模型。

Around the topic, the weak points of the traditional platform is analyzed first, such as complex arithmetic, long calculating time, high needs of hardware and so on. A real time control method based on virtual simulation is suggested to separate the complex positive/negative calculation of space kinematic and real time motion control. And a"3-2-1"type 6DOF platform is designed with the reference of the MAST (Multi-Axis Shaking Table) of MTS. The kinematic and dynamic calculation of the platform is finished. According to the calculating result, the control system of the"3-2-1"type 6DOF platform including 6 linear servo electric cylinders is designed and constructed. And the professional software Pro/E is used to do the 3D model and 6DOF motion simulation of the platform. The motion curves of the pistons of the 6 cylinders are exported with the simulation. At last the control software is programmed with Microsoft Visual Basic 6.0 and realizes the functions with the commands of GE series motion controllers. When loading the motion curves exported with the simulation, every cylinder can follow the curve very well and the platform realizes the hoped 6DOF motion.

围绕选题，本论文首先分析了传统的运动平台控制方法所存在的算法复杂、解算耗时长、硬件需求高的缺点，提出了一种基于虚拟仿真的实时控制方法，该方法将复杂的空间运动学正、反解与实时运动控制相分离；之后，参考MTS公司的MAST多轴振动平台，设计了新型的"3-2-1"型六自由度平台，并进行了运动学及动力学计算，根据相关计算结果，设计与搭建了包括驱动6个直线伺服电动缸在内的"3-2-1"型六自由度平台控制系统；接着，使用Pro/E对"3-2-1"型六自由度平台进行了三维建模和六自由度运动学仿真，并由仿真直接获得了6个直线伺服电动缸的活塞杆的相应运动曲线；最后使用Microsoft Visual Basic 6.0编写了控制软件界面，通过调用GE系列运动控制卡的各种命令函数实现了控制系统的相关功能，而当加载仿真得到的各缸运动曲线后，每缸均能很好地跟踪输入曲线，使平台实现了期望的多自由度运动。

The influence of dynamic characteristics of positioning servo-system to machining precision is studied.

同时，将前馈控制与模型参考时滞控制相结合，对位置控制系统进行了仿真研究，实现了位置伺服系统的零跟随误差控制，为进一步提高位置伺服系统的控制精度和鲁棒性开辟了新途径。

The application of H〓 control theory in robust control of sonar array servo system is studied in the thesis. The solution of singular H〓 control problem is investigated deeply, and the problem of sonar array servo system's generalized system being singular is solved. Numerical simulation is carried through at last.

本文还对H〓控制理论在声纳基阵伺服系统鲁棒控制中的应用进行了理论研究，对奇异H〓控制问题的解法进行了较深入的研究，并解决了猎雷声纳基阵伺服系统增广系统为奇异控制对象的控制问题，最后进行了数字仿真。

Experimental results demonstrate that the system effectively restrains 40Hz and less than 40Hz facular trembles,and can satisfy the tracking bandwidth in free space optic communication.

结果表明，神经网络比例-积分-微分控制算法增强了伺服系统鲁棒性，并提高了伺服系统实时性；采用400Hz的CCD，精跟踪伺服系统对40Hz以下的抖动能有效抑制，基本能满足在空间光通信中跟踪带宽需要。

Linkage mechanism of study. Forepart all gather be linkage mechanism structural analysis and agency designer. In recent years so emphasize in kinetic synthesis dynamic and motility analysis. So text needle towards inquire into slider four-bar linkage mechanism agency positioning control.Research emphases are as PID control, fuzzy control, Fuzzy sliding mode control three kinds of controllers for control core. Permeate practical mechanism to positioning control to function. Simple exertion market vends signal extract card (PCL-833) and multi-function card (PCI-1711). Make it make signal extract and bring forth exportation control voltage. Will AC servo motor turn signal, as positioning system point of angle sensor. Reach to slider four-bar linkage mechanism servo positional control research.

连杆机构的研究，早期都集中在连杆机构的结构分析和机构设计，近年来也多著重於运动及动力分析上，因此本文就是针对於探讨滑块四连杆机构的定位控制，研究重点是以PID控制、模糊控制、模糊顺滑模式控制三种控制器为控制核心，透过实际的机构达到控制定位的功能，运用市面上贩卖的讯号撷取卡(PCL-833)和多功能卡(PCI-1711)，使其对讯号做撷取和产生输出控制电压，将AC伺服马达的转动讯号，作为定位系统的角度感测器，达到滑块四连杆机构伺服定位控制的研究。

This positive-feed insertion system has the tension of each roller controlled by a Control Techniques Dynamics UMD servo-motor with resolver feedback to a Unidrive SP AC drive operating in servo-mode.

在这种强制进料插入式系统中，每一辊子的张力都由艾默生CT Dynamics的UMD伺服电机控制， Unidrive SP交流驱动器在伺服模式下驱动带编码器反馈伺服电机。

A deviation to enable business card printing and membership card making more neatly away material; business card printing and membership card Studio Center-drum for double-deck, using thermostatical hollow water circulation system structure, plated nickel plating avoids corrosion, Nano-imprint lithography drum machine, safe and reliable braking equipment; spam satellite business card printing and membership card, four business card printing and membership card production unit in the Centre of coining drum distribution around the business card printing and membership card making support adoption of the integral structure, intensity that cannot be easily; Center for the imprint drum version, roller roller, using separate servo motors between the gearless, Business card printing and membership card making length is not supported by gear pitch in roll-wide choice; business card printing and membership card making pressure, roller and roller pressure singlein servo motor and with memory with two types of regulation, accurate and rapid adjustment; closed ceramic Roller blade device ink to ensure that the business card printing and membership card making ink stability, blade-like device for pneumatic compression; taojian the plate cylinder, taojian-reseaus and roller, the portal structure of push-pull roller and taojian beckenbachannular roller to replace a simple and quick; roller servomotor-driven business card printing and membership card production and business card printing and membership card making machine be a certain speed, stopping the slow down to prevent the ink roller network hang dry knot, splash-proof ink installed equipment downtime or roller pressure, from the printing plate out of arrive﹖, stop to ink, the plate cylinder the full delivery from the pressure to keep the printing plate clean; stainless steel-monlchamus tuhung-glass to prevent ink prints get dirty; dryer direct to the wind, air flow loss small high efficiency, reduces noise scene, new oven heat energy to secondary structures, control temperature control system using intelligentized; traction roll at the same time acts as both a cooling rolls, new structure increases cooling effect.

纠偏，使制卡和会员卡制作走料更加整齐；制卡和会员卡制作部中心大滚筒为双层空心式，采用恒温水循环系统结构，表面镀镍处理可避免锈蚀，中心压印滚筒采用机械制动装置，安全可靠；卫星式制卡和会员卡制作方式，4个制卡和会员卡制作单元分布在中心压印滚筒周围，制卡和会员卡制作支架采用整体式结构，强度好不易变形；中心压印滚筒、版辊筒、网纹辊之间采用独立伺服电机无齿轮传动，制卡和会员卡制作长度不受齿轮节距限制，在版辊范围内任意选择；制卡和会员卡制作压力、网纹辊与版辊之间的压力分别用伺服电机调整，并具有记忆功能，调整有两种调节方式，精确调整与快速调节；陶瓷网纹辊封闭刮刀装置供墨，可确保制卡和会员卡制作过程中油墨稳定饱满，刮刀装置为气动加压；套筒式印版滚筒，套筒式网纹辊筒，门式推拉式结构使套筒版辊与套筒网纹辊更换简单快速；网纹辊由伺服电机驱动，制卡和会员卡制作时与制卡和会员卡制作机保持相对一定的速度，停机时则放慢速度匀墨，防止网纹辊网坑枯结，两边安装防油墨泼溅装置，在停机或离压时，网纹辊立即从印版脱离开来，停止给墨，印版滚筒把墨完全传递后离压，保持印版清洁；不锈钢接墨斗，防止油墨滴漏蹭脏印品；干燥箱采用直接进风型式，风量损失小效率高，减小了现场噪音，新型烘箱结构热能可二次利用，控制采用智能化恒温系统；牵引辊可同时兼作冷却辊使用，新型结构增大了冷却效果。

This article designs is one kind under the monolithic integrated circuit 89C51 control the infrared remote control servo vehicle, after the server is passes through the special re-equipping server.

本文设计的是一种在单片机89C51控制下红外遥控伺服车，伺服机是经过特殊改装后的伺服机。

This article designs is one kind under the monolithic integrated circuit 89C51 control the infrared remote control servo vehicle, after the server is passes through the special re-equipping server.

本设计包含4张CAD设计图，毕业论文1.4万字，开题报告，任务书，文献综述摘要本文设计的是一种在单片机89C51控制下红外遥控伺服车，伺服机是经过特殊改装后的伺服机。

However, as the name（read－only memory）implies, CD disks cannot be written onorchanged in any way.

然而，正如其名字所指出的那样，CD盘不能写，也不能用任何方式改变其内容。

Galvanizes steel pallet is mainly export which suits standard packing of European Union, the North America. galvanizes steel pallet is suitable to heavy rack. Pallet surface can design plate type, corrugated and the gap form, satisfies the different requirements.

镀锌钢托盘多用于出口，替代木托盘，免薰蒸，符合欧盟、北美各国对出口货物包装材料的法令要求；喷涂钢托盘适用于重载上货架之用，托盘表面根据需要制作成平板状、波纹状及间隔形式，满足不同的使用要求。