伺服控制

The contribution of this thesis is the development of intelligent control techniques on multi-mobile robotics system including nonholonomic constraint control, robust machine vision, image-based visual servo and evolutionary learning of robot trajectory, which are realized by a prototype system for multi-robots cooperation and competition.

本文针对轮式移动机器人系统的智能控制问题，对其运动控制、机器人视觉、视觉伺服、路径规划、进化学习等理论和方法进行了研究，并开发出多机器人智能控制系统的软件与硬件平台。

Optimal control of electrohydraulic position servo system is designed by using optimal control theories and Riccati equation.

应用最优控制理论和黎卡提方程对电液位置伺服系统进行最优控制的设计，得出最优控制系统的闭环传递函数，并结合算例，绘制出该系统的波德图，算例表明了该方法的有效性和工程实用性。

Aiming at realizing the automation of slabs signing, using PC, motion control card and position servo, the control system for scriber unit in hot spray marking was designed. The hardware constitution, realizing principle and control process were introduced.

为实现热板坯标识过程的自动化，采用"PC+运动控制板卡+位置伺服系统"设计了热板坯喷印机二维写字机构的控制系统，介绍了系统的硬件结构、实现原理及控制流程。

In order to achieve the remote control of the control systems, the paper makes a good try, and successfully realize the remote control of the servo-system. The control style is browse/server.

我们生活在一个信息时代，Internet技术已经溶入到了各个方面，如何利用Internet实现控制系统的远程控制，本文在这方面做了有益尝试，实现了对伺服系统的远程控制。

Department of Automation, University of Science and Technology of China, HeFei 230027）Abstract: This paper presents a method of neural network for interactive-force manipulator on the base of kinematics and analyses of the explosive force of human arm mode and neural network theory such as function approach, optimizing calculation. The method optimizes the whole servo-system, and ensures the system's robust.

中文摘要：本文根据关节机械臂的运动特性，在分析用于测试人体手臂运动爆发力机械臂模型设计的基础上，利用人工神经网络的函数逼近、最优化计算等方面理论，结合实际人－机力交互系统的控制特点，提出一种神经网络控制方法，对基于力控制策略的机械手伺服系统进行优化，同时保证了系统的鲁棒性。

Simulation and analysis are made respectively under different situation of delay. Fuzzy adaptive controller that can adjust the system parameters appropriately is designed to minimize the error caused by Network-Induced Delay. Simulation is realized of this controller in NCS. Experiments are carried on the Servo-System based on Field Bus. The results of simulations and experiments indicate that good performance can be achieved with the method presented above.

为改善网络时延给系统带来的影响，设计了可以适当调整控制器参数的模糊自适应控制器，对含该控制器的网络控制系统进行了仿真，并在构建的基于现场总线的伺服系统实验平台上进行了实验，仿真和实验验证了在网络控制系统中使用该算法可以达到满意的控制效果。

Intelligent control strategys such as fuzzy control, all has the merit of not rely on the object mathematical model and the strongly robust, it can overcome the element of uncertainty in the servosystem such as parameter change and non-linear change, thus it can realize the high quality control performance of the system.

模糊控制等智能控制策略，都具有不依赖于对象的数学模型、鲁棒性强的优点，能够很好地克服伺服系统中模型参数变化和非线性等不确定因素，从而实现系统的高品质控制性能。

The combination of speed control and location control of servo driver realized the accurate control of crane's location and steeve's movement.

采用伺服驱动器的速度控制和位置控制相结合的方法实现天车定位和吊臂运动的精确控制。

It can fulfill automatic control on swash plate of

它通过对发动机转速信号、大气总温信号的处理，解算出斜板的理论位置，与斜板的位置传感器信号进行比较，其差值作为控制信号经放大后控制电液伺服阀带动作动筒，使斜板向减小差值的方向运动，从而实现对飞机进气道斜板的自动控制。在这一系统中

The D/A and I/O of data acquisition card will be controlled through VB software, so programmed real-time control of Z-axis should be achieved efficiently.

主要利用VB编程，有效的控制了数据采集卡的D/A和开关量，从而控制了AB2伺服放大器的工作电压和工作模式，实现了对Z轴驱动的实时可编程控制。

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。