伺服控制

Pole-placement and Inner model tuning methods are discussed finally;(2) For the linear derivative action, several different tracker-differentiators are presented to improve the quality of the derivative signals;(3) A neural network tuning method is given for the nonlinear PID controller which includes the above tracker-differentiator;(4) For the linear integral action, a nonlinear pre-phase integrator is studied in order to decrease the phase delay problem; Simulation results show that the nonlinear PID controller including the pre-phase integrator posseses better performance in both fast and stable property, and strong ability of anti-disturbance;(5) A simple optimal criteria is introduced to optimize the parameters of the nonlinear PID controller based on the pre-phase integrator.

仿真研究表明，由此形成的非线性复合积分PID控制系统，具有快速而平稳的过渡过程和超强的干扰抑制能力；(5)采用物理意义简单明确的目标函数的优化设计方法，对上述非线性PID控制器进行参数整定，达到了满意控制典型工业过程的目的。通过对直线电机伺服系统的仿真研究，表明该种非线性控制器具有同时跟踪多个目标的优越性能。

Mainly the application of boll beany; Assiting system with the control of open-loop system and its working prinples; The design of the whole machine structure and it advantages and disadvantages; The design of the numerically controlled device ,and its control principles.

此设计主要对数控磨床的机构进行设计，了解单片机的工作原理，主要有以下几个方面：X、Y工作台的传动机构设计，主要是滚珠丝杠的运用；伺服系统应用开环控制，了解它的工作原理；机床整体结构的设计，了解优缺点，充分考虑主要矛盾，择优选取；数控装置的设计，了解其控制原理。

THSC Series Cutter has 1400,1700,1900,2100,2600,2800,3000,3500 type models, control system uses a PLC system in Japan and West Germany, servo motor design concept, so that the length of paper cutting, Caltrop the Founder , tension control and count the number of sheets of man-machine interface can be directly imported and auto-shutdown has the function of design, can also show the speed, the number of job Bohm device perspective, the total number of sheets, such as cutting off the data, as well as operation of failure showed that contribute to the maintenance work carried out machines.

THSC系列切纸机有1400、1700、1900、2100、2600、2800、3000、3500型等机种，控制系统采用日本PLC系统及西德伺服电机设计理念，使纸张裁切的长度、菱角的方正、张力的控制及张数的计数可透过人机界面直接输入，并有自动停机的功能设计，此外还可显示速度、令数、反曲器之工作角度、总切断张数等数据，以及运转故障之显示，有助于机器维护工作的进行。

Address the characteristics of non-uniform speed transmission, position function control and transmission ratio function control were presented to realize electronic gearbox. The differences between position function curve interpolation and general NC interpolation were analyzed. Considering the effect of uncontrollable continuous principal motion, interpolation slope and position function precompensation interpolation were presented. The relationship among interpolation, servo dynamic response and transmission precision was studied. The coordinate linkage relationship and electronic gearbox scheme in noncirclar gear hobbing were studied.

对电子齿轮箱实现非匀速比传动进行了研究，提出了位置函数控制与传动比函数控制两种非匀速比传动关系的实现方法；对位置函数控制方式，分析了位置函数曲线的插补与普通数控插补方法的区别，提出了插补斜率的概念与位置函数曲线的预补偿插补方法；对非匀速比电子齿轮箱传动精度进行研究，得出了插补精度、伺服系统动态性能指标与传动精度之间的关系；研究了非圆滚齿加工坐标联动的非匀速比传动关系，列出了多种可以满足要求的电子齿轮箱传动方案。4。

Permanent magnet synchronous motor driven by triphase sinusoidal current is research object in this paper. On the basis of analysis of the structure, movement principle and math model of PMSM, Fundamental theories and structure of the system of PMSM alternating current servo systems based on DTC are discussed. Then Simulation models of traditional PMSM DTC and PMSM DTC based on vectors subdivision are established separately.

本文以三相正弦波驱动的永磁同步电机为研究对象，在分析永磁同步电机结构及数学模型的基础上，系统阐述了基于直接转矩控制的永磁同步电机交流伺服系统的基本原理和系统构成，并在MATLAB仿真环境下分别建立了传统直接转矩控制和基于矢量细分算法的直接转矩控制系统的仿真模型。

The dynamics model of missile sealifts system for navy ships connected parallely is established. The dynamics simulation analysis of system is studied. The dynamics characteristic of missile box on the condition of different sea states and place parameters of crane are analyzed. The theory and technology bases for the design of system of missile sealifts or navy ships connected parallely are presented. The controlled multibody system dynamics of the system of missile sealifts with wave compensation for navy ships connected parallely is presented. On the condition of stochastic momevement of depot ship and incept ship and under the action of sealifts and wave compensation, the dynamics of sealifts system is studied by using discrete time transfer matrix method of multibody system. The calculate method of electric machine impule is developed in the process of supplying missile and action of wave compensate. Based on the PLC control system, the control method, which control supply process by testing torque of guide strings is presented.

本文建立了舰艇并靠导弹补给动力学模，进行了舰艇并靠导弹补给及波浪补偿系统动力学仿真分析，获得了导弹箱在不同海况下和舰用起重机不同位置参数的运动规律，为舰艇并靠导弹补给系统设计提供了理论依据和技术基础；建立了舰艇并靠导弹补给及波浪补偿受控系统多体动力学，在补给舰和被补给舰随机运动下，在补给和波浪补偿系统作用下，应用多体系统离散时间传递矩阵法进行了补给系统动力学分析，得到了导弹补给过程中，波浪补偿时，导引电机和卷扬电机输入电机脉冲计算方法；建立了以PLC 控制系统为核心，用扭矩传感器测量导引带产生的扭矩来控制补给过程的控制方法；对系统振动问题进行了研究，提出了通过调整伺服电机参数减少系统振动的方法。

The design and the realization of missile wing and rudder load simulation system based on digital signal processor and direct torque control servo driver are discussed.The structure,strategy of control and operation principle of the system are presented.The reason of the superabundant torque and the method which can eliminating the superabundant torque are analysed.

研究以数字信号处理器和以直接转矩控制输出的伺服驱动器为核心的导弹弹翼尾翼加载控制系统的系统结构、控制策略、工作原理及实现方法，详细分析加载系统中多余力矩的产生及抑制方法，解决电动加载系统关键性的两个难点，即快速性和多余力消除。

The experimental research of servo system with different control algorithm is performed.

本文最后介绍了永磁同步电机伺服驱动系统软硬件的设计，用软硬件控制系统对设计的控制算法进行实验，以验证控制方案的有效性。

This paper aims at the design, implementation and evaluation of an industrial brushless servomotor drive. The proportional-plus-integral speed control with gains tuned by an extension of the frequency-zone method and anti-windup PI speed control based on self-conditioning techniques are studied. The parameters of speed performance criteria, control loop bandwidth, per normal inertia, and noise sensitivity are employed to evaluate the performance of the drive.

本文针对工业用无刷伺服马达驱动器进行设计与制作，延伸频率区域法分别设计比例积分控制之增益值，以自我条件技术完成比例积分速度控制之反卷起设计，并依据速度性能准则之参数，如控制回路频宽、惯量标么值、杂讯灵敏度等，进行驱动器之性能评估。

Numerical control system through research, analysis of the mechanical part of the X52K vertical milling machine, feed servo system design and calculation, and further to the electrical control system for NC transformation, the use of computers to vertical, horizontal feed system for open-loop control, demand In the vertical and horizontal with straight lines and circular interpolation function, and the vertical, horizontal pulses are equivalent 0.01mm / pulse, control X to, Y coordinates of the two.

经过对数控体系的研讨，阐发了X52K立式铣床的机器部门、进给伺服体系等的计划盘算，进一步对电器控制体系举行数控改革，使用微机对纵向、横向进给体系举行开环控制，要求在纵向和横向具有直线和圆弧插补功效，且纵向、横向的脉冲当量均为0.01mm/脉冲，控制X向、Y向两个坐标。

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。