伺服控制

The drive system adopts 5 independent drive mechanisms and a common drive mechanism, therefore both the working space and cost are reduced. In the design of the control system, the hydraulic servo technique and modern control technique are applied. The hydraulic stepless variable speed device adopts compound open and closed static pressure drive pattern, ensuring the smoothness of the drive.

其中的传动方案设计中采用5个独立的传动系统和1个共用的传动系统，既节约了空间和成本，又满足了技术要求；控制系统设计中运用了液压伺服技术和现代控制理论技术；液压无级变速装置采用闭式和开式静压传动系统相结合的方式，传动系统平稳，波动小。

In this paper, based on the analysis of the structure, movement principle and math model of PMSM, fundamental theories of vector control, coordinates transform and algorithm of space vector PWM are introduced and PI control, speed and position calculation methods are discussed.

本论文在分析了PMSM的结构、运动原理及数学模型的基础上，系统地阐述了PMSM交流伺服系统矢量控制的基本原理、坐标变换方法及空间矢量脉冲宽度调制波的生成算法，论述了PI控制算法和速度位置计算方法。

Recently, Environmental protection and saving the energy topic is paid attention to by the international community, the focal point of this research is in the load end of the air conditioner system, such as PAH and AHU and FCU install server, controller, monitor, and various types of reaction equipment, such as one degree of devices, humidity device, carbon dioxide, motion detecter device ,etc., will respond the return value to the air conditioner knowledge management system through the borderless internet immediately, air conditioner knowledge management system in accordance with judge, flexible to change the air conditioner with logic through computerization to make sure air conditioner dynamic energy conservation and goal that environment optimized; The administrative staff of air conditioner was less likely to care about this a part in the past, the tactics adopted are usually to leave users to establish the control panel of air conditioner, because the user is generally more insufficient to the characteristic and knowledge of the air conditioner, cause the waste of the electricity .

中文摘要近来环境保护及节省能源议题受到国际社会的重视，本研究的重点是於空调系统之负载端，也就是预冷空调箱、空调箱及送风机安装伺服器、控制器、监测控制副机及温度器、湿度器、二氧化碳、移动感测器等各式感应设备，将感应设备所取得的资料即时透过无远弗届的网际网路传回空调知识管理系统，空调知识管理系统透过电脑化依不同逻辑判断，机动调整空调温度开关门槛值及排程，做到空调动态能源管理及环境优化的目标；过去空调管理人员较少关心此一部份，采取的策略通常是任由使用者设定空调控制面板，由於使用者一般对空调的特性及知识比较不足，造成电力的浪费。

Numerical control technology to go on technology that control with digital information to mechanical movement and working course, numerical control equipment whether represented by technology of numerical control new technology make industry and new developing infiltration electromechanics integrated product that form of manufacturing industry to tradition, i.e.

数控技术是用数字信息对机械运动和工作过程进行控制的技术，数控装备是以数控技术为代表的新技术对传统制造产业和新兴制造业的渗透形成的机电一体化产品，即所谓的数字化装备，其技术范围覆盖很多领域：(1)机械制造技术；(2)信息处理、加工、传输技术；(3)自动控制技术；(4)伺服驱动技术；(5)传感器技术；(6)软件技术等。

A generalized self tuning hydraulic control method with pole location is presented inconsideration of the intrinsie characteristic of a hydraulic servo system and the problem with the hydriliccontrol .

针对液压伺服系统固有的特性和液压控制中存在的问题，提出了一种具有极点配置的广义自校正压力控制方法。

Firstly,the Image Jacobin Matrix for GRB-400 robot which is a dynamic look and move system has been established.Then,a hierarchical Model Reference Adaptive Control law combined with a fuzzy regulator is proposed to solve the control problem,and the comparison of the experimental step responses between system with fuzzy logic and system without fuzzy regulator is delivered.The experimental results show the feasibility and advantage of the control l...

首先建立了视觉伺服GRB-400机器人的图像雅可比矩阵，然后针对该动态Look and Move系统提出了一种带有模糊自调整能力的分层模型参考自适应控制的设计方法，其特点是设计方法简单并可以在线调节相关参数，给出了闭环系统的阶跃响应实验结果，并与原分层模型参考自适应控制闭环系统的动态性能做了比较，实验证明了改进后的闭环系统具有更好的动态性能。

A decoupling control approach based on inverse system method had been applied for the permanent magnet synchronous motor, which was multi-variable, nonlinear and coupled system. PMSM was decoupled into second-order linear speed subsystem and first-order linear flux subsystem. The servo robust controller was used to design linear closed-loop controller for the pseudo-linear subsystems.

针对永磁同步电机这种多变量、非线性、强耦合的控制对象，应用逆系统方法，将永磁同步电机解耦成二阶线性转速子系统和一阶线性磁链子系统；在此基础上，采用鲁棒伺服控制器对伪线性子系统进行线性闭环控制设计。

Network based visual servo system of the orthogonal coordinate robot was proposed,in order to implement grasping job.

本文设计的直角坐标机器人视觉伺服系统是以BP神经网络为控制核心，直接利用目标图像特征实现机器人视觉控制，完成抓取作业任务。

Experimental results indicate integral parameter could be turned far smaller than former.Integral saturation can be avoided effectively.So the algorithm can accelerate response time and enhance the performance of antenna control system.

实验结果表明，采用该算法可以有效地避免了积分饱和所造成的控制精度降低，加快了系统响应速度，提高了伺服控制器的控制性能。

Based on the project funded by Zhejiang Province Technology Foundation—"Development of Shoe Last CAD/CAM System and Shoe-last Carving Machine", the application design of shoe last NC system was carried on. Based on idea of modern design of open NC system, used general industry control person computer as hardware , domestic GT-400-SV multi-axis movement control card as control kernel, digital AC servo motor as driving components, the hardware platform of shoe last manufacturing were composed.

本论文以浙江省重大科技攻关项目"鞋楦CAD/CAM系统及数控刻楦机研制"为背景，针对鞋楦加工控制的特殊性，结合现代开放式的数控系统的设计理念，构建了以工业PC机为支撑平台、以国产GT-400-SV多轴运动控制卡为核心、以交流伺服电机作为驱动原件的数控系统。

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。