伺服系统

The feedback of the closed loop control system is comprised of position sensor and system software.

在轻压下压力控制系统中，设计了使用先导式伺服比例阀作控制元件，以压力传感器作为反馈元件的闭环控制系统；在速度控制系统，用变频器作控制元件，设计了由位置传感器和系统软件构成的速度传感器作为反馈元件的闭环控制系统。

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。

On the basis of analyzing and improving the dramatic characteristic of fluid drive system of the platform ,designing the computer control system of the electro-hydraulic servo control system, and programming the main control program which control the platform. At the same time, filtering signal.

在分析和提高模拟平台液压驱动系统动态性能的基础上，对模拟平台电液伺服控制系统进行计算机控制系统设计，编制了主控制平台运动的主控制程序，并对控制系统进行信号滤波。

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。

Because of the nonuniqueness in the positional solution, it's not easy to test the performance of the coordinated control system. So the model of NN was built to convert the vector of the length of 6 jars into the vector of the position of the motion deck. It's fast and accurate for the lengthwise direction. The state space system model of the six degree freedom motion simulator was built by the equations of electrodraulic servo mechanism and the multi-body dynamics equation of the six degree freedom motion simulator,the vector of the length of 6 jars was the control variable.

本文结合六自由度运动模拟器的多体动力学方程和电液伺服驱动机构的特性，经简化得出了具有实际意义的六自由度运动模拟器整体系统的状态空间方程式，通过分析该系统的稳定条件和能控性，采用状态反馈对系统的状态方程式进行合理配置，从而建立了以运动模拟器杆长向量为控制变量的运动模拟器整体控制系统，并将该控制系统输出的杆长向量转换为位置向量。

Braking system can be divided into human and braking systems, brake systems and power brake servo systems.

制动系统可分为人力制动系统、动力制动系统和伺服制动系统等。

The holistic design of the system and resolved the designs of software and hardware based on VXI bus are put forward according to the demand of test system. The hardware and software is designed, including the formation and design of hardware system, visual instrument software architecture, program design for instrument driver, high speed real-time data collection. In the dynamic test program, the idea of"software is instrument"was applied to meet the diverse test demands. Last, it is proposed that the VXI test system be developed to more totalization and networked. The basic theory of system identification was introduced briefly at first. The principle of spectrum analysis system identification based on Wiener-Hopf equation was expatiated. and the questions in applying Peusdo Random signal as spectrum analysis methods stimulate signal was studied, The generation principle of the peusdo random signal is researched, the characteristic of peusdo random are analyzed from time domain and frequency domain, the inverse repeat peusdo random signal is brought forward to make up the shortage of ordinary peusdo random signal. And a new chaos genetic algorithmis presented to solve the unprecise problem of the traditional method. In the servo valve dynamic characteristic test system, the spectrum analysis methods was applied successfully, the servo valve dynamic characteristic could be acquired rapidly and exactly, the test results were analyzed and the ameliorate methods were brought forward at last.

结合航天某集团液压测试中心测试系统的需求，提出了基于VXI总线的液压测试系统的整体设计方案，完成了测试系统的硬件设计与软件设计，包括硬件系统构成与设计、虚拟仪器软件结构、仪器驱动程序设计、高速同步实时数据采集等内容；以伺服阀动态特性测试为例设计了测试模块，该模块体现了VXI总线仪器软件开发所倡导的"虚拟仪器"的思想，以软件的灵活应用满足了不同的测试需求；结合自动测试系统的发展，研究了VXI测试系统与网络技术结合，实现各种软硬件资源共享，进一步提高设备及数据的利用率和系统的扩展性，使自动测试向综合化、网络化方向发展；研究了伪随机信号作为谱分析法辨识的激励信号时存在的问题，讨论了伪随机信号的产生机理，从频域和时域分析了伪随机信号的性质及其应用，提出了用逆重复伪随机信号弥补了普通伪随机信号的不足，并以混沌遗传算法对逆重复伪随机信号产生过程中的参数进行优化，可以更合理而不是凭经验产生需要的逆重复伪随机信号。

The holistic design of the system and resolved the designs of software and hardware based on VXI bus are put forward according to the demand of test system. The hardware and software is designed, including the formation and design of hardware system, visual instrument software architecture, program design for instrument driver, high speed real-time data collection. In the dynamic test program, the idea of"software is instrument"was applied to meet the diverse test demands. Last, it is proposed that the VXI test system be developed to more totalization and networked. The basic theory of system identification was introduced briefly at first. The principle of spectrum analysis system identification based on Wiener-Hopf equation was expatiated. and the questions in applying Peusdo Random signal as spectrum analysis methods stimulate signal was studied, The generation principle of the peusdo random signal is researched, the characteristic of peusdo random are analyzed from time domain and frequency domain, the inverse repeat peusdo random signal is brought forward to make up the shortage of ordinary peusdo random signal. And a new chaos genetic algorithmis presented to solve the unprecise problem of the traditional method. In the servo valve dynamic characteristic test system, the spectrum analysis methods was applied successfully, the servo valve dynamic characteristic could be acquired rapidly and exactly, the test results were analyzed and the ameliorate methods were brought forward at last.

结合航天某集团液压测试中心测试系统的需求，提出了基于VXI总线的液压测试系统的整体设计方案，完成了测试系统的硬件设计与软件设计，包括硬件系统构成与设计、虚拟仪器软件结构、仪器驱动程序设计、高速同步实时数据采集等内容；以伺服阀动态特性测试为例设计了测试模块，该模块体现了VXI总线仪器软件开发所倡导的&虚拟仪器&的思想，以软件的灵活应用满足了不同的测试需求；结合自动测试系统的发展，研究了VXI测试系统与网络技术结合，实现各种软硬件资源共享，进一步提高设备及数据的利用率和系统的扩展性，使自动测试向综合化、网络化方向发展；研究了伪随机信号作为谱分析法辨识的激励信号时存在的问题，讨论了伪随机信号的产生机理，从频域和时域分析了伪随机信号的性质及其应用，提出了用逆重复伪随机信号弥补了普通伪随机信号的不足，并以混沌遗传算法对逆重复伪随机信号产生过程中的参数进行优化，可以更合理而不是凭经验产生需要的逆重复伪随机信号。

The mechanical leveling system can realize accurate leveling of the platform by servo-motors and drive system, braking by motor brake (worm and worm wheel system features self-locking) to permanently lock the support system after leveling. Bellows outside outriggers functions sealing and dust-proof of the screw rod; guiding slide blocks are used to prevent screw rod from rotating; displacement sensors installed inside drive system deliver real-time information to determine platform height; load cells deliver data of loading conditions of every outriggers in balancing.

平台机械调平系统通过伺服电机、传动系统可实现对平台的精确调平，并通过电机制动器制动（蜗轮蜗杆系统也具有自锁特性），对调平后的支撑系统进行长期锁定；支腿外部的波纹管可实现丝杠的密封防尘；支腿上部的导向滑块可防止丝杠自转；支撑驱动系统内部安装的位移传感器随时传递信息确定台面的高度；荷重传感器为平衡各支腿的受力状态传输数据。

At First, the thesis researches the dynamic characteristic of servo valve, model of dynamical outfit about valve control unsymmetrical hydraulic ram, influence of the additional disturbing force and the systematic static error, on the base of analysis of fatigue testing machine system. Then the mathematical models of position control system and force control system are built. According to the principle of load-matching, the hydraulic dynamical outfit and power source system are designed and components are chosen. Then the correlative parameters of system model are calculated and the simulation study is carried out.

研究了伺服阀的动态特性、阀控非对称液压缸系统的动力机构模型、附加干扰力的影响以及系统静差，继而建立了位置控制系统和力控制系统的数学模型，并在此基础上计算系统相关参数，对系统进行了仿真研究，进一步分析了系统的稳定性和可控性。

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。