倒立

There in the center, plunging into the earth like a crystal chasm, gaped the giant inverted pyramid of glass that he had seen a few nights ago when he entered the Louvre's subterranean entresol.

在这块圣地的中央，一座巨大的倒立杯形金字塔，张着大口，像是在地上挖了一个水晶玻璃的深坑。在几天前的晚上，这个倒立的金字塔，他在进入卢浮宫的地下阁楼地就已经看过了。

And it introduces the hardware component about the Googol linear 1-stage and 2-stage Inverted pendulum.

并且对固高公司生产的一级、二级倒立摆硬件组成进行了简单的介绍，使读者对倒立摆系统有理性的认识。

Jeff: I have seen it. Last time in a wushu school, I saw many children practice headstand against a walt. Some even walked on their hands.

杰夫：我见过，上次在一所武术学校，许多小孩予就是在墙壁上练倒立，有的还能倒立着行走呢。

To help foreignors relatively easily learn Mandarin pronunciation I have composed a Chinese song, called 'the Headstand Song'; yesterday I published it on the web.

为了帮助外国人比较容易地学习普通话发音﹐我创作了一首中文歌﹐叫'倒立歌'﹔昨天把'倒立歌'在网里出版了。

The mathematical model of single inverted pendulum and double inverted pendulum is proposed.

建立了一级、二级倒立摆系统的数学模型，对倒立摆系统进行定性分析。

Through analyzing the double closed-loop control mathematical model of single inverted pendulum, the fuzzy control theory was adopted to carry out computer simulation for inverted pendulum.

通过对单级倒立摆的双闭环的控制数学模型的分析，采用模糊控制理论对倒立摆的控制系统进行计算机仿真。

The Newton-Euler method is used to set up a mathematical model for the inverted pendulum, and then a pendulum controller is designed by using an optimal control method in a linear quadratic form.

用牛顿－欧拉方法建立了倒立摆的数学模型，在此基础上采用线性二次型最优控制方法设计了倒立摆的控制器。

According to multivariable,nonlinear and strongcoupling inverted pendulum system,a mathematical model for the pendulum is set up by using the Newton-Euler method.

0引言倒立摆系统是一个非线性、强耦合、多变量和自然不稳定的系统，倒立摆系统通常用来检验控制策略的效果，是控制理论研究中较为理想的实验装置。

It is difficult to control a single inverted pendulum system because of the characteristics of multi-variable, nonlinear and absolutely instability of the system. A controller based on adaptative neuro-fuzzy inference system is designed by using Matlab/Simulink software in the paper. For the sampling data the hybrid algorithm of back propagation algorithm and least squares algorithm is applied in the paper. Thus the parameters of membership function are adjusted and all of the fuzzy rules are generated automatically.

摘 要：针对单级倒立摆系统具有多变量、非线性、绝对不稳定的特点，本文应用Matlab/Simulink 设计了用于倒立摆系统的基于自适应神经模糊推理系统的ANFIS控制器，采用反向传播算法和最小二乘算法的混合算法对倒立摆控制样本数据进行学习，调整各变量的隶属度函数，自动产生模糊规则。

This article mainly carried on has put down work the seat, introduced stood upside down suspends the system each control method, has carried on a more detailed introduction to the condition space law; Has used Newton - the Euler method modelling; Proposed realizes with the condition space control method to a level stands upside down suspends the system the stable control, and has carried on the simulation experiment; In the experimental simulation, through change parameter R and Q, stands upside down with the condition space control method in the reality suspends on the system to carry on the confirmation, has realized the swing link balancing control, confirmed this plan to have the certain antijamming ability.

本文主要进行了以下工坐，介绍了倒立摆系统的各种控制方法，其中对状态空间法进行了较为详细的介绍；采用了牛顿-欧拉方法建模；提出用状态空间控制方法来实现对一级倒立摆系统的稳定控制，并进行了仿真实验；在实验仿真中，通过改变参数R和Q，用状态空间控制方法在实际倒立摆系统上进行验证，实现了摆杆的平衡控制，验证了该方案有一定的抗干扰能力。

Neither the killing of Mr Zarqawi nor any breakthrough on the political front will stop the insurgency and the fratricidal murders in their tracks.

在对危险的南部地区访问时，他斥责什叶派民兵领导人对中央集权的挑衅行为。

In fact,I've got him on the satellite mobile right now.

实际上 我们已接通卫星可视电话了