分析动力学

Based on the analysis of the mechanism of robot manipulators, a trajectory tracking controlling research model is first built up with ADAMS, and its mathematical model is formulated through the study of robot kinematics and dynamics. After the modeling errors are analyzed in practical robotic systems, a conception of centralized error is brought forward according to the theory of weighting functions. In the case of modeling errors' exist, the robotic uncertain model is derived by introducing an auxiliary control variable into inverse dynamic analysis. The control strategy of robust exponential convergence is applied to the robotic uncertain model, the applicable conditions and the applicable controller with this application are presented. The stable control effect under three main model uncertainties (parametric errors, joint disturbs, joint frictions) are systematically studied on the previously built research model. The problems of robust exponential convergence controller which often results in unstable output and so produces a large relative error when the input trajectory is in a small range are resolved by adjusting the control parameters based on the controller's structure.

本文在机械手的机械结构分析基础上，利用ADAMS建立了用于机械手轨线跟踪控制研究的机械手模型；通过对机器人运动学和动力学问题的研究，建立了机械手研究的数学模型；分析了机器人系统中模型误差的主要来源，根据加权函数法分析，提出了模型集中误差的概念；在存有模型误差的情况下，采用逆动力学结构并引入辅助控制量，由机器人误差模型推导了机器人非确定性模型；提出了采用鲁棒指数收敛法对上述机器人非确定性模型进行鲁棒镇定的控制策略，并给出了对机器人进行鲁棒指数收敛控制时系统不确定因素应满足的匹配条件；针对机械手研究模型，深入研究了鲁棒指数收敛控制器对机器人系统中常见的模型参数误差、关节扰动、关节摩擦等不确定因素的镇定控制效果；针对鲁棒指数收敛控制器易产生控制量振荡的问题以及在小范围内系统轨线跟踪的稳态误差过大问题，本文分别提出了基于控制器结构的控制参数调整法和基于轨线跟踪范围大小的控制参数分段切换法。

As the application of the intermediate models is concerned, the works applying the intermediate models to investigate the topographic boundary layer, frontogenesis and low-level frontal structures, and the boundary layer jet are summarized in this article. It is mainly focused on the dynamic characteristics of the Ekman layer and its effect on the low-level structure and circulation of the weather systems illustrated by the models. It is shown that the intermediate boundary-layer models have great potential in illustrating the low level structures of the weather and climate systems as they are coupled with the free atmospheric models.

对于这些Ekman边界层近似理论模型的进一步应用问题，主要回顾和总结了利用上述模型探讨地形边界层结构、大气锋生过程、低层锋面结构和环流以及边界层日变化、低空急流形成等动力学问题的研究，并对这些研究所揭示的Ekman层动力学特征及其对自由大气低层运动的影响进行了分析，结果表明，这些Ekman边界层近似模型可以较好地揭示大气边界层动力学特征，在大气边界层动力学及其与自由大气相互作用的研究上具有重要价值。

A combination of VB6.0 and the software of dynamics simulation analysis of mechanical system ADAMS complete the dummy test platform design, the modeling as well as the determination of movement parameter; realize the collection of the design of link motion gear, the parameter modeling, the kinematics analysis and dynamics analysis of machine as an incorporate experiment platform.

结合VB6.0语言和机械系统动力学仿真分析软件ADAMS完成了虚拟试验台的设计、建模以及运动参数的测定，实现了集连杆机构设计、参数化建模、机构运动学分析和动力学分析为一体的连杆机构综合实验台。

Once more, applys three-dimensional CAD software Pro/Engineer establishing the geometry models of all kinds of parts in the crank link mechanism, then useing the Pro/E software assembling function assembles the components of crank link into the piston module, the connecting rod module and the crank module, then using Pro/E software mechanism analysis module (Pro/Mechanism), establishes the multi-rigid dynamics model of the crank link, and carries on the kinematics analysis and the dynamics analysis simulation, and it studies the piston and the connecting rod movement rule as well as crank link motion gear movement envelopment. The analysis of simulation results shows that those simulation results are meet to true working state of engine.

再次，应用三维CAD软件：Pro/Engineer建立了曲柄连杆机构各零部件的几何模型，在此工作的基础上，利用Pro/E软件的装配功能，将曲柄连杆机构的各组成零件装配成活塞组件、连杆组件和曲轴组件，然后利用Pro/E软件的机构分析模块(Pro/Mechanism)，建立曲柄连杆机构的多刚体动力学模型，进行运动学分析和动力学分析模拟，研究了在不考虑外力作用并使曲轴保持匀速转动的情况下，活塞和连杆的运动规律以及曲柄连杆机构的运动包络。

The time evolution of expectation values of the basic dynamic variables in a quantum system under different effective Planck constant were compared with the exact values of the basic dynamic variables in classical system. It is found, for the regular motion, the difference comes from the quantum effect; for the chaotic motion, it comes from the dynamical effect and the destruction of the dynamical system.

通过引入等效普朗克常数，将量子系统中基本动力学变量的期望值和经典系统中基本动力学变量的精确值的时间演化行为相比较，分析了两者产生差异的因素，规则运动主要是和量子效应有关，而混沌运动则是和动力学效应有关，即与系统的动力学对称性破坏相联系。

The national defence basic project as background and the dynamic model of cotrolled transfer matrix for multiple launch rocket was created in order to reduce the initial disturbance of rocket projectile. The causes that affect the angle change of orientation locator were analyzed by the engineering system dynamic theory base on multibody system transfer matrix method. The simulation of dispersion for multiple launch rocket was implementation, and the affect law between the angle of elevation and side deflection and the control parameters was acquired. The control module was installed on the orientation locator of multiple rocket launcher to control the initial disturbance of rocket that provide new method and theory base and show the engineering system dynamic base on the multibody system transfer matrix method is effective.

本文以国防基础科研项目为背景，建立了通过控制定向器角运动来减小火箭弹起始扰动的多管火箭受控多体系统动力学模型，应用基于多体系统传递矩阵法的工程系统动力学理论，进行了定向器角度运动的影响因素分析，进行了受控多管火箭炮发射动力学和密集度数值仿真，得到了定向器俯仰和侧偏角控制参数对俯仰角和侧偏角的影响规律，为在火箭炮定向器上加装控制集成模块控制火箭弹的起始扰动和射击精度提供了新思路和理论基础，也表明了基于多体系统传递矩阵法的工程系统动力学理论的有效性。

Rate constants, correlation coefficients, equilibrium adsorption capacities and kinetic parameters, for each kinetic equation were calculated and discussed. It shows that the adsorption of MB onto industry debarked hemp could be described by the pseudo-second-order equation.

在不同初始浓度下，运用准一级动力学方程和准二级动力学方程对数据进行拟合，并计算和分析速率常数、相关系数、平衡吸附量和动力学参数，说明吸附过程符合准二级动力学方程。

In order to reduce the engine′s vibration exciting force radically,research has been made on the balance axis frame and location′s influence on an engine.By theory of mechanism dynamic,analysis are made on the engine′s dynamic and balance effect of the balance axis it used.Further more,the theory of optimum design is used in designing a new balance method.

应用机构动力学分析理论，对某发动机进行了动力学分析，对其所采用的平衡轴进行了平衡效果分析；进一步应用优化设计理论，对平衡轴与其初始安装角度进行优化设计，并设计出改进后的平衡轴及初始安装角度。

On the bases of urban growth mechanism and theory, this paper concludes the kinds of urban growth, brings forward the emphasis and program to urban growth environment in china. On the bases of urban spatial growth theory, spatial structure and spatial dynamics, this paper establishes the spatial dynamics model system of urban growth. Analyzing the effects of information to urban spatial structure, this paper cognizes the reconstitution of urban spatial structure and the shift principle of urban basic spatial.

在城市增长机制和成因机理理论研究的基础上，对中国城市增长的类型特征进行了系统归纳总结，提出了中国城市增长的环境改革重点和对策；在分析城市空间结构增长原理、城市增长空间动力学过程的时空层次结构及空间动力学过程基础上，建立了城市增长的空间动力学模型体系；在分析信息化对城市空间结构影响的基础上，认知了信息化背景下城市空间结构的重构过程和城市基本功能空间的变化原理。

The data of thermal gravimetric analysis is processed by the function of different kinetic mechanism model,and their correlation analyzed.

运用不同动力学机制模型函数分别对热重分析数据进行了处理和相关性分析，结果表明煤炭氧化热解过程符合一级化学反应动力学机制，据此求出活化能等动力学参数。

As she looked at Warrington's manly face, and dark, melancholy eyes, she had settled in her mind that he must have been the victim of an unhappy attachment.

每逢看到沃林顿那刚毅的脸，那乌黑、忧郁的眼睛，她便会相信，他一定作过不幸的爱情的受害者。

Maybe they'll disappear into a pothole.

也许他们将在壶穴里消失