初始设计

The static model of torsion joint is based on that of bending joint. The effects of structure parameters inside air pressure, initial angle, rube average radius, rube shell thickness on the turning angle are analyzed and the following conclusions are drawn: the relationship between the angle of torsion joint and the inside air pressure is basically linear, the angle of torsion joint increases with the initial angle and rube average radius, the angle of torsion joint decreases while the rube shell thickness increases. The kinetic equation is built for torsion joint. Simulating experiment implies that the time of inflating and deflating process is extremely shorter than that of kinetic process. So the pneumatic process can be ignored in actual system design and control. The factors that affect the dynamic features of torsion joint, such as shell thickness of rubber tube, average radius, initial angle, connector's outlet area, moment of inertia and viscous damping coefficient, are analyzed and the following conclusions are drawn: the change of rube shell thickness has no effects on the dynamic process of FPA inside air pressure while greatly affects the turning angle of torsion joint; when the rube shell thickness is small, the torsion joint has a bigger turning angle, no overshoot and long risetime, when the shell thickness is big, the turning angle of torsion joint is small, but has high response speed, overshoot and low shock; when the rube average radius increases, the turning angle of torsion joint increases and the overshoot increases too; when the initial angle of torsion joint is big, the turning joint is big, the overshoot is small and shock is low, but the risetime is big; the connector's outlet area affects the dynamic process of FPA inside air pressure greatly, but has no effects on the dynamic process of turning angle; moment of inertia and viscous damping coefficient have no effects on the dynamic process of FPA inside air pressure, but affect the dynamic process of turning angle greatly.

在弯曲关节模型推导的基础上，建立扭转关节的静态模型，并分析了扭转关节内腔压力，初始转角，橡胶管平均半径，橡胶管壁厚等参数对关节转角的影响，得出扭转关节的转动角度与充入FPA内腔的压缩气体压力之间基本呈线性关系，扭转关节的转角随初始角度和橡胶管平均半径的增大而增大，扭转关节的转角随橡胶管壁厚的增大而减小的结论；建立了扭转关节的动力学方程，仿真实验表明FPA的充放气过程与扭转关节的动力学过程相比时间极短，在实际系统设计和控制过程中可以忽略不计；分析讨论橡胶管壁厚，平均半径，初始角度，气体节流口面积，转动惯量，粘性阻尼系数等因素对扭转关节动态特性的影响，得出橡胶管初始壁厚的变化对扭转关节FPA内腔压力的动态响应几乎没有影响而对关节转角的响应曲线影响比较明显，壁厚较小时，关节可以得到较大的转角，并且转角的响应曲线没有超调，但上升时间长，壁厚较大时，关节转角变小，响应加快，但是有超调和轻微振荡现象，橡胶管平均半径越大，得到的关节转角越大，但是转角响应的超调量也随之增大，FPA的初始角度越大，关节的转角越大，并且超调量减小，振荡减弱，但是上升时间增大，管接头出口面积的大小对关节FPA内腔压力的建立过程影响较大，但对关节转角的动态响应几乎没有影响，转动惯量和粘性阻尼系数对FPA内腔压力的动态过程几乎没有影响而对扭转关节转角有较大影响等结论。

As a result, it shows thatthe static or dynamic subsystem optimum alone is not equal to the system optimum. Three initial value problems met in the optimal design of flying vehicle are studied andconclusions are derived that: orthogonal test method can be adopted to decide the initial valueof static optimization problem, some mathematical techniques can be used to deal with thecostate variables of Maximum Principle and decide the initial value of the costate variable,the indirect method can be used to get the analytical solution under ideal case to guide thechoice of the initial control curve in the direct method. With some numerical examples oftrajectory optimization, it shows that all these methods are useful not only in accelerating theconvergence but also in converging to the global optimum.

针对飞行器优化设计中的三种初始值问题进行了研究，以远程弹道导弹弹道的工程优化为例说明，对于静态优化问题，采用正交试验法选取初始值，不仅可以大大加快收敛的速度，而且更有可能收敛到全局最优解；以气动力辅助变轨问题为例说明，用共态变量的一阶泰勒级数展开可以解决极大值原理中共态变量初值难于确定的问题；以二级弹道导弹的主动段弹道优化为例说明，利用间接法在理想情况下得到的解析解来指导直接法初始控制曲线的选择，将大大有利于提高直接法的收敛速度。

In the case of the iterative learning control for linear continuous system with the initial error, a kind of ILC approach with compensation to the initial error is presented using the theory of the two dimensional (2 D) linear continuous discrete system.

针对线性连续系统迭代学习控制中含有固定初始误差的情形，利用二维系统理论给出了一种带有初始误差修正的迭代学习控制方案和这种迭代学习控制规律收敛的条件，并说明由此设计的迭代学习控制器简单有效，可实现在初始时间段以外部分对期望轨迹的完全跟踪。

2According to requirement of suppressing stray light in two-mirror system, vertex coordinate formulas of inner baffle are deduced based on geometrograph in the case of certain obscuration, viewing field and vignetting. In order to reduce the obscuration, conical baffle of secondary mirror is ameliorated into a shutter one. Outer baffle is designed when angle of stray light suppressing is foregone and the vanes are designed in C-language program. Finally, the same-height vanes in drawtube between primary and secondary mirrors are designed for further suppressing the stray light in two-mirror system.

给出双反射系统杂散光消除设计的具体要求，结合作图法，推导出考虑视场大小及初始中心遮光比确定时，主次镜内遮光罩顶点坐标公式；讨论考虑渐晕时主次镜内遮光罩的设计；为了减小初始中心遮光比，将次镜锥状遮光罩改进为百叶窗式结构；设计在杂散光源抑制角已知时的外遮光罩，并利用C语言实现程序化设计其挡光环的方法；设计主、次镜间镜筒内壁上等高挡光环，进一步抑制双反射系统的杂散光。

It realizes the global optimal computation via the local interacting agents with abilities of local perceptivity, competition and cooperation, self-learning etc. Then orthogonal design is introduced to generate an initial population of points that are scattered uniformly over the feasible solution space and to generate a crossover operator. As a result, the resulting algorithm is more robust and statistically sound. For high dimensional functions, a large memory is needed in generating an initial population with orthogonal design. To overcome this problem, a method called subspace partition is proposed, so that the memory is one tenth that of original one.

它以Multi-Agent系统为基础，通过Agent间的相互作用与每个Agent所具有的知识和自学习功能来提高算法的全局优化能力和收敛速度；同时利用正交试验设计方法产生较好的初始种群和设计正交交叉算子以获得更好的后代；针对正交试验设计产生初始化种群在函数维数很高时需很大存贮空间的缺点，提出了子空间分割法来产生所需的初始化种群，它只需要原来存贮空间的十分之一。

To take advantage of the chaotic mapping, a repetition prepotency evolution algorithm with a population initialized by chaotic numbers is developed in which the chaotic mapping is an uncommon seeding-machine to produce different initial'chromosome'populations never appeared before for PE algorithm. The combination of chaotic mapping and PE makes PECA be able to probe lots of optima rapidly and effectively owing to the quick convergence speed of PE and relatively high population diversity guaranteed by chaotic mapping.

结合混沌来初始化优势进化算法的群体成员，还设计了基于混沌初始化群体成员的循环优势进化方法，该方法在混沌保证每次优势进化绝对不同的初始群体成员的情况下，不仅具有了优势进化的快速收敛优点而且有混沌映射保证群体成员的高度多样性，从而可以快速探测很多局部最优点，大大提高了找到全局最优点的机会，用它训练神经网络预测四卤化物振动频率研究充分体现了该策略的优越性。

The graduation design is based on single chip microcomputer intelligent design of a power source, hardware design is the main task of the circuit design, battery, the three groups of different size power design, system design, manostat ADC0809 adc design, display design, the watchdog circuit module design, 3-8 decoder circuit design, AT89C51 basic circuit design, 74LS161 prescaler design and auxiliary circuit design, Software design task is: initialize program design, and key process design, charge control program design, A/D conversion program design, over-current protection program design, display design program.

本次毕业设计注意是设计一个基于单片机的智能电源，硬件设计的主要任务是：蓄电池充电电路的设计、三组不同大小的电源设计、系统稳压电源设计、ADC0809模数转换电路设计、看门狗电路设计、显示模块设计、3-8译码电路设计、AT89C51基本工作电路设计、74LS161分频器设计和辅助电路设计；软件设计的任务是：初始化程序设计、按键程序设计、充放电控制程序设计、A/D转换程序设计、过流保护程序设计、显示程序设计。

Each function and designing of these modules is explained in detail in the paper. For the aspect of software system, this paper designs modes of data transmission between AD1885 and ADSP-BF531, such as Slot-16 and DMA. Besides, it finishes the initialization of paragram, including configuring SPORT, DMA and interrupt.

在软件系统设计方面，本文设计了AD1885与ADSP-BF531之间通信的Slot-16模式和DMA传送方式以及系统启动程序，完成了程序初始化设置，包括SPORT0的初始化、DMA的初始化和中断设置，并设计了Codec测试过程以及ASSR信号的采样算法。

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。

Optimal initial set-up is verified, machine and tooling capability studies become a realistic exercise, and dimensional control of the threading process maximizes both machine and operator efficiency on a real-time basis.

最优的初始设计已经被核实过，机器与刀具能力的研究变成了一个现实的行动，在一个实时系统中攻丝过程中的尺寸控制使机器与操作人员的效率最大化

They weren't aggressive, but I yelled and threw a rock in their direction to get them off the trail and away from me, just in case.

他们没有侵略性，但我大喊，并在他们的方向扔石头让他们过的线索，远离我，以防万一。

In slot 2 in your bag put wrapping paper, quantity does not matter in this case.

在你的书包里槽2把包装纸、数量无关紧要。