力矩的

The algorithm GS to solve the problem of inverse dynamics based on the optimal theory is proposed, by using the numerical methods of Gill and shooting target, the optimal joint driven torques are obtained With the smooth joint trajectory motion, a fast and stable inverse dynamics method is proposed, it provides a new effective way to control the flexible manipulator The trajectory planning in the joint space and Cartesian coordinates is especially discussed In terms of kinematics of space flexible link manipulators, a sequential integration method for inverse dynamic analysis of flexible manipulators is developed The concrete results of simulations tested and verified the validity of proposed methods, and some valuable conclusions are achieved.

提出了求解基于最优理论的柔性臂逆动力学问题的GS法(Gill—Shooting method)，得到了柔性臂关节的最优驱动力矩；提出了基于光滑关节运动轨迹的柔性臂逆动力学的快速稳定方法，为柔性臂控制提供了一条新的途径；探讨了关节空间和直角坐标空间柔性臂的轨迹规划问题；研究并完善了结合柔性臂运动学的顺序积分的逆动力学方法。通过具体实例的仿真研究，验证了所提出的柔性臂逆动力学方法的有效性，得出了一些很有价值的结论。

It can show the relation of angular speed for each component of automatic transmission. This paper established general mathematical models of multi-DOF transmission analysis on speed ratio and kinematics and dynamics. As generalized coordinates with parameter of independent component. And the developed relevant general programs.

以运动独立构件为广义坐标，建立了包含任意接合元件的多自由度变速器的档位分析，运动分析，力矩分析和动力分析的通用数学模型，并开发了相应的通用计算机程序，通过对典型变速器的实例分析，验证了所建立的通用数学模型的正确性以及所开发的计算机通用程序的有效性。

Derives the formulae for calculating the distortion and stress on the acting surface of flexspline load in the drive process of the harmonic gear drive with three-wave wavegenerator;(2) analyzes and compares the performance of plastic and steel products under light load drive and calculates the probably reached limit of drive ratio for both types of flexsplines under the same load;(3) applies the harmonic gear drive with three-wave wavegenerator to the small-sized multiple-revolution electric device of valves by taking into consideration of the low limit of the drive ratio for the harmonic gear drive with three-wave wavegenerator made of plastics, improves the design on the main drive mechanism of the traditional small-sized multiple-revolution electric device of valves, and validates through examples the feasibility for the harmonic gear drive with three-wave wavegenerator made of plastics to be applied to the small-sized multiple-revolution electric device of valves. Finally the author performs calculations on the two types of the flexsplines of the harmonic gear with three-wave wavegenerator by using the finite element method and analyzes the causes for the errors.

本文根据三波谐波齿轮传动的运动变形特点，采用弹性薄壳的力矩理论，推导了三波谐波齿轮传动柔轮载荷作用面上的变形及应力计算公式；分析比较了轻载传动情况下塑料和钢材的性能，计算了塑料制谐波柔轮和钢制谐波柔轮在相同载荷情况下可能达到的传动比极限；对塑料制及钢制三波谐波齿轮柔轮进行了有限元计算，分析了产生误差的原因；针对三波塑料谐波齿轮传动比极限低的特点，将之运用于小转矩多回转阀门电动装置中，对传统的小型多回转阀门电动装置的主传动机构进行了改良设计，并通过实例验证了三波塑料谐波齿轮传动在小转矩多回转阀门电动装置中应用的可行性。

Presents the design of longitudinal control for ASTOVL lift-fan aircraft, a multi-variable, strong-coupling, complicated nonlinear system to make the system nonlinear offset and decouple, and the method used for linear system in designing the system to gain expectant flying qualities and the combination of aerodynamic control surfaces with thrust vectors to delay the control surfaces getting into saturation, and the minimum N-norm generalized inverse theorem of weighted generalized inverse adopted to apportion the moments commands, which make the control surfaces gain appropriate deflection and the simulation results to verify the dynamic inverse control laws designed really make the system nonlinear offset and decouple; when one command is given, only this output will response, and others do not response; when all commands are given together, the responses will be just the linear superpose of the response of each command, therefore the operation of the pilot will be simplified greatly.

摘 要： ASTOVL升力风扇飞机是多变量、强耦合、复杂的非线性系统，采用非线性动态逆理论设计控制律以实现系统的非线性对消及解耦，然后，采用线性系统的设计方法对系统进行设计，以使系统获得期望的飞行品质。同时，考虑到ASTOVL升力风扇飞机是由气动舵面和推力矢量融合作用的，为了延缓各舵面进入饱和的时间，采用加权广义逆中的极小N-范数广义逆定理分配力矩指令，从而使各舵面达到适当的偏转角。并将所设计的控制律进行了仿真，结果验证了所设计的动态逆控制律使系统实现了非线性对消和解耦，单个指令作用时，只有该项响应，其余不受影响；所有指令作用时，其结果就等于单个指令作用时的线性叠加，这样使驾驶员的操纵大大简化而易于控制，从而大大降低了飞行事故率。

In view of special applications of multi-pole magnetic permanent torque motor used for precise numerical control rotary table, motors with higher torque density and lower torque ripple s are needed.

针对精密数控转台伺服直接驱动用多极永磁力矩电机的特殊应用问题(要求电机有较大的转矩密度且较小的转矩波动)，在分析该种电机的特殊结构的基础上，提出一种新型不等齿顶宽结构，以提高绕组利用系数，加大电机的转矩密度；并采用转子斜极的方法，可在有效消除转矩波动的同时，电机仍保持较高的绕组利用系数。

In view of special applications of multi-pole magnetic permanent torque motor used for precise numerical control rotary table, motors with higher torque density and lower torque ripples are needed.

针对精密数控转台伺服直接驱动用多极永磁力矩电机的特殊应用问题(要求电机有较大的转矩密度且较小的转矩波动)，在分析该种电机的特殊结构的基础上，提出一种新型不等齿顶宽结构，以提高绕组利用系数，加大电机的转矩密度；并采用转子斜极的方法，可在有效消除转矩波动的同时，电机仍保持较高的绕组利用系数。

This paper takes one low-speed-circumgyrate rocket with a empennage asa research object, set up a relevant reference frame, analyse the strength andmoment on the amended rocket, ratiocinate the sports equation with 6 DOF; analyse the factors which cause terminal windage between pratical trajectoryand fiducial trajectory, take certain rocket for example, make use of theemluator on the influence of estimating precision caused by measuredinformation, find the speed, the trajectory obliquity, the trajectory setoverand the coordinate are the sensitive factor arosing terminal windage of thetrajectory; introduce the developing status of detecting technique, and basedon the actuality, choose the radar in the ground as measure equipment; simplydesign and analyse the setting and inflame control of the impulse engine onthe amended rocket; design the amend method and validate its feasibility takingthe use of emluator.

本文以某型低速旋转尾翼火箭弹为研究对象，建立了相应的坐标系，详细的分析了作用在弹道修正弹上的力和力矩，由动量定理和动量矩定理推导出了在一般形式下的弹道修正弹的空间六自由度的运动方程；对引起弹道落点偏差的因素进行了分析，以某口径火箭弹为例仿真了可测信息量对估算精度的影响，发现速度大小、弹道倾角、弹道偏角和位置坐标是引起落点偏差的主要因素；对弹道探测技术发展现状作综合性阐述，并基于现状，选用地面火控雷达作为测量装置；对弹道修正弹上脉冲推力器的安装和点火控制方法进行了简要的设计与分析；设计了弹道修正弹指令修正的修正方法，通过数字仿真验证了方法的可行性。

First, using the developed seed rope twisting machine, rice seed is entangled in paper tape with the requirement of agriculture technology and made in seed rope reel, as make twisting job isn"t limited by farming season at time and can actualize industrialization in space. These can also ensure the parameter"s standardization of the sowing row spacing, socket spacing and the number of grains per socket, and offers technology basis for agricultural order form.

本文的主要研究内容与结论如下： 1、为确定种绳直播机仅靠种绳的拉力使其工作是否可行，对种绳的组成部分——棉线和无纺布进行抗拉强度试验，同时对种绳单位长度上的捻劲个数及种绳盘的转动惯量和轴承的摩擦力矩进行了较深入的试验研究。

The power of motor is positive proportion to square root of equality of square pure torque .the pure torque is combined by suspension point torque and balancing weight torque ,so the change of suspension point's motion law and balancing weight offset angle can causes pure torque variation .especially, the suspension motion law is decided by configuration curve of hinder heaven sheave .so the paper has emphatically studied and analysis the law that the configuration curve of hinder heaven sheave brings the change of pumping unit energy-saving .

电机功率与减速器曲柄轴净扭矩均方根成正比，减速器曲柄轴净扭矩是由悬点载荷产生的扭矩和平衡重产生的平衡力矩合成的；改变悬点运动规律和平衡重的滞后角可以引起净扭矩的变化，其中悬点运动规律是由后天轮曲线决定的，因此，本文依据此原理着重研究分析了后天轮曲线影响抽油及节能的变化规律。

Firstly, the control of reentry phase and the model of RCS jets are presented. Then the flight control system is divided into two subsystems based on the time-scale separation principle. The fast states subsystem corresponds to the three body-axis angular rates, the slow states subsystem controls the angle-of-attack, sideslip angle and the rate of the bank angle about the velocity vector. Lastly, the proportional-plus-integral feedback is designed to increase the system robustness.

首先，分析了SRLV再入段的数学模型，并给出了反作用推力控制系统的控制模型；其次，将非线性动态逆方法与时标分离原则相结合，考虑飞行器姿态控制系统的外环角回路的慢变特性和内环角速度回路的快变特性，独立设计了两个回路的控制律；最后，为了增强系统的鲁棒性，分别在两个回路中引入了比例－积分反馈，有效地抑制了干扰力、力矩和非线性对消带来的逆误差。

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