在...的控制下

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。

According to the requirement of industry control system,on the basis of comparativeness and analysis of their difference,a control algorism combining DO multi-mode control with intelligent multi-mode PID is put forward and will be verified by MATLAB simulation.

运用MATLAB仿真工具，对汽压调节对象仿真模型在不同的蒸汽负荷、不同燃油量和不同控制方式下的动、静态情况进行仿真比较，提出不同控制要求下的控制算法。

According to analysis of roots locus,fast excitation tends to decrease damping of power systems which is controlled by AVR than slow excitation.But eigenvalues of power system are far from imaginary axis and strong damping is obtained when fast excitation system is added.

在高放大倍数的AVR控制下，快速励磁较慢速励磁更容易恶化系统阻尼；但是在同时附加励磁控制的情况下，快速励磁可使系统的机电模式根轨迹远离虚轴，机电模式阻尼较大；而慢速励磁下，系统机电模式根轨迹接近虚轴，机电模式阻尼较小，快速励磁优于慢速励磁。

Because of the slip speed will change when the voltage of VVVF is changed, so we can control the slip speed by controlling the outport voltage of VVVF, A saving energy method of main driven motor of CNC machine tool which running in the defferent state of load is introduced in the paper .This method is realized by optimizing the slip speed in the defferent load state based on the adaptive neural network.

根据电机的转差率的变化，通过调节变频器装置的输出电压来控制电机运行转差率，并基于神经网络模型参考自适应的控制算法实现了交流异步电动机在不同负荷下最优转差率的控制，从而达到电机在不同负载下的节能运行。

With a suitable performance function and an initial control that made the closed system bounded, a serial of controls that made the performances better could be obtained by policy iteration, and ergodic Markov chains were constructed by the state serial with the corresponding feedback control.

在合适的性能指标并能找到一个使系统性能有界的控制的前提下，通过策略迭代可以求出逐步改善系统性能的控制序列，同时得到状态序列在相应反馈控制作用下构成遍历的马尔可夫链。

It is the first time that the expert control theory is applied to the blasthole drill control described in the paper, where the expert control structure and strategy for blasthole drill control are studied. At last, an integrated software for the expert control is compiled with Borland C++4. 0 under the operation system of Windows95. It includes the following functions: the simulation for control theory and control structure, the realization of the blasthole drill control.

作者用Borland C++4.0在Windows95环境下编制了专家控制的集成软件系统，一方面对控制方案及算法进行了仿真研究，另一方面针对YZ-55型牙轮钻机的实际工况设计了软件控制功能；并按照牙轮钻机钻进控制的专家控制体系与控制策略，在实验室对控制算法与控制硬件系统进行了实验验证。

Lastly, in accordance with the actual situations of the prototype structure of mosque pagoda, based on the similar relation of model experiments, a model structure of mosque pagoda with a similar coefficient of 1/10 is designed and fabricated. Earthquake simulating shaking table tests are performed on the model structure of pagoda in the cases the AB type passive control system with SMA dampers is erected or unerected. The leading earthquake responses like the relative drift at the top of the main tower and the small tower, interstory drift ratio, acceleration, and cracking process of the pagodas body etc. are studied. The operational behaviors involving the deformation capacity and energy dissipation capacity is tested for passive control system with SMA dampers under the earthquake excitation, and the corresponding control mechanism and regularity is also analyzed. Furthermore, the performance changes and protection effectiveness is comprehensively evaluated while the model structure of pagoda is seismically protected or not.

最后，根据光塔原型结构的实际情况，以模型试验的相似关系为基础，设计并制作了一个相似系数S，为1/10的光塔模型结构，并先后进行了未安装和安装A、B型SMA阻尼器被动控制系统光塔模型结构的地震模拟振动台试验，研究了模型结构在3种不同工况下，主塔顶部和小塔顶部的相对位移、层间位移角和加速度以及塔体开裂等光塔结构的主要地震反应，测试了SMA阻尼器被动控制系统在地震激励下的变形能力和消能能力等工作性能，分析了相应的控制机理和控制规律，并从总体上评价了光塔模型结构抗震保护前后的性能变化和保护效果。

The simulation of MATLAB proves the correctness of model. The results of the application show the superiority of adopting Fuzzy- PI- Controller over conventional Pi-Controller in the aspects of reducing excess adjustment, abbreviating adjusting time and having good adaptability.

MATLAB模拟仿真和实测数据表明了该实际控制模型的正确性，应用结果表明在参数变化的情况下，模糊-PI控制在解决系统减少超调、缩短调节时间和良好适应性问题优于常规PI控制，在实际控制中达到良好的控制效果。

Based on the crack control criterion, the deflection control criterion in ultimate state of service and the strength control in the ultimate state of load-carrying capacity and the nominal steel percentage of section of beam, the formulas for the calculation of the control moment capacity of T-beam and bridge under the limiting deflection condition、the limiting cracking condition and the ultimate strength state were given, respectively.

在提出名义配筋率概念的基础上，基于结构正常使用极限状态的变形控制、裂缝控制，承载能力极限状态下的强度控制，推算不同极限状态下被预测梁的控制弯矩，并建立了桥梁结构承载能力预测方程，从而完成桥梁结构实用动力预测全过程。

Since the turbine-driven feedwater pump failed to regulate directly the drum level of single boiler and problems like pressure overrun of main feedwater pipe existed, DCS was utilized to solve the problems for its features of shared information, powerful configuration functions and easy modification.

在对国电成都热电厂嘉陵2×142MW机组两炉一机单元给水系统控制方式进行分析的基础上，针对运行中出现的汽动给水泵不能直接调节单台锅炉汽包水位及给水母管压力超限等问题，利用分散控制系统信息共享、组态功能强大、修改方便的特点，在不增加硬件设备的情况下，通过软件组态增加了汽动给水泵调节单台锅炉汽包水位调节回路和给水母管超压及欠压保护回路，实现了机组在一炉一机单元运行和两炉一机母管运行2种运行方式下给水自动的合理控制，并解决了给水母管的压力保护问题，提高了机组运行的安全可靠性。

We have no common name for a mime of Sophron or Xenarchus and a Socratic Conversation; and we should still be without one even if the imitation in the two instances were in trimeters or elegiacs or some other kind of verse--though it is the way with people to tack on 'poet' to the name of a metre, and talk of elegiac-poets and epic-poets, thinking that they call them poets not by reason of the imitative nature of their work, but indiscriminately by reason of the metre they write in.

索夫农 、森那库斯和苏格拉底式的对话采用的模仿没有一个公共的名称；三音步诗、挽歌体或其他类型的诗的模仿也没有——人们把&诗人&这一名词和格律名称结合到一起，称之为挽歌体诗人或者史诗诗人，他们被称为诗人，似乎只是因为遵守格律写作，而非他们作品的模仿本质。

The relationship between communicative competence and grammar teaching should be that of the ends and the means.

交际能力和语法的关系应该是目标与途径的关系。