定积分

An integral square performance criterion containing tracking error and control energy was defined. Spectral factorization to minimizing the performance index for different systems was applied and corresponding parameter tuning methods of PID controller was derived, which could be used to obtain optimal control performance under control energy constraint.

定义了一个包含跟踪误差和控制能量在内的积分平方性能指标，针对不同系统运用谱分解的方法最小化该性能指标，从而导出相应的PID控制器的参数整定方法，可使系统在控制能量约束条件下具有最优的控制性能。

If the change of step-size is controlled by the value of curvature of integral curve, the result can avoid such an error accumulation.

定步长的缺点在于不管是积分曲线的各个点的曲率如何都取一样的步长，这样肯定会在曲率大的一些点带来比较严重的误差，这种误差将在每一步的计算中积累。

The weakness of fixed step-size is that step-size is not variable regardless the curvature of each point of the integral curve change or not, which will affirmatively bring serious error in these points that the value of curvature is bigger. And, this kind of error will accumulate in calculating process.

定步长的缺点在于不管是积分曲线的各个点的曲率如何都取一样的步长，这样肯定会在曲率大的一些点带来比较严重的误差，这种误差将在每一步的计算中积累。

The transient free-surface Green function was used to formulate the integral equation on the body surface.

采用时域自由面 Green 函数将定解问题转化为物面上的积分方程，进而求解水动力系数和船舶运动方程。

Design of the CPA Stable union of base plate and intermediate plates with integral rams inserted centrically into each other Strong and rigid connection of the linear position measuring system with all ram systems Every ram system equipped with main hydraulic ports Every ram system equipped with additional hydraulic ports for movements outside the press Mechanical-hydraulic quick-clamping device Adapter travelling gear for rail-bound transport Complete adapter changing system Advantages Good accessibility for tool changeover Quick and simple adapter change with hydraulic quick-couplers and electric travel gear High compacting forces in both directions Short setup times Automatic centering and clamping of the adapter relative to the machine axis Tool presetting outside the press possible High guiding accuracy

设计的注册会计师安定联盟的底板和中间板块与积分公羊插入centrically到对方强大和刚性连接的线性位置测量系统与所有的RAM系统每一个内存系统配备的主要液压港口每一个内存系统配备额外的液压港口动作外新闻机械式液压快夹紧装置适配器行驶齿轮为铁路运输的约束完成适配器变换系统优势良好的无障碍环境，为工具换届快速简单的适配器改变与液压快车钩及电动旅行齿轮高压实势力在两个方向短期调整时间自动定心夹紧的适配器相对机床主轴刀具预调外新闻可能高指导的准确性

In the system of high precision and low speed, Because of the existence of the nonlinear friction, the static and dynamic performance of the servo system is very bad, such as stick slip, hunting, large error and so on, Because the traditional control of PID is hard to solve the nonlinear problem of the servo system, so this paper begins to introduce a new control method which is named adaptive fuzzy PID, It utilizes the rule of the fuzzy control to adjust the parameter of proportion, integral and differential on line, So this control method has some intelligence to improve the static and dynamic performance of the servo system.

在高精度、超低速伺服系统中，由于非线性摩擦环节的存在，使系统的动态及静态性能受到很大程度的影响，主要表现为低速时出现爬行现象，稳态时有较大的静差或出现极限环振荡；由于传统的PID 控制很难解决伺服系统中的非线性问题，因而不能适用于高精度、超低速伺服系统；本文通过引入模糊自适应整定PID控制，利用模糊规则在线调整比例、积分、微分环节，使系统具有一定的智能，从而非常明显的改善伺服系统的静态及动态性能。

Monolithic computer ; temperature control ; gearshift integral ; parameter self-tuning

单片机；温度控制；变速积分；参数自整定

Contact-impact model and its discrete schemes for revolute pairs with small clearances ;2. Based on the theory of contact dynamics,the dynamic model with clearances of sizing press roll was established using the method of numerical simulation.

基于接触动力学的理论，利用数值模拟的手段建立了调宽机含间隙的动力学数学模型，采用定步长四阶Runge-Kutta数值积分的方法，详细研究了运动副内间隙对接触力的影响规律。

Based on the theory of contact dynamics, the dynamic model with clearances of sizing press roll was established using the method of numerical simulation. The paper studied the effect of clearances on contact force inner Mechanism joints detailedly by the method of numerical integration of fix step length four orders Runge-Kutta.

基于接触动力学的理论，利用数值模拟的手段建立了调宽机含间隙的动力学数学模型，采用定步长四阶Runge-Kutta数值积分的方法，详细研究了运动副内间隙对接触力的影响规律。

Around the finite solution problem of fuzzy differential equation, the fuzzy structure element method is put forward about the calculation of fuzzy analysis, and this method is applied to systematically study many problems such as formulation of fuzzy-valued function, difference of fuzzy-valued function, integration of fuzzy-valued function under the Riemann meaning, and the solution structure of fuzzy differential equation etc..

围绕模糊微分方程定解问题，提出了模糊分析计算的模糊结构元方法，并利用模糊结构元的方法对模糊值函数的表述问题、模糊值函数的微分、黎曼意义下的模糊值函数积分以及模糊微分方程的解的结构等问题，进行了深入系统的研究。

The split between the two groups can hardly be papered over.

这两个团体间的分歧难以掩饰。

This approach not only encourages a greater number of responses, but minimizes the likelihood of stale groupthink.

这种做法不仅鼓励了更多的反应，而且减少跟风的可能性。