平衡轮

Based on this model, using LQR and the Dragon Bergh extreme disposition method carried on the control to the two-wheeled self-balancing mobile robot in the posture and the speed, and obtained the stable dynamical balance process.

针对高阶次、不稳定、多变量、非线性、强耦合的两轮自平衡移动机器人系统，采用Lagrange方程推导出动力学模型，对其进行稳定性和可控性判断，并利用LQR和龙伯格极点配置的方法在此模型的基础上对两轮自平衡机器人的姿态和速度进行控制，可获得较为稳定的动态平衡过程。

Paper theoretical starting point and the basic assumption that sustains are: Since modern social transition middle class has broken up, made up and developed that makes itself filling with contradictoriness, different quality and complexity, it is not one for class.

本论文主要理论取向则不同于西方中产阶级理论研究中的"稳定器"、"平衡轮"、"缓冲器"等理论观点，论文理论起点和支撑的基本假设是：自近代社会转型以来，中产阶级的分化、组合和发展变化，使其自身充满着矛盾性、异质性和复杂性，其并非是一个自为的阶级。

Through realizing auto-adjustment of equilibrator inner pressure,this system control hand-wheel force effectively and improve operation capability and aim speed of artillery.

火炮液体气压式平衡机随着温度的变化，平衡机内气体压力变化比较大，常常偏离设计要求气压值，出现手轮力过大的问题，为了解决此种问题，本文研究一种能够自动补偿气压的控制系统，实现平衡机内的压力的自动调整，实现控制手轮力的目，进一步改善了火炮的操作性能，提高火炮的瞄准速度。

Parts of this British watchmaking division by John Arnold 1782 was invented, the main purpose is to perfect the performance of the balance wheel of inertia, the complexity of the 10 involved the production of surface and mechanical difficulties in miniaturization, this balance wheel hairspring when used in the maritime dollars with a few large-sized pocket watch works.

这件英国制表师约翰阿诺德1782年发明的主要目的是完善的惯性平衡轮的表现，涉及的面和小型机械生产的10个困难的复杂性，这种平衡使用时轮游丝在海事美元与一些大型怀表工程。

By Jaeger LeCoultre watch factory Jijia tabulation uncompromising attitude, refuse to reduce the balance wheel balance wheel size or reduce the frequency of short-cut before.

由积家表厂积制表不妥协的态度，拒绝减少平衡摆轮平衡摆轮的大小或减少短期的频率降低过。

18Th century a watch with a balance wheel having a fake pendulum attached to it.

带有一个平衡轮和一个仿造的钟摆连接着它的表。

The oscillation of the large balance wheel is spectacular in its action.

振动大的平衡轮壮观的是在其行动。

LARGE BALANCE WHEEL ELECTRIC CLOCK—This clock is based on the Murday-Reason battery clock manufactured in Brighton at the beginning of the last century.

大平衡轮电动时钟，这是24小时的基础上，穆尔戴-原因电池制造的时钟在布赖顿在上个世纪初。

Products factory operators; Steyr, Steyr Wang, Hao Wo main bridge shell rear axle, bearing blocks, cross the bridge cover, Steyr wheel shell, shift cylinder, rear axle sudden yuan, ZF Clutch fork shaft, swing rod, before and after the brake hub, Steyr various separation fork, gear room covered ,67-68 pulley, bridge sudden yuan, steel plate, parallel to shell axis, double-H shift shaft , 0503 Steyr-axis between the shell bad, bad Steyr 0198 Inter-axis shell, oil seal and seat, steel plate before and after the hanging ears, rear wheel, shift box assembly, double H shift rocker, one, two block I. block F99588, shift box casing, drive shaft telescopic forks, steel slide, shift cylinder, a variety of connecting plates, gearbox sudden yuan, three, blockIntroduction F99589, Steyr cylinder cover, double-H shift dial head, adjust the lever fork, wheel cover, FL clutch fork, FL Clutch fork shaft, Steyr after the output shaft bearing support, flywheel shell, fork and seat connection, Steyr Cylinder Head,ácover ,67-68 water pipe joints, rear brake camshaft bracket, rear axle minus the main shell, minus the shell of the main bridge, bearing seat, adjust the lever forks, brackets, brake lane joystick arm, gearbox sudden yuan, clutch pedal arm, oil block at the end of care, single head, double-headed rocker, gear room covered, decelerationround, adjust the lever forks, shift box casing, double H shift dial head, Double H shell, gear room covered, separation lever plate before and after the hanging ears, double-H shift shaft, decelerationround,áBushing, Steyr 10 file clutch shell, the bridge box, minus the shell after the main bridge , Bearing Block, the bridge cover, Steyr wheel shell, shift cylinder, after the sudden the bridge element, ZF Clutch fork shaft, swing rod, steel slide, shift box casing series products .

本厂经营产品；斯太尔，斯太尔王，豪沃后桥主桥壳，轴承座，过桥箱盖，斯太尔轮边壳，换挡汽缸，后桥突元，ZF离合器拨叉轴，摆杆，前后制动毂，斯太尔各种分离拨叉，齿轮室盖，67-68皮带轮，中桥突元，钢板垫板，平行轴壳，双H换挡轴，斯太尔0503轴间差壳，斯太尔0198轴间差壳，油封及座，钢板前后吊耳，后轮毂，换挡盒总成，双H换挡摇臂，一，二挡导块F99588，换挡盒套管，传动轴伸缩叉，钢板滑座，换档汽缸，各种连接盘，变速箱突元，三，四挡导块F99589，斯太尔汽缸盖，双H换挡拨头，杠杆调整叉，轮边盖板，FL离合器拨叉，FL离合器拨叉轴，斯太尔输出轴后轴承座，飞轮壳，连接叉及座，斯太尔汽缸盖（欧II，平衡轴盖板，67-68水管接头，后制动凸轮轴支架，后桥主减壳，中桥主减壳，轴承座，杠杆调整叉，托架，行车制动操纵杆臂，变速箱突元，离合器踏板臂，油底托块，单头，双头摇臂，齿轮室盖，减速轮垫片，杠杆调整叉，换挡盒套管，双H换挡拨头，双H壳体，齿轮室盖，分离杠杆，钢板前后吊耳，双H换挡轴，减速轮垫片，平衡轴衬套，斯太尔10档离合器壳，过桥箱，后桥主减壳，轴承座，过桥箱盖，斯太尔轮边壳，换挡汽缸，后桥突元，ZF离合器拨叉轴，摆杆，钢板滑座，换挡盒套管等系列产品。

Therefore, in this paper a new mechanics method is studied, i. e. a group of equations were set up and solved by the equilibrium conditions of the couple system. The transmission ratio and the meshing efficiency calculation formula were derived by this method. According to the law of conservation of energy. Hence then the above profound problems are analyzed and solved in a simple way. epicyclic gear train ; couple system ; transmission ratio ; meshing efficiency

故根据平面力偶系平衡条件可以很方便地推导出轮系传动比和啮合效率公式，与其它方法[卜3]不同之处还在于，本文根据能量守恒定律，不需分析啮合功率的流向，便可解决啮合效率的计算问题。1理论基础1.1基本周转轮系的力矩关系式图1为常用的2K—H型基本周转轮系，当轮系匀速转动工作时，根据受力平衡条件，作用在▲图l 2K_H基本轮系三个基本构件上的力偶矩应满足以下关系式[1]：兰=簇=撬㈤一1一涅稍一1一涅稍

And Pharaoh spoke to Joseph, saying, Your father and your brothers have come to you.

47：5 法老对约瑟说，你父亲和你弟兄们到你这里来了。

Additionally, the approximate flattening of surface strip using lines linking midpoints on perpendicular lines between geodesic curves and the unconditional extreme value method are discussed.

提出了用测地线方程、曲面上两点间短程线来计算膜结构曲面测地线的方法，同时，采用测地线间垂线的中点连线和用无约束极值法进行空间条状曲面近似展开的分析。