扰动

It is a global convergence method, so it can avoid the drawback of the Newton method. The main idea is to perturb the TV-norm functional term of the Euler-Lagrange equation so large that it can be solved by the Newton method when the observed image is an initial value, and we regard this equation as an auxiliary equation.

它的主要思想是将Euler-Lagrange方程中TV-范数做一个足够大的扰动，得到一个能用以观测图像z为初值的牛顿法求解的辅助方程，通过构造同伦方程将辅助方程和Euler-Lagrange方程联系起来。

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。

It is based on generalized averaging method and can be applied only in continuous conduction mode.

该模型为分析变换器在暂态和受到较大扰动时的动态性能提供一定的参考，具有理论意义，论文思路也较清晰。

In clover lands, there is decreasing soil organic matter and other nutrients, and soil physical properties are better with lower salinity due to less human disturbance. On other hand, azotobacter of legume increases the available nitrogen content in surface soil.

苜蓿地由于管理粗放，对土壤扰动少，容重较低，孔隙度和毛管孔隙度较高，盐碱度较低；每年对苜蓿的采收显著降低了苜蓿地土壤有机质和养分含量，而豆科固氮菌的存在，使表层速效氮含量较高。

Plane waves are absolutely stable against small modulations in self-defocusing media, the dark spatial solitons exist only in the form localized dark hole on the plane wave background.

在自散焦介质中，平面波的传播对小的调制扰动是绝对稳定的，暗空间孤子正是作为平面波背景上的一种局域暗迹而存在的。

It is proposed that load modeling should base on the analysis of whole the LDD.

针对当前负荷建模研究的问题，提出应当将负荷建模建立在对负荷扰动数据的整体分析上。

The bench test results show that this speed governor system could operate stably,the engine could start promptly and placidly,and all performances are quite well both at static state and at dynamic sta...

柴油机台架试验的各项数据表明，该电子调速系统工作稳定，起动平稳迅速，稳态和动态性能良好；在系统关键零部件失效时，系统能实现自动无扰动切换，从而可以有力提高系统安全可靠性。

A new sensorless speed control scheme for permanent magnet synchronous motor driver is presented. The nonlinear mathematical model of PMSM is established in α-β reference frame and linearized around the best estimator.

永磁同步电机无位置传感器调速系统具有控制方法简单，转矩脉动小，抗扰动能力强，调速性能好等特点，调速系统所要解决的问题是采用何种方法获取转速和转角。

In this paper we discuss the influence problem of Ridge Estimator in general linear regression model, study the influence analysis on Ridge Estimator with covariance matrix disturbance and data deletion, define Cook distance of Rideg Estimator based on biased estimator.

讨论一般线性回归模型岭估计的影响+分析问题，研究了协方差阵扰动和数据删除对岭估计的影响，给出了岭估计基于有偏估计的Cook距离。

Taking the fiber coupler as represent, aiming at the performanceproblem of the fiber coupler which is used in the market, such as theoptical performance differences of accepted products, technologicaloptimization and stability reflected by the low rate of finished products,how to reduce excess loss, and so on. From the view of manufacture of rheological formation, the research of experiment and theory has beendeveloped. The effects of rheological technological parameters such asdrawing speed and fused temperature on the optical performance,microstructure and the process of rheological formation have beeninvestigated. It is discovered that the present heating mode of combustinggas can\'t satisfy with the rheological manufacturing technological needof high performance fiber devices. A new resistance heating system is putforward, designed and manufactured, and a new fused biconical tapermachine is developed.

论文以光纤耦合器为代表，针对目前市场上广为应用的光纤器件存在的性能问题，如合格产品的光学性能差异，成品率不高所反映的制备工艺优化与稳定问题，如何进一步降低附加损耗等，从光纤耦合器流变成形制造的角度，分析了流变制造工艺参数如拉锥速度与熔融温度及其扰动对流变制造成形过程、微观结构与器件光学性能的影响，发现现有燃烧气体火焰的加热方式不能满足高性能光纤器件的流变制造技术要求，提出、设计并制造了一种新型的电阻加热系统和熔融拉锥机。

Lugalbanda was a god and shepherd king of Uruk where he was worshipped for over a thousand years.

Lugalbanda 是神和被崇拜了一千年多 Uruk古埃及喜克索王朝国王。

I am coming just now,' and went on perfuming himself with Hunut, then he came and sat.

我来只是现在，'歼灭战perfuming自己与胡努特，那麼，他来到和SAT 。