控制

In fact, the control problems of the sonar array posture are track control problems. So On the basis of theoretic study, the author designs the robust output track control of the posture of the sonar base with regulable parameter and applies the study results of measurable disturbance decoupling and robust output track to the minehunting sonar array posture control, a robust control strategy with disturbance decoupling, output track and compensation for uncertainty is found.

猎雷声纳基阵的姿态控制问题实质上是跟踪控制问题，在进行理论研究的基础上，作者设计了具有可调参数声纳基阵姿态鲁棒输出跟踪控制系统，并基于反馈线性化方法将可测干扰解耦研究结果与鲁棒输出跟踪研究结果相结合，形成了同时具有干扰解耦、输出跟踪和不确定性补偿的猎雷声纳基阵鲁棒控制策略。

It can be used as the guidance and reference in the application of PLC to robot.First, the fact of desertification and the prevention method were introduced generally and the importance and necessity of this research was also discussed. By comparing the characteristics and application field of SCM control system, relay control system and computer control system, we selected the control scheme based on PLC.

本文首先总体介绍了我国土地沙漠化的现状和防治方法，论述了该课题研究的重要性和紧迫性，并通过对比分析单片机控制系统、继电器控制系统、计算机控制系统各自的特点及应用范围，最后确定了基于可编程控制器为核心的控制方案。

We introduced all parts of a general repetitive control system after depicting the regulations of the repetitive control theory. The parts include inner model, delay section, compensator, low pass filter and controlled object. And we also analyzed the robust, convergence, following error of the repetitive control system.

阐述了重复控制的基本思想，重点介绍了重复控制系统得各个组成部分，包括重复控制器的内模、周期延时环节、补偿器、低通滤波器和控制对象等，并且分析重复控制系统的稳定性、收敛性和稳态误差等性能特征。

Firstly, this study aims to develop a sliding-mode based learning controller for eliminating repetitive error in flying height control. It incorporates characteristics of sliding mode control into learning control.

针对飞行高度控制中的重现误差部分，本研究首先提出结合滑动模式控制特性与学习控制特性，发展以滑动模式为基础之学习控制，用於消除重现性误差。

On the base of the mathematic model of the PMSM, the reasons of the torque pulsation are analyzed. Then the validity of Iterative Learning Control in torque ripple minimization is expatiated. A whole simulation model is developed using SIMPOWER, and the effective of ILC in torque suppressing is proved. The scheme for hardware and software of integrated PMSM are demonstrated in the thesis.

本文在永磁同步电机数学模型的基础上，总结分析了永磁同步电机转矩脉动产生的原因，引入迭代学习控制抑制转矩脉动，利用SIMPOWER工具箱建立了永磁同步电机控制系统的仿真模型，对PMSM控制系统进行了仿真，仿真结果证明迭代学习控制能有效地抑制转矩脉动。

The torque ripple in SRM are relatively higher compared to induction machines. In this paper, based on the experimental data of static torque characteristic, a fuzzy-neural network is applied to learning it's inverse model off line, then according to the predefined torque distribute function, optimal current profile is real-time gained by the FNN on line, which results in a linear, decoupled, low ripple control of torque. The performances of the proposed method is demonstrated by computer simulation results.

与传统交、直流电机相比，SRM的一个最突出的缺点是其驱动系统转矩脉动比较严重，为此，论文提出了一种基于模糊神经网络转矩逆模型的SRM转矩控制方案，并设计了SRM滑模电流控制器，理论分析和仿真结果表明，基于滑模电流控制器的SRM电动机转矩逆模型控制策略能够有效的解耦、补偿和抵消SRM非线性转矩脉动特性，有效的控制SRM相转矩按期望相转矩变化，从而实现了SRM高性能、低脉动转矩控制。

Based on the theory and experiments, the paper builds up the simplified mathematical model of the servo control system, deduces the system control rigidity expression, and points out the method to improve control rigidity. According to Routh stability criterion, the analytic stability condition is solved, which shows the conflict between the stability and control rigidity and that gyroscope is the key factor of the conflict.

论文结合理论和试验建立了光电稳定伺服控制系统的简化数学模型，推导出系统控制刚度表达式，指出提高控制刚度的方法；利用劳斯判据求解出系统稳定的解析条件式，描述了稳定性与控制刚度之间的矛盾，并指出陀螺是矛盾关键。

The most authoritative theory on internal control is Framework of Bank Internal Control System issued by Basle Committee in January, 1998, the core of which is the routinization of internal control, effective supervision and objective evaluation of the internal control system.

但是，关于内部控制最权威的理论，仍然是1998年1月巴塞尔委员会颁布的《内部控制系统评估框架》，其核心内容包括内部控制活动的日常化、有效监督及对内部控制系统的客观评价等。

Then through direct control on the technological level and the outside-policing control of the compulsory implementation of law authority supplemented by the self-policing control of ethical care so as to fulfil the full development of human nature, the ethical problems of network virtual society can finally be brought under control.

在此基础上，对其进行技术层面上的直接控制，同时，依靠法律的强制性施行他律控制，并辅之以伦理关怀的自律控制，实现人性的全面发展，最终实现网络虚拟社会伦理问题的终极控制。

To get the maximum thermal efficiency of the system, control algorithm adopts the combination of routine control and online self-searching optimal control .

在优化控制中用常规控制与热效率在线自寻最优控制相结合的方法，组成加热炉热效率最优控制系统，以实现系统热效率最大。

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。