控制

Therefore, a design scheme via LMI approach is presented in order to improve the system robustness. By using the LMI approach, the attitude controller design is reduced to a convex optimization problem based on the polytopic system. Since there are some degrees of freedom when solving the LMI, it is available to use this kind of freedom to achieve multi-objective control within this framework.

通过仿真发现采用经典控制方法设计的姿态控制系统在飞艇模型参数以及工作条件变化较大时，无法保证良好的控制效果，因此，为了提高系统的鲁棒性，本文采用基于LMI的方法对姿态控制系统进行了设计，并对所设计系统进行了有约束的多目标优化。

Results: No differences were observed in the incidences of postdural puncture headacheafter spinal anesthesia with or without pillow support. There were significantly less neck stiffness and significantly improved patients satisfaction in the study group.

研究结果：实验组及控制组在脊髓麻醉后PDPH发生率，在统计上并无显著差异，但在肩颈酸痛程度和麻醉病患满意度方面，统计结果：为实验组肩颈酸痛程度(1.57分)小於控制组(3.23分)；而麻醉病患满意度调查结果为实验组的8.07分，高於控制组的满意度调查结果7.95分，虽两组平均分数差异不大，但统计结果皆为 p＜。05，表示实验组和控制组在统计上有差异。

A simplified CGPC controller, presental in this paper, is used for the temperature controlof electric resistance furnace in order to meet the requirement of auto-verifying thermocople.

针对热电偶自动检定系统中电阻炉炉温控制的需要，简化CGPC控制器被选用。根据实际阶跃响应数据可建立预测控制过程模型。简化CGPC用于电阻炉炉温控制过程的效果明显优于常规的控制，而且并不要求有精确的过程模型

In this paper ,the comparison and analysis of landfill gas migration simulation are presented in assumptions of with landfill gas control system and without landfill gas control system ,and the optimal pumpage of gas pumping well is calculated ,thus the ratio of landfill gas collection is given correspondingly.

利用本数值模型对无控制系统和有控制系统时释放气体运移进行了对比模拟分析，给出了有水平气体控制系统时的优化排气量并得出相应的释放气体收集率，可为填埋场释放气体控制系统的设计及环境影响预测和评价提供理论依据。

The fourth part is aiming at regulating the transactions between the controlling shareholders and the company. The author first expounds on the theoreticalfoundations of such regulation--the principle of shareholder equality and thefiduciary duties of the controlling shareholder. Then he compares the three different modes of legislation concerning the regulations on the transactions between the controlling shareholder and the company. After that ,the author concludes that we can borrow from the USA and Germany their relevant institutions. That is, disapplying the rule of exclusion of voting rights of the controlling shareholder, perfecting the recission system of the decision of the shareholders meeting and the rule of shifting the burden of production of proof. The author thinks that the adoption of those measures will achieve a reasonable balance between the efficiency and fairness of the RPT with the controlling shareholder.

第四部分针对控制股东与上市公司的关联交易，首先论述了规制此类交易的公司法理论基础——股东平等原则和控制股东诚信义务，接着在对美国、德国和韩国三国相关规制模式进行了比较之后，认为我国可以借鉴美国和德国的相关制度，取消控制股东在关联交易决议中的表决回避制度，并辅以股东大会决议撤销制度的完善、交易公平性的举证责任转换制度的采纳和损害赔偿制度的设立，以确保控制股东与上市公司的关联交易能够在效率和公平之间达到合理平衡。

The construction of TSQ-I dam paid at tention to the following links:Strict quality management and strict quality cont rol is the key to project construction success;Setting up and making sound a qua lity management organization and a quality management system is the basic assura nce to achieve the quality policy and quality target;Whole quality control with raw material control as the main method and sampling test the secondary one is t he quality control measure;Applying instruments for inner and outer prototype ob servation and taking advantage of the instrumentation data for prompt guidance o n construction are the basis of a good project quality.

在天生桥一级大坝建设中，重点抓住了以下环节：严格的质量管理和严格的质量控制是工程建设成功的关键；建立和健全质量管理机构和质量管理体系是实现质量方针和质量目标的根本保证；以原材料控制为主，抽样试验检查为辅助的全过程质量控制方法，是质量控制的手段；利用仪器进行内、外型观测，并用观测资料及时指导施工，是搞好工程质量的依据。

Regarding the computer embroidery machine for coordination motion control, two kinds of control thought are proposed; the motion control of principal axis motor、frame motor、color changing motor、line sheering motor and all part of coordination is realized.

对于电脑绣花机的运动部分的协调控制，提出了两种控制思想，实现了主轴运动、绣框运动、换色运动和剪线运动控制以及各部分的协调运动控制。

Based on the characteristics of the chip we designed to control the hydraulic servo system for the core of this system, control circuit valve using digital potentiometer, through programming, automatic regulation resistance, high AD698 and accurately by an LVDT valve mechanical displacements converted single polarity dc voltage, through the simulation, the design of PID algorithm of closing valves, the degree of control system and superordination machine, realize the valve control circuit of adjustment and control.

基于上述特点我们设计了以单片机为控制核心的液压伺服阀控制电路，本系统采用数字电位器，通过编程自动调节电阻值，采用AD698 与LVDT 配合，高精确地将阀门的机械位移转换成单极性直流电压，通过模拟PID调节算法，设计实现了对阀门开合程度的控制，该系统与上位机进行通信，实现对阀门控制电路的调试及监控。

The method is based on a variable structure to control the SVC, wherein, the variable structure control method comprises two aspects of the unbalanced load equalization compensation and the parameter control of a PI controller, wherein, the unbalanced load equalization compensation adopts the SVC compensation susceptance computational method which is based on the synchronous rotation reference coordinate transformation of a virtual symmetrical three-phase system; meanwhile, in the stabilization control of the system voltage, the ant colony algorithm optimization method is adopted to real time adjust and to optimize the parameter kp and ki of the PI controller.

本发明公开了一种静止无功补偿器的不平衡补偿和蚁群优化方法，基于变结构对静止无功补偿器SVC进行控制，其中变结构控制方法包括不平衡负荷平衡化补偿和PI控制器的参数控制两个方面，其中不平衡负荷平衡化补偿采用基于虚拟对称三相系统的同步旋转参考坐标变换的SVC补偿电纳计算方法；同时在系统电压稳定控制时，采用蚁群算法优化方法，对PI控制器的参数kp、ki进行实时调整、寻优。

The servo controller regards TI Company DSP chip TMS320LF2407A as the main chip,has adopted standard ISA bus structure,has high -integration and high-agility,has accomplished in real-time complex boolean calculation and control algo- rithms during motion control,and can be used to realize high-speed and high-accuracy servo control for mul- tiple axis.

O前言以DSP为核心的多轴伺服控制器越来越广泛地应用在运动控制系统中，上位机只需对被控对象实施总体的控制和管理，而位置反馈信号的采集，闭环控制计算及控制量的输出均由伺服控制器完成，具有运算速度快，支持复杂的运动算法的特点，能实现高速度、高精度的位置伺服或轨迹

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。