控制向量

The obtained optimal control law consists of analytical linear feedforward and feedback terms and a nonlinear compensation term which is the limit of the adjoint vector sequence.

得到的最优控制律由解析的线性前馈－反馈项和伴随向量序列极限形式的非线性补偿项组成。

By choosing suitable design parameters, all the signals in the resulting closed-loop system are uniformly bounded and the norm of the tracking error vector converges to an arbitrarily small neighborhood around zero by using the presented control approach.

通过选择适当的设计参数，提出的控制方法使得闭环系统的所有信号是一致有界的和跟踪误差向量的范数收敛到小的零邻域内。

This paper proposes a distributed, dynamic, based-on route path multi-vector control mechanism.

本文提出了一种分布式动态的对不同的路由路径建立多向量信号控制的算法。

Using the concept of load vector and load unbalance index in the grid, the product block scale and the release are adjusted for the semiconductor manufacturing line.

利用网格计算中的负载向量和失衡因子的概念，来控制半导体生产线上各加工机器处工件块的规模以及投料规模。

Based on Bezier curve continuance of first－order and second－order derivative, the characteristic vector equation of two Bezier curve is presented in point of intersection. The algorithm is not only of high accuracy with all of the interpolated points being on the curve theoretically, but also of very high speed in the real－time interpolation processes. The interpolation velocity does not change and the segment tolerance of interpolation can be control by selecting the parameter in cerement rationally every time.

为保证两段Bezier曲线在连接点处一阶导数、二阶导数连续，导出了两段Bezier曲线特征向量应满足的关系方程，Bezier插补法不仅在理论上可使所有的插补点落在曲线上，而且实时插曲补速度高，每次插补时可合理地选择参数增量，能使插补速度保证不变，也可控制弓高误差。

Based on the transfinite interpolation theory, an improved algebraic grid generation method is presented in this paper. Our improvements of existing algebraic grid generation method include:(1) orthogonality control, which greatly improves grid orthogonality adapted to viscous flow calculation;(2) weighted average smoothing, which efficiently handles with grid intersection due to concave corner existence;(3) normal vector control, which adjusts grid smoothing near convex corner.

基于无限插值理论，引入本文提出的网格正交控制、物面法向量控制、加权平均光顺措施，给出了一种改进的空间网格生成方法，有效克服了传统无限插值网格生成方法在复杂外形网格生成方面的缺陷，有效改善了网格的法向疏密性、贴体性及周向网格的均匀性，对真实飞行器部件网格生成非常迅速。

The terminal sliding mode controller is designed by using unit vector style; the switching function of the terminal sliding mode is designed by the quadratic optimal control theory.

采用单位向量控制形式的最终滑动模态控制器，并采用二次型最优控制理论设计最终滑动模态的切换函数。

The basic relationship between the the first half-wave peak value of transient current and the initial firing angles is found by means of analytical method.The practical method is put forward to determine the initial two-phase and the third phase firing angles with the limiting value and the space vector varying track of transient current.And then the subsequent series of firing angles with the even step are calculated by using the speed at the time of re-switching.The suppressive effect to the inrush current is verified with simulation and experiment of rapid soft re-switching control,by which the influence of different speed to rapid soft re-switching course is analyzed besides.3 To analyze the power loss for typical periodically variable running load and deeply study the energy-saving principle and control mode of the intermittent power supply approach. Futhermore,the novel integrated energy-saving control technique is developed on base of the intermittent power supply approach.

通过解析方法找到快速软投入初始触发角与瞬态电流首半波峰值加热板之间的基本关系，进而提出了由限流值和空间向量轨迹确定初始两相和第三相触发角的方法，并以固定步长均匀递减的方式由投入时转速计算出其它后续触发角；结合仿真和实验验证了快速软投入对冲击电流的抑制作用，并分析了不同转速下投入时对电源快速软投入过程的影响。3对典型周期性变工况负载特性进行能耗分析，深入研究断续供电节能机理和控制模式，并进一步发展了以断续供电为主的综合节能控制新技术。

The basic relationship between the the first half-wave peak value of transient current and the initial firing angles is found by means of analytical method.The practical method is put forward to determine the initial two-phase and the third phase firing angles with the limiting value and the space vector varying track of transient current.And then the subsequent series of firing angles with the even step are calculated by using the speed at the time of re-switching.The suppressive effect to the inrush current is verified with simulation and experiment of rapid soft re-switching control,by which the influence of different speed to rapid soft re-switching course is analyzed besides.3 To analyze the power loss for typical periodically variable running load and deeply study the energy-saving principle and control mode of the intermittent power supply approach. Futhermore,the novel integrated energy-saving control technique is developed on base of the intermittent power supply approach.

通过解析方法找到快速软投入初始触发角与瞬态电流首半波峰值之间的基本关系，进而提出了由限流值和空间向量轨迹确定初始两相和第三相触发角的方法，并以固定步长均匀递减的方式由投入时转速计算出其它后续触发角；结合仿真和实验验证了快速软投入对冲击电流的抑制作用，并分析了不同转速下投入时对电源快速软投入过程的影响。3对典型周期性变工况负载特性进行能耗分析，深入研究断续供电节能机理和控制模式，并进一步发展了以断续供电为主的综合节能控制新技术。

The first one is Vector Pursuit which is based on Screw Theory. The second one is Replicate Line Method presented by this thesis which is presented according to the skid-steering property of track-laying mobile robot and the constraint of its working environment. Thirdly, use the path tracking method proposed by Kanayama for reference to control the robot moving for the current position to the desired position with the desired velocity, so make the path tracking process more precise.

然后从运动学方面，根据机器人当前位置与目标点的位置偏差和角度偏差，采用基于螺旋理论的向量追击法，以及本文根据履带式移动机器人运动特点和工作环境特点提出了的轨迹跟踪方法，折线法，来确定机器人的期望运动；再借鉴Kanayama提出的轨迹跟踪控制方法，对机器人以期望运动速度从当前位置运动到目标点的过程进行控制，从而进一步精确了跟踪过程。

This one mode pays close attention to network credence foundation of the businessman very much.

这一模式非常关注商人的网络信用基础。

Cell morphology of bacterial ghost of Pasteurella multocida was observed by scanning electron microscopy and inactivation ratio was estimated by CFU analysi.

扫描电镜观察多杀性巴氏杆菌细菌幽灵和菌落形成单位评价遗传灭活率。