控制器

Simulation work is done respectively for the two controllers above, and the simulation results prove that the two controllers both can depress the toque ripple effectively.

分别对两种控制器进行了仿真验证，仿真结果证明了利用模糊控制器和神经网络控制器能有效的降低转矩的脉动。

The paper institutes two control schemes of PLC according to the work flow of the manipulator. The paper draws out the work time sequence chart and the trapezium chart.

利用可编程序控制器对机械手进行控制，选取了合适的 PLC 型号，根据机械手的工作流程制定了可编程序控制器的控制方案，画出了机械手的工作时序图，并绘制了可编程序控制器的控制程序。

The relationship between the error signal and gain parameters of PID controller is nonlinear, and , a normal controlled system＇ s step response figure , under the condition of ideal change of the three PID gain parameters in the different time , PID con troller.

但是，目前使用的PID控制器大多仍是传统的线性PID 控制器，其控制信号是通过将参考输入与被调节量的偏差及其微分、积分进行简单的线性组合来生成的，而且PID控制器的增益参数在系统动态响应过程中是固定不变的，不能反映偏差信号的变化l2j。

Based on TSK model and conventional PID control, a type of TSK-PID controller was proposed.

提出了基于TSK模型的TSK-PID控制器设计方法，结合经典PID控制器的控制方法，给出了基于Z-N法的改进模糊控制器设计算法。

A neural-network-based robust compensating control method is proposed for the robots with constructed and unconstructed uncertainty The robust controller consists of a computed torque controller and add-on compensating controller The effective way using neural network to estimate the system uncertainty is also given.

四、对具有结构型和非结构型不确定性的机器人提出了一种基于神经网络补偿的鲁棒控制方法，控制器由一个计算力矩控制器和一个可切入的神经网络补偿控制器组成，给出一种利用神经网络学习机器人不确定性的有效途径。

It is proved that these two types of fuzzy controllers are equivalent to the variable structural combinations of nonlinear PI controller and nonlinear control offset. Moreover, the outputs of these fuzzy controllers are monotonically increasing, continuous, and bounded with regard to the corresponding universe of discourse.

基于此，深入研究了模糊控制器的解析结构，并证明了这两类模糊控制器等价于一种变结构的非线性 PI 控制器与相应的非线性控制偏置之和，并且在其输入论域上是单调递增、连续且有界的。

It can flexibly deal with the problems of universe of discourse and quantization of different variables; thus overcome the shortcoming of simple fuzzy control that it can not meet both the requirement of dynamic and static performance.

将分层模糊控制理论引入渠系自动控制，针对渠道运行控制特点，设计分层模糊控制器，它能灵活处理控制器输入、输出变量的论域及其量化问题，从而克服简单模糊控制器不能同时兼顾系统动静态性能的缺点。

It unifies the variation of parameters and structure of system that leads to the variation of its time scale.

时间尺度的概念将对象参数和结构的变化导致系统快慢特性的变化统一在一起，所以控制器参数整定的时间尺度变换公式也给出了控制器对对象不确定的适应性和控制器对其自身参数变化的鲁棒性的新的涵义。

In accordance with the functions of analytical solution and numerical solution for solving algebraical equation group,a design approach was introduced to conduct the pole placement of PI and PID controllers for first and second order controlled models using the symbolic operation.

利用符号运算，针对代数方程组求解的解析解功能和数值解功能，提出了1种对1阶被控对象和2阶被控对象模型进行PI控制器和PID控制器极点配置的设计方法，给出了相应控制器结构参数的解析解，并在算例中进行了数值仿真验证。

Process controller SideControl, Digital electropneumatic process controller, compact metal housing, graphic display with backlight, easy start-up from process controller and positioner, comprehensive range of additional software functions.

过程控制器SideControl，数字电子气动过程控制器，紧凑的金属外壳，带背光图形显示，易于启动的过程控制器和定位，更多的软件功能齐全。

The split between the two groups can hardly be papered over.

这两个团体间的分歧难以掩饰。

This approach not only encourages a greater number of responses, but minimizes the likelihood of stale groupthink.

这种做法不仅鼓励了更多的反应，而且减少跟风的可能性。