控制器

BA single balance controller : the balance suspending machine withsingle balance controller is the ideal substitute scheme of the traditional spring balance machine .

单一平衡控制器：配有单平衡控制器的平衡吊是传统型弹簧平衡吊的最佳替代方案。

Finally, the effectiveness of the finite time stabilization controller using the switch method is shown by a simulation test.

最后给出了应用该控制器控制非完整链式系统的具体形式，通过仿真实验验证了所设计的有限时间镇定控制器的有效性。

In this paper, emphasize on discussing the possibility of stableness, accuracy and real-time of data exchange.

在分析系统的关键部件DNC控制器的性能原理和要求的基础上，选择BL2010单片计算机作为DNC控制器。

A lot of simulation results indicate the feasibility and validity of the algorithm, and the optimized fuzzy controller has more dynamic, steadier and more robust capability.

对寻优所得的模糊控制器的鲁棒性分析表明，该模糊控制器具有较强的鲁棒性，充分体现了模糊控制的优点。

The main content of this thesis is as follows: 1The structures of EPS are analyzed. The main components of EPS are introduced in detail. Then the distributed torque in EPS is analyzed and the control system model is set up. 2Three control modes are discussed and the control strategy of EPS is studied in detail. Three principal modules in the control strategy are discussed—the predicted module which predicts motor rotational speed and steering rotational speed, the power-assistant module and the return control module. 3The assistant torque curves of the motor are designed by using the B-spline, so that any kind of custom-built assistant torque curves can be designed according to different kinds of automobiles. 4The hardware frame of EPS is studied. The developed controller based on 8-bit MCU MC68HC908MR8 is introduced and many related circuit units are designed, including the control circuit, the driver control circuit and so on. The software structure is discussed, then the steering control program flowchart is given.

本文的主要工作有： 1分析了EPS 的总体构成，对EPS 的各个部件作了详细的介绍，并在此基础上分析了EPS 的受力情况，建立了控制系统模型，并研究了EPS 的安全性能； 2讨论了EPS 的三种控制方式，提出了控制策略，并讨论了其中三个关键模块的作用：预估模块包括对电机转速和方向盘角速度的预估，助力控制模块以及回正模块； 3用B 样条插值方法进行EPS 助力曲线的设计，可按照用户的要求设计任意形状的助力曲线，以满足不同车型和不同用户的要求； 4研究了控制系统的硬件结构，以MC68HC908MR8 为核心设计了控制器，详细讨论了控制器的控制电路、驱动电路等；设计了控制系统的软件，给出了控制程序流程图，并对要点进行了详细的说明。

In order to study the influences of different characteristics of assitance on vehicle steering performance,we established the EPS model based on steering-wheel angle input,and selected the assistance characteristic curve.

为了研究助力特性对汽车转向性能的影响，建立了转角输入的电动助力转向系统的动力学模型，选定了EPS的助力特性曲线；并通过仿真，验证了所建立模型的正确性；最后利用自主开发的电动助力转向控制器进行了实车试验，试验结果表明所设计控制器能很好地满足转向性能指标

This invention relates to a cascade multiple zero-type matrix rectifier, in which, a general input filter is connected between a net and a step-down transformer to get sine-wave input current, the step-down transformer includes n secondary windings with Yn spliced mid lines, the phase of all the three-phase windings is the same, the rectifier array is arrayed in a 1 row x n lines by n zero-matrix rectifier units, each line of which is connected with the seconday winding of the step-down transfornmer, and the outputs of the rectifier units are serial orderly to form a DC output, the general controller is responsible for regulating work of the entire system and connected with the branch controllers by signal cables to control the work of the rectifier units in the array.

本发明涉及一种级联多重化零式矩阵整流器，总输入滤波器连接在电网与降压变压器之间，滤波得到正弦波形的输入电流，降压变压器有n个Yn接带中性线的次级绕组，所有三相绕组相位相同，整流器阵列由n个零式矩阵整流器单元排成1列×n行的阵列，阵列中每一行与降压变压器的一个次级绕组对应连接，阵列中整流器单元的输出依次串联，形成一路直流输出，总控制器负责控制调节整个系统的工作，并通过信号电缆与各个分控制器联络，控制整流器阵列中每个整流器单元的工作。本发明由低压小功率的变换器串联得到幅值可调的高压直流电源，同时在电网侧得到位移为零的输入电流，具有网侧四象限运行能力等优点，适用于中高压直流供电领域。

It gives a practical stopping rule of estimation and enhanced dead zone to improve the robustness of the excitation STR. A long-term result is shown of the regulator under a serial adjustments and short-circuits.

构造了加强型死区和实用仃估算法，提高了励磁自校正控制器的鲁棒性，给出一个鲁棒励磁自校正控制器及其在各种正常调节和故障情况下的长期稳定运行结果。

Therefore, the issue, how to build the relationship between the robust performance and the time-domain performace, develop a robust tuning scheme, and further enhance the decoupling capability are stringently required to be solved.

本文由多变量时滞系统中的单参数控制器入手，研究了鲁棒整定问题，给出了依据系统鲁棒稳定条件和时域性能指标，定量计算控制器参数的解析方法。

First,the paper introduce the automation summarizer of marine boiler and the basic principle of PLC(SIEMENS PLC S7-200 of Germany). Following, the paper introduce a typical boiler system of shipping. On this base, the paper pay more attention to making control programme of S7-200 for oil auxiliary boiler.

文章首先介绍了船舶辅助锅炉自动控制的总体概述和可编程控制器（德国西门子可编程控制器S7-200）的基本工作原理，详细介绍了船舶燃油辅助锅炉的典型系统，在此基础上，着重对采用S7-200控制的燃油辅助锅炉进行了PLC编程，其中对蒸汽压力采用多位控制。

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。