控制器

So in this paper based on the characteristics and the optimum state theory of the vehicle, some kinds of control schemes are compared and discussed, and the fuzzy PID control scheme is adopted at last. The relation between air-cushion pressure and fan rotational speed on the optimum driving state is studied. The cushion pressure is used as controlled variable and the fan revolution is used as regulated variable. And transducer and fan motor are actuators.Based on the structure and operating properties of half-tracked air-cushion vehicle, the control system scheme and structure are presented. A control scheme using the self-tuning PID fuzzy logical controller is adopted. Fuzzy rules are set up and some researches have been done for fuzzy tuning method. At the same time the real-time measurement scheme by computer control is proposed, and electric circuits are designed. In the control system of half-tracked air-cushion vehicle cushion pressure P〓 is used as controlled variable and the fan speed n〓 as regulated variable.

因此本文以半履带式气垫车的特性和最佳工作状态理论为指导，通过对各种控制方法的比较与探讨，提出采用模糊PID控制方案，并且研究了在最佳工作状态下垫压及风机转速的关系，提出气垫压力作为控制参数，变频器和风机电机为执行机构，风机转速为调节量；主要进行了自整定模糊PID控制器的设计，研究了自整定PID模糊控制器的实现方法，编制了模糊控制规则，制定了模糊控制参数查询表，并分析了影响自整定模糊控制器相关的影响因素，确定了模糊控制表；为了实现半履带式气垫车的自动控制，还提出了计算机模糊控制系统的原理与结构，设计了相应的测量电路与控制软件。

A ship course controller is designed for Norrbin nonlinear ship mathematical model with matching uncertainty. Combining the backstepping algorithm with the nonlinear damping algorithm to design controller, the nonlinear damping is used to cancel the uncertainty. The integral item is introduced in the design to improve the performance of the controller. Now, general ships can only use the electric gyrocompass to measure the course angle, but they have no equipments to measure the angular velocity, so in this article another ship course controller of output feedback is designed for Norrbin nonlinear ship, firstly the angular velocity is estimated by the observer and then the ship course controller is designed.

本文基于含有匹配不确定项的Norrbin非线性船舶数学模型，将backstepping算法和非线性阻尼算法相结合设计船舶航向控制器，利用非线性阻尼来抵消系统的不确定项，同时为了更好地改善系统的性能，在设计过程中引入了积分项；由于目前一般船舶只有电罗经用于测量船舶的航向角，还没有测量船舶航向角速度的设备，因此，针对Norrbin非线性船舶模型设计了一种输出反馈控制器，首先利用观测器对船舶航向角速度进行估计，然后再设计船舶航向控制器。

Applying LMI technique, quadratic stability theory, and H〓 control theory, three methods of robust stability analysis and robust controller design for uncertain fuzzy systems are proposed respectively. Among them, LMI based technique can analyze the uncertainties raised in the premises and in the consequent of fuzzy systems. The resulting stabilizing state feedback controllers have maximum stability margins for both kinds of uncertainties. Quadratic stability theory based approach can apply LMI technique and other methods to design fuzzy controllers. H〓 control theory based design can get H〓 controller with constant disturbance attenuation for each local subsystem. Using the given stability criterion of generalized systems, the robust stability of fuzzy systems can be checked.

其中，基于LMI的方法可分析由模糊系统的前件或后件引起的不确定性，得到的稳定的状态反馈控制器对这两类不确定性具有最大的稳定裕度；基于二次稳定理论的方法可应用LMI技术和其它方法设计模糊控制器；基于H〓控制理论的方法可得到各局部子系统具一定干扰抑制性能的鲁棒H〓控制器，而全局系统的鲁棒稳定性可应用所给出的稳定条件进行检验。

The operation principle and development of fire alarm controller and the problems of traditional fire autoalarm controller existed in application are summarized.

概述了火灾报警控制器的工作原理及其发展以及传统火灾自动报警控制器在工程应用中存在的问题，并就现代火灾自动报警控制器在某些方面的改进方法进行了阐述。

Based on the analysis of the mechanism of robot manipulators, a trajectory tracking controlling research model is first built up with ADAMS, and its mathematical model is formulated through the study of robot kinematics and dynamics. After the modeling errors are analyzed in practical robotic systems, a conception of centralized error is brought forward according to the theory of weighting functions. In the case of modeling errors' exist, the robotic uncertain model is derived by introducing an auxiliary control variable into inverse dynamic analysis. The control strategy of robust exponential convergence is applied to the robotic uncertain model, the applicable conditions and the applicable controller with this application are presented. The stable control effect under three main model uncertainties (parametric errors, joint disturbs, joint frictions) are systematically studied on the previously built research model. The problems of robust exponential convergence controller which often results in unstable output and so produces a large relative error when the input trajectory is in a small range are resolved by adjusting the control parameters based on the controller's structure.

本文在机械手的机械结构分析基础上，利用ADAMS建立了用于机械手轨线跟踪控制研究的机械手模型；通过对机器人运动学和动力学问题的研究，建立了机械手研究的数学模型；分析了机器人系统中模型误差的主要来源，根据加权函数法分析，提出了模型集中误差的概念；在存有模型误差的情况下，采用逆动力学结构并引入辅助控制量，由机器人误差模型推导了机器人非确定性模型；提出了采用鲁棒指数收敛法对上述机器人非确定性模型进行鲁棒镇定的控制策略，并给出了对机器人进行鲁棒指数收敛控制时系统不确定因素应满足的匹配条件；针对机械手研究模型，深入研究了鲁棒指数收敛控制器对机器人系统中常见的模型参数误差、关节扰动、关节摩擦等不确定因素的镇定控制效果；针对鲁棒指数收敛控制器易产生控制量振荡的问题以及在小范围内系统轨线跟踪的稳态误差过大问题，本文分别提出了基于控制器结构的控制参数调整法和基于轨线跟踪范围大小的控制参数分段切换法。

Based on the process models and the desired closed-loop system responses, the analytical expressions of the tuning parameters of the primary and secondary controllers were proposed by means of first order Páde approximation, and then the digital PID controllers were obtained by using bilinear transformation method.

基于过程模型和期望闭环系统响应整定PID参数，采用一阶Páde近似纯迟延环节，以解析的形式推导出了主控制器和副控制器整定参数的表达式，并采用双线性变换法得到离散时间PID控制器。

Toady's DVD-ROM manufactures still use the bilinear transformation to design servo controller in w-plane. In the special purpose servo chip for the DVD-ROM, because of the effect of the structure of the controller and the limits of the chip, the result of the controllers may not be implemented in the chip after designing, and redesigning is regained again and again.

目前产业界设计DVD-ROM伺服控制器仍采用双线性转换，经转换后在w平面上设计控制器，但由於受到专用控制晶片的控制器结构与限制的影响，在设计后可能无法直接套用至晶片上使用，而需反覆设计。

CD-drive controller is a single chip microcomputer to control the CD-ROM player CD, control panel, online call CDROM controller, CDROM controller is through the IDE interface to control the CD-ROM drive.

光驱控制器是一款用单片机来控制光驱播放CD的控制板，网上称它为CDROM控制器，CDROM控制器是通过IDE接口来控制光驱的。

By transforming the nonlinear saturation constraint into the special linear constraint, the problem of solving the feedback controller with saturated actuator is converted to the design of controller with linear constraint. The stochastic stability is ensured by using the intersection of ellipsoid invariant set of different modes existing in the attraction domain of the closed loop system. In this case, solving controllers can be equivalent to a solvability problem of linear matrix inequalities.

通过将非线性饱和约束转化为特殊的线性约束，使具有饱和执行器的控制器求解问题转化为线性约束控制器的求解问题，利用位于闭环系统吸引域内的不同模态下椭圆不变集的交集来保证系统的随机稳定性，此时控制器的求解可等效为线性矩阵不等式的可解性问题。

For a nonlinear course keeping system for ships, a kind of nonlinear robust PID is presented, which is based on an exact feedback linearization and a closed-loop gain shaping algorithm. The nonlinear PID controller is constituted of a nonlinear items with a robust PID controller.

针对非线性船舶航向保持系统，给出一种基于精确反馈线性化和闭环增益成形算法的非线性鲁棒PID控制器，该非线性PID控制器由非线性函数项和鲁棒PID控制器组成。

Neither the killing of Mr Zarqawi nor any breakthrough on the political front will stop the insurgency and the fratricidal murders in their tracks.

在对危险的南部地区访问时，他斥责什叶派民兵领导人对中央集权的挑衅行为。

In fact,I've got him on the satellite mobile right now.

实际上 我们已接通卫星可视电话了