控制理论

For achieve two-wheel balanced function, we used fuzzy control algorithm to program the controlled codes. About the processes of control, the encoders is used to measure the angle and angular velocity of two wheels; the gyroscopei is used to measure the angular velocity of the robot; the inclined angle is got from integrating the angular velocity, and is adjusted by angle got from tiltmeter per second.

在控制流程中，用陀螺仪测量机器人倾斜角速度，透过积分得到机器人倾斜角度，且每隔1秒就用倾斜计测量的角度来校正陀螺仪积分角度，透过马达后方的光学编码器来得知马达转动角度与角速度，将陀螺仪、倾斜计与光学编码器的资讯作为控制器的输入，以模糊控制理论计算后，控制马达转动，以达到动态平衡的目的。

The simulation results show that the controller ensures the gesture and the energy to the desired goal,farther more the motion control of giant swing backword is realized in the simulation.

单杠体操机器人是模仿运动员在单杠上运动的机械模型，它同时也是一个多输入、多输出、欠驱动、非线性、强耦合的典型复杂系统，其控制具有高度的复杂性和非线性，可用来检验控制理论和控制方法在类似复杂系统控制中的有效性。

This report uses internal control theory and judgment as tools to investigate and evaluate the status of W compony in items of COSOs report, including control environment, risk evaluation, controlling, information and communication, supervise.

本文根据内部控制理论和评估工具，首先从控制环境、风险评估、控制活动、信息与沟通、监督五个方面，对W公司内部控制的现状进行了调查和评估。

This paper focuses on the control theory and design method of master-slave robot system,that can implement precise teleoperation by means of force telepresence technology under the unstructural environment.

本文研究借助力觉临场感技术实现主从机器人遥操作的控制理论和设计方法，基于对控制系统的动力学分析，在力和运动的双向控制中采用力反射伺服型控制方案，实验结果表明了该方案的可行性，显示了在非结构性环境下临场感在增强人机交互能力方面的优越性。

Intelligent control is aimed to solve the task-oriented control problems in complex environments which are unstructural, uncertain and have strong interactions with the plants.

摘要智能控制是在常规控制理论与技术基础上的进一步发展与提高，目的是在非结构化、不确定性与控制对象有强相互作用的环境中实现过程任务的闭环自动控制。

Firstly, this thesis makes an introduces on the developement of PMSM servo system based on DSP. According to the control theory of AC PMSM servo system, this paper analyzes the coordinate transformation, the rotor magnetic field orientation and the current control strategy of AC servo system. The control strategy is i_d=0. The system is orientates towards rotor magnetic field. Then the mathmatic models of PMSM in d-q coordinate are set up.

本文首先对基于DSP的永磁同步电机伺服系统的发展概况进行了介绍；根据永磁同步交流伺服系统的基本控制理论，分析了交流伺服系统坐标变换原理、常用的磁场定向方式及电流控制策略，并给出i_d=0电流控制策略及永磁同步电机按转子磁场定向的控制方式，从而建立永磁同步电机d-q坐标系下的数学模型。

D According to the new development in the defferential geometric nonlinear control theory and its applications in power systems, a control strategy combined the MTDC modulation and fast steaming valving control is presented. And numerical simulation is adopted to test the usefulness of this control strategy to the transient power systems.

根据微分几何非线性控制理论的新发展和它在电力系统中的应用成果，本文推导了多机交流/多端直流系统的快关汽门与直流调制联合控制的控制规律，并用数字仿真验证了这种控制规律在电力系统暂态过程中的作用。

Based on the differences between the design value and the survey of the bridge deck elevation in constructing the pre-stressed and so on working condition, the model parameters are identified by ANN, and the beam camber of different sections are given. The results demonstrated that the ANN is efficient and the theoretical results fit well with that of forecasting the beam camber in construction.In this thesis, aim to the beam axis shape be exactitude for design, the internal force of the beam be appeased by design request, the concept of modem cybernetics is applied, At the same time, the effecting parameter has collected. The paper build the ANN model in predicting the beam camber an construction and discuss indetail the extraction of inputting nodes information when quoting the fundamental principle of ANN model and introducing research process of the improved BNN. According to them, ANN is applied in the construction control of prestressed concrete continuous bridge. It is successful for used in the No. 4 bridge of Xiangfan bridge over-crossing Hanriver brideg. To predict the construction camber of by ANN method is useful and effective.

本文以大桥成桥线形满足设计要求和成桥内力控制在设计容许范围内为目的，运用现代控制理论的思想，引用神经网络基本原理，详细介绍BP神经网络的研究过程，从而建立预应力混凝土连续梁桥施工预拱度的神经网络模型，并详细讨论了模型的神经网络结点信息的提取，在工程实例的基础上进行了数值计武汉理工大学硕士学位论文算，数值表明，将神经网络应用于预应力混凝土连续梁桥施工控制，获得了满意的结果，在预应力混凝土连续梁桥施工控制技术研究方面，具有方便有效、精度高的优点，具有良好的应用前景。

In this paper, model of vehicle with double axes is used to study the vibrations of vehicle-bridge dynamic interaction system. The active control law based on linear optimal control theory is designed, In which the transient power flow and displacement at mid-span of bridge are accounted separately.

本文采用能更加逼近真实车辆的双轴车辆模型，应用线性最优控制理论，采用可有效控制一阶振型的双臂弯矩控制系统，分别以双轴车辆输入桥梁的瞬时功率流和桥梁的跨中位移振动响应为目标函数来设计控制律。

On the basis of which, fire logic was presented for pulse thrusters in order to improve limitation of simple control method.

建立了拦截弹与目标的相对运动模型，针对直接力与气动力复合控制的特殊性，基于滑模控制理论给出了轨迹控制算法，并在此基础上针对传统控制方法的缺陷，设计了脉冲发动机的点火逻辑。

The absorption and distribution of chromium were studied in ryeusing nutrient culture technique and pot experiment.

采用不同浓度K2CrO4(0，0.4，0.8和1.2 mmol/L)的Hoagland营养液处理黑麦幼苗，测定铬在黑麦体内的亚细胞分布、铬化学形态及不同部位的积累。

By analyzing theory foundation of mathematical morphology in the digital image processing, researching morphology arithmetic of the binary Image, discussing two basic forms for the least structure element: dilation and erosion.

通过分析数学形态学在图像中的理论基础，研究二值图像的形态分析算法，探讨最小结构元素的两种基本形态：膨胀和腐蚀；分析了数学形态学复杂算法的基本原理，把数学形态学的部分并行处理理念引入到家实际应用中。