控制的

In addition, the Lyapunov theorem is applied to have the asymptotic stability of the closed loop system with system parameters updated on line.

控制器便能依据当时振动情况，主动产生出反振动讯号输出给伺服马达，让控制系统进入至滑动平面来达到控制的目的。此外，理论中还使用了 Lyapunov 稳定法则来确保控制过程中之渐进稳定性，并更新系统所需之参数。

On the basis of the above results of detecting methods, the instruction signal calculating circuit is designed according to i〓, i〓 calculating mode. Compensation current generating circuit is also designed and implemented. Its current following circuit is designed according to the instantaneous value comparing mode that used constant time control. The source current detection based control mode and composite control mode and their implementation are firstly introduced in our country. The method and the principle of dc side capacitor voltage control are explained clearly.

根据检测方法的研究成果，采用i〓、i〓运算方式构成并联型电力有源滤波器的指令电流运算电路；对补偿电流发生电路进行了电路设计和实施，其中电流跟踪控制电路采用电流跟随性能好、可靠性高的定时控制瞬时值比较方式；在国内首次研究并实施检测电源电流控制方式和复合控制方式；清楚地阐明了并联型电力有源滤波器直流侧电压控制的原理和方法，并在装置中实施。

This paper also analyzes control problem in cartesian space and presents several improved indirect methods , to counter kinematic uncertainty ect.. Then, a sliding mode control and an adaptive control are proposed as direct cartesian space control scheme. All of them has been extended to redundant manipulator.

本文研究了机械手工作空间控制问题，提出了考虑具有不确定运动学参数等多种改进的分解运动控制方案，它是机械手控制的间接方法，进一步本文又提出了滑动模及自适应两种分别考虑运动学及动力学不确定性的工作坐标直接控制方案，它们均被推广至具有冗余自由度的机器人控制中。

Three kinds of arm's robust control theorys are designed: the torque control based on FNN controller, the computed torque control with sliding mode compensation and the computed torque control with WNN compensation. FNN syncretizes the reasoning ability of fuzzy control and parameters' self-learning ability of neural networks. It does not depend on the precision of the mathematical model, and can overcome the impact of the uncertainty effectively. So FNN is regarded as the manipulator controller and used to the trajectory tracking of arm control. The computed torque control with sliding mode compensation is designed.

在此基础上，研究了机械手臂的鲁棒控制法，分别设计了基于模糊神经网络的机械手臂力矩控制方法、基于滑模变结构控制补偿的机械手臂力矩控制方法以及基于小波神经网络补偿的机械手臂力矩控制方法，具体内容如下：模糊神经网络融合了模糊控制的推理能力和神经网络的参数自学习能力，它不依赖于对象精确的数学模型，能有效地克服被控对象存在的不确定部分的影响，本文把模糊神经网络作为机械手臂的关节伺服控制器，通过对网络参数的学习训练来调整机械手臂关节的控制力矩，实现对机械手臂的轨迹跟踪控制。

The fuzzy controller is designed through introducing auto -tunning and fuzzy set, combining fuzzy control rule for time delay system and general rule for two - dimension fuzzy control.

采用模糊自调整控制方案整定PID参数，同时结合针对时滞系统的模糊控制规则和一般二维模糊控制器的通用规则，设计模糊控制器，充分利用模糊控制、内模控制、PID控制的优点。

For Haiphong, Emerson's comprehensive PlantWeb solution includes deployment of the Ovation control system for data acquisition, as well as for monitoring and control of the sequence control system, furnace safeguard supervisory system, and electrical control system for all major plant components, including the boiler, turbine, flue gas desulphurization system and balance of plant processes.

对于Haiphong，艾默生全面的PlantWeb解决方案包括：Ovation控制系统的部署、为监测和控制的程序控制系统、熔炉保护监督系统和控制所有电厂设备的电气控制系统。这些设备包括锅炉、涡轮、废气脱硫系统和工厂平衡过程。

Online tuning and relatively light calculation burden due to directly coefficient setting by formula extend this scheme to be used for fast-running process and mechanical equipment, numerical simulation over a wide range of system parameter variation shows that the recommended scheme is superior to both traditional PDF designed by Phelan's approach and relay feedback auto-tuning PID in terms of performance behavior .

大量的数值仿真试验表明，该自整定PDF控制方法具有良好的控制效果和在线调节性能，具有设计公式简单、相对计算量小的特点，能够应用于快速变化的过程和机械设备中。本文通过基于继电反馈的自整定PDF控制和基于Phelan法的PDF控制及基于继电反馈的自整定PID控制的比较研究，表明所提出的控制方法具有良好的控制效果。

Quasi-constant torque control is used when the speed is lower than 125 km/h, and constant power control is applied when the speed is higher than 125 km/h. Direct rotor flux oriented control system is employed and three-level neutral point clamped traction inverter with SVPWM control is adopted.

在速度低于125km/h采用准恒转矩控制，速度高于125km/h采用恒功率控制，采用直接转子磁场定向控制系统，牵引逆变器采用空间电压矢量控制的带中点钳位二极管的三电平拓扑结构。

The temperature voluntarily control system of composite material has adopted intelligent temperature control instrument ,it is a kind of type control instrument of face plate that can realize strict control as the litre of heating stove warms up speed and insulation time.

温度自动控制系统采用了智能温度控制仪，它是一种能对加热炉的升温速度和保温时间严格控制的面板式控制仪器。

It realized the PLC controlling over the autocontrol process of tank car cap seal head press on that base. It gave control program according to the control process, which carried out through the PLC of Q series, having verified the advantage of PLC′s control application in industry.

在此基础上，针对罐车封头压机自动控制过程进行了PLC控制的实现，针对控制过程给出了控制程序，并在Q系列PLC上进行了实现，验证了PLC在工业控制上的先进性。

As she looked at Warrington's manly face, and dark, melancholy eyes, she had settled in her mind that he must have been the victim of an unhappy attachment.

每逢看到沃林顿那刚毅的脸，那乌黑、忧郁的眼睛，她便会相信，他一定作过不幸的爱情的受害者。

Maybe they'll disappear into a pothole.

也许他们将在壶穴里消失