控制空间

In addition, the mutual combination between teleoperation and autonomous control is the development direction of space robot for the long time, it not only can make use of the intellignece of human being but also can make operator release from the trivial busywork to resolve the problem of excess fatigue and easy mistake of operator.

另外，遥控操作与自主控制相互结合的共享控制是今后很长时间空间机器人的发展方向，它不但能最大限度发挥人的智能，而且使操作员从琐碎的作业中解放出来，解决操作员的过度疲劳与失误问题。

Based on the relationship between the discrete-time difference equation and its observable state-space canonical form, the explicit solution to Diophantine equation in generalized predictive control is derived.

利用被控对象的离散差分方程与其状态空间能观标准型之间的关系，推导出广义预测控制中Diophantine方程的显式解，从而避免了其递推求解，使广义预测控制的应用更加方便。

First, the state～space equation of the circular inverted pend ulum system was established based on the Lagrange Equation. On the base of that, the circular inverted pendulum was swung up by the energy control strategy, and the controller of the system was designed by the pole placement of the optimal control theory. Second, in order to realize the observation for the unknown vari ables, stable state observers were designed based on the equivalent principle of sliding mode variable structure.

该方案在采用 Lagrange 函数建立状态空间方程的基础上，利用能量控制策略实现自动起摆；采用最优控制理论中的极点配置法设计倒立摆系统的控制器；同时利用滑模变结构的等值原理设计观测器，实现对系统未知状态变量的观测。

The drive system adopts 5 independent drive mechanisms and a common drive mechanism, therefore both the working space and cost are reduced. In the design of the control system, the hydraulic servo technique and modern control technique are applied. The hydraulic stepless variable speed device adopts compound open and closed static pressure drive pattern, ensuring the smoothness of the drive.

其中的传动方案设计中采用5个独立的传动系统和1个共用的传动系统，既节约了空间和成本，又满足了技术要求；控制系统设计中运用了液压伺服技术和现代控制理论技术；液压无级变速装置采用闭式和开式静压传动系统相结合的方式，传动系统平稳，波动小。

It is pointed out that,for overcoming time-delay infection of teleoperation of space robot and ensuring the stability and transparency of telerobot system in space,developing strategies should be that ①augmented reality technology with multi-apperception and robustness is adopted for configurative,certain and static environments;②the control technology of intelligent independence in slave local system with vision assistant is adopted for non-configurative, uncertain and dynamic environments;and ③intelligent control technology with multi-modes is adopted for multi-states environments.

指出就目前的技术发展水平而言，要能够有效地克服时延以确保空间机器人遥操作稳定性的同时系统具有良好的操作性能，应该采取的策略是：①在结构化的、确定性的和静态环境下，采用具有鲁棒性的多感知增强现实技术；②在非结构化的、不确定性的和动态环境下，采用视觉引导下的从端局部智能自主控制技术；③在多态环境下，采用多模式智能控制技术。

Different from the traditional way, this control technology conquers the limit of the space and realizes the sharing of resources and technology.

使得传统的无刷直流电机控制摆脱了空间的限制，通过网络实现了远距离的控制，极大的方便了操作，同时也实现了资源和技术的共享。

In this paper, based on the analysis of the structure, movement principle and math model of PMSM, fundamental theories of vector control, coordinates transform and algorithm of space vector PWM are introduced and PI control, speed and position calculation methods are discussed.

本论文在分析了PMSM的结构、运动原理及数学模型的基础上，系统地阐述了PMSM交流伺服系统矢量控制的基本原理、坐标变换方法及空间矢量脉冲宽度调制波的生成算法，论述了PI控制算法和速度位置计算方法。

Research about China must study her control approach, because in human history, you cannot find another one like Chinese culture, which has been entirely controlling the citizen抯 life not only in political and conscious level, but also the substantial and spatial realm coving from macro-scale urban planning, through the traditional architectural construction regulation, to every sophisticated detail of daily life since thousands of years ago.

研究中国必须要研究其控制方式。因为历史上恐怕再难找到像中国文化这样，在几千年中如此事无巨细地讲究控制，不仅是在政策和意识形态上，并且也是物质化和空间化的：从城市规划的宏观规则，建造营造的中观法式，到生活用品的每一个微观细节。

Based on stop line way the capacity formula of dual signal control takes the ring road parking capacity into account. Then, the conditions of implementing single or dual signal control from the perspective of capacity are analyzed comparatively.

其中单重信号控制环形交叉口通行能力分无冲突时间和冲突时间两部分进行分析推导，双重信号控制环形交叉口通行能力是在停车线法基础上考虑了环道空间停放能力而进行分析推导的。

In this paper, a specimen of the inverter system adopted a TMS320LF2407 DSP chip as its controller by using constant V/F control and space vector PWM technique is designed. Some key Problems are analyzed in theory and methods of them are put forward.

鉴于此，本文利用TMS320LF2407DSP作为控制芯片，采用恒压频比的控制方式和空间矢量调制策略研制了一台变频器的样机，并对一些关键的问题给予理论分析并提出实现的方法。

However, as the name（read－only memory）implies, CD disks cannot be written onorchanged in any way.

然而，正如其名字所指出的那样，CD盘不能写，也不能用任何方式改变其内容。

Galvanizes steel pallet is mainly export which suits standard packing of European Union, the North America. galvanizes steel pallet is suitable to heavy rack. Pallet surface can design plate type, corrugated and the gap form, satisfies the different requirements.

镀锌钢托盘多用于出口，替代木托盘，免薰蒸，符合欧盟、北美各国对出口货物包装材料的法令要求；喷涂钢托盘适用于重载上货架之用，托盘表面根据需要制作成平板状、波纹状及间隔形式，满足不同的使用要求。