控制空间

In this paper, the dynamics and control problems of free-floating spacemanipulator systems are studied.

讨论了载体位置与姿态均不受控制的漂浮基两杆空间机械臂系统的控制问题。

The control problem of free-floating space manipulator to track trajectory in joint space was discussed.

讨论了载体位置、姿态均不受控制情况下，漂浮基空间机械臂关节运动的控制问题。

The paper says, in order to deal with the challenges of knowledge economy and economy globalization, as well as to re-set up public confidence in accounting profession, we need to step up accounting management reform and innovation as follows on one hand: use international experience for reference to accelerate the process of accounting internationalization, and reduce chances of providing false account; carry out outside and inside supervision at the same time, that is, improve corporate governance and internal control system, deal with "insider control problem" from inside of the system, and fundamentally resolve the problem of corporate accounting falsification; intensify government supervision and profession self-discipline from the outside, and strengthen punishment; set up civil litigation and civil compensation system, especially to run corporation deputy's liability so as to make false account provider get more kicks than halfpence, and restrain or eliminate falsifying impulse.

分析认为，为迎接知识经济与经济全球化的挑战，重树社会公众对会计业的信心，我国一方面急需加快会计管理的改革：借鉴国际经验，加快会计国际化进程，压缩会计造假的空间；实行内外监管并举，即在内完善司治理结构、建立健全内部控制制度，从系统内部解决"内部人控制问题"，以从根源上治理财务造假等问题，在外加强政府监管与行业自律并举，加大惩处力度，建立民事诉讼和民事赔偿制度，尤其是加大对公司法人代表的责任追究力度，以使蓄意提供虚假会计信息变得得不偿失，从而抑制或消除其造假的冲动。

With the merits of space vector modulation: digitized control,harmonic decrease,high ratio of voltage used,fast dynamic response and so on,and at the same time deadbeat and DSP control is introduced, as well as two-loop control of the system,we gained power factor is near unit and current THD is well below 10% in our digitized arc welding power system.

基于空间矢量脉冲宽度调制技术的易于数字化、可降低谐波、电压利用率高、动态响应快等特点，引入无差拍思想、总体系统的双环控制思想和DSP控制，实现了功率因数为1，电流谐波畸变远小于10％弧焊电源系统的数字化。

According to this understanding, this thesis tries to modify PSO algorithm in order to improve its quality of solutions. The main approches include: using uniform design to ensure the uniform distribution of initial particles in the design space; adding mutation operation to increase the diversity of particles; decreasing the maximum velocity limitation and the velocity inertia automatically to balance the local and the global search efforts; developing a new approach to treat the design variables exceeding the bounds; using extensive local searches to escape local minimum. The overall effect of these approaches can yield better results for most test problems.

有鉴於此，本文针对粒子群演化法之流程参考相关文献并稍作改变，使得粒子群演算法在结果的收敛上更具优势，本文的主要改进的方法包括：应用均匀设计的概念使得初始的粒子可以更均匀地分布在空间上；利用突变增加粒子之间的差异性与多样性；利用适当控制的最大速度限制及惯性权重控制，达到区域搜寻与全域搜寻的效果；应用新的边界处理机制处理设计变数超过上、下限的问题；利用区域强化搜寻针对粒子附近地区，再作进一步的搜索以得到更佳之结果；将各种方法综合后配合粒子群演算法使用，可以得到不错的结果。

In order to improve our CNC system to a higher level, an interpolation problem of circular in an arbitrary plane was also studied in the paper, where three kinds of interpolation algorithm were given, their feasibility were analysed and compared, and the best algorithm was obtained; In the end of this paper, a new concept of zero—following error position control was advanced, whose control principle and algorithm wre derived.

为使数控系统向更高档次发展，本文还研究了空间圆弧插补问题，给出了三种插补算法，通过分析比较，得到了最佳算法，并用汇编语言进行了可行性验证；在本文的最后，提出了零跟随误差位置控制的概念，并推导出了控制原理和算法。

The missile linear fractional transformation model was established by the graph approach,and the missile's dynamics was separated into certainty part and uncertainty part.

线性分式变换是继传递函数和状态空间表达式之后一种新的被控对象描述手段，被广泛地应用于鲁棒控制及线性参数时变控制系统的分析与综合中。

With the linear and angle momentum conversation, the system state equations for control are gained. And then Through the Lyapunov approach, the input law of the manipulator joint motion and control for work is received.

为此，以空间机器人系统的动量、动量矩守恒关系为基础，转化建立了控制系统设计所需的状态方程，并利用Lyapunov 直接方法，来获得满足任务要求的机械臂关节运动及控制输入规律。

An algorithm is established for compensating springback in sheet metal forming based on the theories of linearity closed loop control system, space Fourier transform, and transfer function in frequency domain as well as die experiment iteration.

以冲压件回弹引起的尺寸误差为控制目标，以线性闭环控制系统、空间Fourier变换和频域传递函数为理论基础，基于模具实验迭代，建立了模具回弹补偿修正算法。

By using Flash software produced a number of fluid flow in the animation, including the viscous flow in vivo experiments indicate friction, rotation speed Dengjiao containers of liquids in relative balance, the system and control of, weak disturbance in the transmission space - Mach cone, the disturbance wave Dissemination process, bypassing the wings of the two-dimensional flows, ease converter and blast crisis and stagnation flow indicate parameters and critical parameters such as the concept that a number of animation, produced by sports meeting between the animation, shape meeting between animation, masking animation and time Axis to achieve those effects the flow of fluid animation, and by adding these buttons used to control the flow of fluid animation, and so will the speed of the fluid flow in a clear show up.

本文利用Flash软件制作了流体若干流动现象的动画，包括粘性流体内摩擦实验示意、等角速旋转容器中液体的相对平衡、系统与控制体、微弱扰动在空间的传播——马赫锥、扰动波传播过程、绕过机翼的二维流动、缓变流与急变流示意以及滞止参数和临界参数的概念说明等若干动画，通过制作运动补间动画、形状补间动画、遮罩动画和时间轴特效来实现这些流体流动的动画效果，并通过添加按钮用于控制这些流体流动的动画的速度等将上述流体流动现象清晰的展示出来。

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。