控制空间

ARMER takes error occurs at both upstream and downstream of active node into account and implements both NACK aggregation and suppression in active node.

提高了发生空间相关丢包情况下的反馈控制效率在发生空间相关丢包情况下，反馈消息数目剧烈增多，极容易引发"反馈闭塞"问题，而现有的反馈消息控制策略普遍效率较低。

The most striking feature of this machine is the realization of the space saddle-type welding seam welding control system by using the interpolation arithmetic, which can replace the method of mechanical differential outfit simulated space curve movement, guarantee the stability of the welding line, and make the track of the welding blowpipe more accurate and the mechanical structure simpler.

本机最大特点在于用运动控制方式，利用插补运算方法实现空间马鞍型焊缝的焊接控制系统，保证焊接线速度恒定，取代用机械差动机构模拟实现空间曲线运动方法，使得焊枪运动轨迹更加准确，机械结构变得简单。

Firstly, from Gauss' equations and relative motion equations, the relation of control impulse and relative motion was expressed as analysis formulas and simplified based on the near circular condition. By deeply analyzing the mechanism of impulses in each directions (radial, in-track and cross-track directions) effect on relative motion respectively, two maneuvers to establish formation flying are provided: one is to utilize the impulses in radial and cross-track directions, the other is to utilize the impulses in along-track and cross-track directions. Both of the two methods can establish satellite formation flying of any configuration. The method with impulses irradial and cross-track directions needs only 3 impulses, while the method with impulses in along-back and cross-track directions needs 4 impulses. Lastly, by an example of establishing a space-circle formation flying, two maneuvers were compared with each other in the amount of impulses and fuel consuming estimation.

首先由高斯型拉格朗日轨道摄动运动方程得到轨道坐标系中控制冲量与轨道根数偏差的关系，基于近圆轨道的条件简化并带入相对运动方程，得到控制冲量与相对运动的关系表达式；通过深入分析各个方向（径向、沿迹向与轨道面法向）的控制冲量对相对运动的影响，给出了分别用径向与轨道面法向控制冲量组合和沿迹向与轨道面法向控制冲量组合实现编队捕获的两种控制策略；最后给出了一个空间圆编队捕获实例，并从燃料消耗、施加冲量次数及捕获时间等角度对比研究了两种控制策略的特点。

The mentioned control scheme can effectively control two joint of space manipulator to stably track the desired trajectory in joint space. It has obvious advantages that with needless feedback and measured the position, velocity, acceleration, attitude angle velocity and attitude angle acceleration of the floating base. At the same time, no requirements for the dynamic equations of the system are linearly dependent on inertial parameters.

文中提到的控制方案能够有效地控制漂浮基空间机械臂的载体姿态及机械臂关节，可以协调地完成期望的轨迹运动，并具有不需要反馈和测量空间机械臂载体的位置、移动速度、移动加速度，同时也不要求系统动力学方程关于系统惯性参数呈线性函数关系的显著优点。

Tectonic subsidence play dominant role in their geometric shapes, basin fillings, sequence evolution and sediment distribution in the Wushi Sag. Outline of the sequences are in shape of box-wedge or sheet-wedge and boundaries of sequences are varied from bilateral fault to monoclinal fault overlap, so that the sequences show distinct semigrabens which overlay in different ways. Seven sequences were formed in different stage of tectonic evolution. The sequence of SQ1 formed in initial rift stage and deposited alluvial sequence. Sequences SQ2-SQ4 developed in intense rift stage and sediment lacustrine sequence. Sequences SQ5-SQ7 formed in late period of rift before thermal subsidence and deposit mere and delta sediment. The place adjacent to the synsedimentary fault is the subsidence center and depocenter; meanwhile, controlling fracture migrates in horizontal made subsidence and sedimentary center of the sag changed.

构造沉降是控制层序几何形态，充填叠置方式、演化及沉积体系分布的最重要因素：凹陷由多个半地堑在不同层序发育时期以不同方式叠置联结而成；受断层控制，层序外部形态有箱状-楔形、楔形-席状披覆型，边界终止方式有双断终止型、单断终止超覆型；不同构造演化阶段层序内部充填的沉积体系各具特征，初始断陷阶段的SQ1沉积冲积层序，强烈断陷阶段的SQ2-SQ4充填湖相层序，晚期断陷阶段SQ5-SQ7内部充填浅湖和河流三角洲沉积；同沉积断层陡坡带沉降迅速、可容纳空间快速增长，是凹陷的沉积和沉降中心，断陷期主控断裂活动时间和空间的变化导致了凹陷沉积和沉降中心的迁移。

Around the topic, the weak points of the traditional platform is analyzed first, such as complex arithmetic, long calculating time, high needs of hardware and so on. A real time control method based on virtual simulation is suggested to separate the complex positive/negative calculation of space kinematic and real time motion control. And a"3-2-1"type 6DOF platform is designed with the reference of the MAST (Multi-Axis Shaking Table) of MTS. The kinematic and dynamic calculation of the platform is finished. According to the calculating result, the control system of the"3-2-1"type 6DOF platform including 6 linear servo electric cylinders is designed and constructed. And the professional software Pro/E is used to do the 3D model and 6DOF motion simulation of the platform. The motion curves of the pistons of the 6 cylinders are exported with the simulation. At last the control software is programmed with Microsoft Visual Basic 6.0 and realizes the functions with the commands of GE series motion controllers. When loading the motion curves exported with the simulation, every cylinder can follow the curve very well and the platform realizes the hoped 6DOF motion.

围绕选题，本论文首先分析了传统的运动平台控制方法所存在的算法复杂、解算耗时长、硬件需求高的缺点，提出了一种基于虚拟仿真的实时控制方法，该方法将复杂的空间运动学正、反解与实时运动控制相分离；之后，参考MTS公司的MAST多轴振动平台，设计了新型的"3-2-1"型六自由度平台，并进行了运动学及动力学计算，根据相关计算结果，设计与搭建了包括驱动6个直线伺服电动缸在内的"3-2-1"型六自由度平台控制系统；接着，使用Pro/E对"3-2-1"型六自由度平台进行了三维建模和六自由度运动学仿真，并由仿真直接获得了6个直线伺服电动缸的活塞杆的相应运动曲线；最后使用Microsoft Visual Basic 6.0编写了控制软件界面，通过调用GE系列运动控制卡的各种命令函数实现了控制系统的相关功能，而当加载仿真得到的各缸运动曲线后，每缸均能很好地跟踪输入曲线，使平台实现了期望的多自由度运动。

Direct torque control is another high performance control technique of AC motor, it discard the decouple idea of vector control, but adapt flux oriented control and transient space vector theory, directly control stator flux and torque, it has the advantage of rapid torque response and less relying on stator parameters, but has the disadvantage of bigger torque ripple.

直接转矩控制技术是继矢量控制技术之后的又一种交流电机高性能控制技术，它摈弃了矢量控制中解耦的控制思想，采用定子磁链定向和瞬时空间矢量理论，直接对电机定子磁链和转矩进行控制，具有转矩响应快、对电机参数依赖小的优点，但它的不足之处就是存在转矩脉动。

An instantaneous optimal semi-active control method is put forward. Combined sliding mode control with lyapunov's stability theory, the control weights matrix, which can minimize structural instantaneous energy, is designed. Simulation and shaking table test is conducted to validated the method's effectiveness. To solve combination explosion of controlled structural state encountered in high-rise building control, the semi-active control strategy, which can drive structural state point to reach the sliding mode switching band, is designed by using sliding mode control theory, and genetic algorithm is used to find the optimal semi-active switching to drive the structural state point to sliding mode switching band at prestissimo speed.

提出了一种瞬时最优半主动结构控制方法，利用滑模变结构控制理论和Lyapunov稳定性理论设计使结构瞬时能量最小的半主动控制权矩阵，仿真实例和振动台试验验证了本文所提方法的有效性和实用性；为解决在高层建筑半主动控制中半主动控制器状态组合爆炸的问题，利用滑模变结构控制理论设计在Lapunov稳定意义下使结构在运动状态空间中任一相点于以最快速率到达滑模切换带的半主动控制策略，并用遗传算法找出了最快到达滑模切换带的半主动控制切换组合。

In the experiments, the accelerometer and the microphone are used respectively to measure the acceleration on the panel and the sound pressure in the cavity. Piezoelectric ceramics Transducer is used as the control source to control reverberant sound field transmission through a simply supported rectangular aluminium panel into a concrete cavity.

实验中采用加速度计和话筒作为传感器拾取板振动的加速度和闭空间内的声压信号，用压电陶瓷片作为振动控制源来控制混响声场通过简支矩形铝板向混凝土闭空间的声传入。

G■teaux differentiability of seminorm and completeness of seminorm space;2. It gives a new seminorm to solve the problem in motivating transient signals robust H∞control to persistent signals.

通过引入新的范数解决了瞬时信号鲁棒H∞控制理论向持续信号鲁棒H∞控制推广过程中A 半范定义的信号空间是非线性空间问题。

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。