控制空间

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。

First, the paper reviews the development and research of AC transfer speed system, introduces the different control strategy of transfer speed system for asynchronous motor, and discusses the basic principle of vector control system for asynchronous motor in detail,including the mathematics model and coordinate transformation of asynchronous motor, the fundamental equation of vector control, the estimation method of rotor flux, the system structure of vector control etc. Then, the paper lays stress on the fundamental principle, control algorithm and realization method in TMS320LF2407 of space vector pulse width modulation technology.

本文首先简述了交流调速系统的发展和研究重点，介绍了异步电机调速系统的不同控制策略，详细论述了异步电机矢量控制系统的基本原理：异步电机的数学模型和坐标变换、矢量控制的基本方程式、转子磁链的观测方法、矢量控制的系统结构等，并重点分析了空间矢量脉宽调制技术的基本原理、控制算法以及在TMS320LF2407中的实现方法。

The operation and control interaction analysis between main fractionator and stabilizer of FCCU is given.

stabilizer control ； system design ；分析了催化裂化装置稳定塔的先进控制问题，讨论了主分馏塔与稳定塔之间操作控制的关联性，基于状态反馈预测控制，根据装置的操作运行情况及关联性分析，使用现有的测点，对稳定塔建立了用于实时控制的简化状态空间数学模型，以在线计算稳定汽油饱和蒸汽压作为被控变量，设计了稳定塔先进控制系统。

For the voltage space vector close loop control-based strategy, based on the proportional-plus-integral-based control scheme, a new control scheme composed of an adaptive resonant controller and a PI controller is proposed in the paper, by which the stator voltage waving is almost elimited, and a very well control performance is achieved for stator voltages, naturally, the softly cut-in control is realized.

针对基于空间电压矢量闭环控制的这一投切方案，在PI调节器控制的基础上提出了自适应谐振调节器与PI调节器并行控制的控制策略，有效抑制了定子电压幅值的波动，使定子电压具有较好的控制响应，进而实现了双馈风力发电机零电流切入电网的目的。

Based on analysing the respective characteristics of regular PID controller in trational control theory and fuzzy logical controller in intelligent control theory, the idea and technique of expert system is introduced to develop a novel kind of hybrid intelligent controller. It can coordinate two kinds of control algorithms and tune the control parameters on-line for different working zones of the controlled process.(3) The hybrid knowledge expression model, which combines discrete state space model, fuzzy relational model and rule base model, is proposed based on analysing the characteristics of all kinds of knowledge expression models. The knowledge of the controlled process in different aspects can be expressed resonably by it. Based on the model mentioned above, the related optimization strategy for complex system is developed.

本文的主要贡献体现在：（1）以炼油厂的催化裂化装置和钢铁联合企业的大型焦炉装置两个典型的复杂工业过程为例，分析了工业大系统的许多不易控制的特性，并归纳了其中的几个典型特征；（2）针对经典控制理论中的常规PID调节器和智能控制技术中的模糊逻辑控制器各自的特点，通过引入专家系统的思想和方法，开发了一类混合式专家控制器，它同时具备在线协调两种不同控制规律和自动学习控制规则的能力；（3）通过分析各种知识表达模型的特点，提出了一类包括离散状态空间模型、模糊关系模型和规则基模型在内的混合知识表达模型，它能对过程知识在各个不同侧面给予合理的描述。

The effect of the natural enemies were assessed according to the analysis, which revealed that the parasitoids played more significant role than the predators, and that Citrostichus phyllocnistoides which had the closest synchrony and sympatry with citrus leafminer P.citrella, should be considered as dominant natural enemy, and be protected and utilized to control the citrus leafminer. Wide niche and distribution as Orius sauteri has, its narrow overlap showed the less close sympatry and synchrony as well as impossibility to control the prey.

寄生性天敌群子强于捕食性天敌群子，表明在自然环境中寄生性天敌群子对桔潜蛾的控制作用强；捕食性天敌小花蝽Orius sauteri虽然食谱生态位宽，但生态位重叠却小，说明这种天敌尽管分布广泛，可在时间和空间上没能有效"跟随"害虫的发生，对害虫控制作用不大；寄生性天敌短腹桔啮小蜂Citrostichus phyllocnistoides与桔潜蛾在时间上的同步性和空间上的同域性均优于其它天敌，为优势天敌，应加以保护和利用。

A friction compensation algorithm based on the feed-forward and fuzzy theory is implemented after analyzing the friction characteristic of HIT-1 dextrous robot hand.

在基于指尖力的阻抗控制中，定性分析了摩擦力对自由空间中的位置跟踪和约束空间中的力控制的影响，并结合HIT-1机器人灵巧手摩擦力的具体特点，提出了前馈加模糊的摩擦力补偿方法。

There is w ireless signal control in two independent spaces including above and below the top controlling. Switch controlling untouchably can solve the safe problems fundamentally .

智能空间实现二个独立空间的无线信号控制，开关控制无接触，从根本上解决安全问题

There is wireless signal control in two independent spaces including above and below the top controlling. Switch controlling untouchably can solve the safe problems fundamentally.

智能空间实现二个独立空间的无线信号控制，开关控制无接触，从根本上解决安全问题

Based on the characteristics of space kinetic energy interception and advantages of proportional guidance, taking controlling the undershooting rate into account to increase precision, a terminal guidance method was designed to space kinetic energy interception problem.

针对空间动能拦截的特点，利用了比例导引法控制视线转率的优点，兼顾考虑了控制脱靶量以提高动能拦截精度，设计了空间动能拦截末段导引法。

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。