控制空间

Single loop instantaneous voltage feedback control and multiple loop feedback control, which can be realized by digital method or analogue method, are normal control strategies of inverter. The controller's performance of a same control strategy designed by different designers is different This paper makes out uniform analysis and design theory of inverter control strategies with pole-assignment technique of state-space theory for the first time. It is firstly proposed that controller parameters being equal to control system orders is the base of realizing high performance inverter. Design and performance comparability of various controllers is presented with uniform pole-assignment method.

本文首次采用状态空间理论的极点配置技术，对逆变电源的几种控制策略进行了统一的分析和设计，首次提出控制器控制参数与控制系统阶数相等是高性能逆变器控制实现的基础，并通过极点配置这种统一的设计方法对各种控制器进行了设计和性能比较，分析了要考虑的一些非理想因素的影响。

College of Guandong Business, Guanzhou 510320, China）Abstract: Since large-scale vertical quench furnace is voluminous, whose working condition is a typically complex process with distributed parameter, nonlinear, multi-inputs/multi-outputs, close coupled variables, etc, dynamically decoupling control algorithm of temperature distributed parameter system in the furnace was presented, by which the whole system was decoupled to several subsystems and the implementation of controller was simplified. With finite difference approximation, the space and time step size was solved to ensure the convergency of finite difference approximation. After decoupling, the subsystems were controlled with self-learning PID control algorithm. The results show that the temperature control precision and homogeneity are improved; the overshoot and process in temperature rising period are reduced simultaneity.

摘 要：针对大型立式淬火炉体积庞大，工况复杂，炉内温度分布呈本征非均匀性，具有多输入/多输出、非线性、强耦合等特性，难以实现炉内温度高精度高均匀性控制目标等问题，提出一种温度分布参数系统动态解耦控制算法，其原理是：采用有限维逼近方法将对象解耦为多个独立的子系统，简化控制器的实现过程；通过分析有限维逼近方法的收敛性，获得保证收敛性的空间和时间步长应满足的条件；解耦后的子系统采用自学习PID控制算法，实现炉内温度高精度和高均匀性控制以及升温过程的快速性和小超调。

In the implementation of the DTC method, two hysteresis comparators are used to control the magnetic flux and torque, and the switching of the inverter is decided by a optimized switching table.

控制系统采用磁链及转矩滞环比较方法得到控制量，并通过查控制电压开关表选择最优电压空间矢量的方法实现对电机的直接转矩控制。

According to the real time control experiment of the"3-2-1"type 6DOF platform, it proves that the real time motion control based on virtual simulation is a feasible control method. The designer himself needn't do the modeling and solving of the kinematic positive/negative calculation of the complex space structure and it deeply reduces the needs of the control hardware.

通过所进行的"3-2-1"型六自由度平台实时运动控制实验可以证明，所提出的基于虚拟仿真的实时运动控制是一种可行的控制方法，它不仅不需要设计者自己直接进行复杂空间机构的运动学正、反解的建模与求解，而且极大地降低了对系统控制硬件的要求。

Sliding mode variable structure space vector modulate direct torque control is selected for electro-servo system, and different parts of servo system is modeled.

由于海浪的随机扰动等因素的影响，对电磁转矩的控制成为了伺服控制的关键，最终确定伺服系统的控制方式采用滑模变结构空间矢量直接转矩控制，并建立了系统各部分的数学模型。

Simulation model （subtopic 3.2）, and the real-time implementation of simulation （subtopic 3.3）; in subtopic 3.2, we point out that our simulation model should select Adams Prediction-Correction integration method for handling the complexity of AUV model and that the step length of integration should be 10 ms ; to sum up, our simulation system, using a high-performance industrial control computer, can real-timely simulate dynamics of underwater vehicle and its sensors and executors by using multi-function data acquisition card and serial ports.

该半实物仿真系统由实时仿真计算机和真实的导航控制计算机构成，实时仿真计算机完成AUV空间运动的实时积分解算，并利用多功能数据采集卡和串行通讯端口模拟AUV导航控制系统中的传感器和操舵机构的工作，为导航控制计算机提供全真的软硬件工作环境，使开发人员在此基础上能够完成导航控制软件全部功能的开发，并进行全面、有效的系统级软件测试，具有非常高的工程实用价值。

In order to make cross joint type universal coupling long service life , puts forward setting up the torque examining system to control the torque, inspecting the position of input and output equipment to control the space position of the coupling and reduce the influence of additional force moment and control ling the balance force and the bearing clearance and so on, to avoid the coupling premature failure or shattering of the coupling.

为使十字轴式万向联轴器长寿命服股，提出了设置转矩测试系统控制转矩；通过监测输入及输出设备的位置控制联轴器的空间位置，以减少附加力矩的影响；控制平衡力及轴承间隙等技术控制措施，避免联轴器过早失效或损坏。

In chapter Ⅰ, a historial review of structure control is given; In chapter Ⅱ, A discussion of the controllability and observablity of flexible structures is given, Two kinds of controllability and observablity index are defined, and applied to actuator allocation; chapter Ⅲ considers the reduction of high order flexible structure mode; the content of chapter Ⅳ is about the basic problem of distributed parameter control system design. It is proved that a stable controllor in mode space may be unstable in real use in distributed paramater systems, also, by closed loop mode concept, a pole assignment method of flexible structure controllor design is given; chapter Ⅴ is about the low-authority controllor design, it is pointed out by use of high order eigenvalue/eigenvector perturbation, a better controllor can be designed; chapter Ⅳ considers flexible structure reduced order control; chapter Ⅶ disscusses the basic problem of flexible structure computer control, analyses discreate controllablity and observablity and its computing, the sample period and coefficient wordlength; chapter Ⅷ is on the problem of low flexibility compensation; chapter Ⅸ is a design example.

在第一章简要回顾了挠性结构控制的历史，并且指出控制中的一些问题；第二章讨论了挠性结构的能控性与能观性，定义了两类能控性程度和能观性程度指标，还将能控性程度概念应用于执行器位置的确定；第三章论述了高阶模型的降价问题，比较了适于挠性结构模型降阶的方法，指出其适用范围；第四章内容是分布参数系统设计的基本问题，首先证明在模态空间中设计的稳定的控制器在实际分布系统上可能是不稳定的，进而根据闭环模态的概念，获得挠性结构控制器设计的极点配置方法；第五章的内容是关于低权控制器的设计问题，指出利用特征值高价摄动和特征向量的摄动，可以设计出更加完善的低权控制器；第六章讨论挠性结构降阶控制问题；第七章讨论挠性结构计算机控制的基本问题，分析了时间离散化模型的能控性和能观性及其计算问题，讨论了采样周期选择和系数字长问题；第八章讨论低挠性结构的补偿问题；第九章的设计例子用来说明第二章和第四章的结果。

He provides technical direction during projects involving industrial hygiene, indoor air quality, fungal and bacterial growth assessment and abatement, safety engineering, environmental health issues, injury and illness prevention, accident investigation, hazard communication, asbestos hazard assessment and abatement consulting, lead hazard assessment and abatement consulting, noise evaluation and control, confined space entry, tunnel and underground shaft gas testing, health and safety program and policy development, waste analysis, evaluation of ventilation systems and other engineering controls, assignment of personal protective equipment including respiratory protection, drinking water quality assessment, OSHA audits, material safety data sheet development, emergency response coordination and emergency preparedness, and international occupational health and safety regulations.

为凡是涉及以下内容的项目提供技术指导，包括工业卫生、室内空气质量、真菌和细菌生长评价及消除、安全工程、环境健康问题、工伤和疾病预防、事故调查、危害通识、含石棉物质监测与控制、铅危害评价与控制、噪音监测与控制、密闭空间进入、隧道和地下矿井气体测试、健康安全计划与方针发展、废物分析、通风系统和其他工程控制评价、个人防护用品使用、饮用水质量评估、OSHA审核、改进物料安全数据表、应急响应调节和应急准备，以及国内外职业健康与安全法规。

In this paper, Plate Girder Element and Virtual Laminated Element were used to analyze P.

中文题名预应力混凝土斜拉桥施工控制研究副题名外文题名 Construction control study of P.C.cable-stayed bridge 论文作者施笃铮导师徐兴项贻强教授学科专业结构工程研究领域\研究方向学位级别博士学位授予单位浙江大学学位授予日期2002 论文页码总数123页关键词预应力混凝土斜拉桥施工控制斜拉桥桥梁施工馆藏号BSLW /2002 /U448 /36 本文用平面杆系理论和空间虚拟层合单元法，在对预应力混凝土斜拉桥整桥结构进行分析的基础上，用正装迭代法对该斜拉桥进行分阶段施工仿真分析；又通过建立有约束的非线性优化模型，对预应力混凝土斜拉桥的施工控制参数（初始张拉索力和立模标高）及成桥状态进行优化，进而建立预应力混凝土斜拉桥施工控制系统。

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。