数学模型

Based on the analysis of the mechanism of robot manipulators, a trajectory tracking controlling research model is first built up with ADAMS, and its mathematical model is formulated through the study of robot kinematics and dynamics. After the modeling errors are analyzed in practical robotic systems, a conception of centralized error is brought forward according to the theory of weighting functions. In the case of modeling errors' exist, the robotic uncertain model is derived by introducing an auxiliary control variable into inverse dynamic analysis. The control strategy of robust exponential convergence is applied to the robotic uncertain model, the applicable conditions and the applicable controller with this application are presented. The stable control effect under three main model uncertainties (parametric errors, joint disturbs, joint frictions) are systematically studied on the previously built research model. The problems of robust exponential convergence controller which often results in unstable output and so produces a large relative error when the input trajectory is in a small range are resolved by adjusting the control parameters based on the controller's structure.

本文在机械手的机械结构分析基础上，利用ADAMS建立了用于机械手轨线跟踪控制研究的机械手模型；通过对机器人运动学和动力学问题的研究，建立了机械手研究的数学模型；分析了机器人系统中模型误差的主要来源，根据加权函数法分析，提出了模型集中误差的概念；在存有模型误差的情况下，采用逆动力学结构并引入辅助控制量，由机器人误差模型推导了机器人非确定性模型；提出了采用鲁棒指数收敛法对上述机器人非确定性模型进行鲁棒镇定的控制策略，并给出了对机器人进行鲁棒指数收敛控制时系统不确定因素应满足的匹配条件；针对机械手研究模型，深入研究了鲁棒指数收敛控制器对机器人系统中常见的模型参数误差、关节扰动、关节摩擦等不确定因素的镇定控制效果；针对鲁棒指数收敛控制器易产生控制量振荡的问题以及在小范围内系统轨线跟踪的稳态误差过大问题，本文分别提出了基于控制器结构的控制参数调整法和基于轨线跟踪范围大小的控制参数分段切换法。

According to characteristic of model parameters, direction criterion based on model parameter identifying is proposed to decide the direction of faults.

本文提出了一种新的基于模型参数识别的快速方向元件，即将线路分别等效为R-L模型、T模型和Π模型，然后建立相应线路等效模型下区内、区外故障时的数学模型，利用最小二乘法求解模型参数—系统电阻R和系统电感L，根据得到的模型参数的特性，构造出基于模型的参数识别方向判据，从而判断出故障的方向。

The main work and innovation1 In general , a image compression method has different effect to different image . Some are fit for image which has much high frequency . Some are fit for image which has much low frequency .This paper analysis the applicability of fractal algorithm . In this dissertation , an improved algorithum is given . The basic algorithum without eight change and the joint use of quantitative coding , The compression ratio and PSNR can be adjusted , and it can get more quickly speed of coding .2 To a group of exact fractal code , the decoding image can be any resolution .With this characteristic ,choose the proper domain block and range block,this paper get an algorithum which can get higher decoding PSNR and speed than the basic fractal algorithum.3 Give a new method to calculate the scale factor . The calculation of basic algorithum is complex and enormous . The factor of scale is an important variable of the basic algorithm. Now there are two methods to calculate the factor of scale .A new method was given to calculate the factor of scale. The calculation load and complexity are reduced by the new method. Compared with the basic algorithm , the method can reduce coding time.4 The basic fractal algorithum is based on the Collage theorem and contraction mapping theorem . A mathematic model based on basic fractal algorithum is given .

本文的主要工作及创新点主要包括以下几点：1一般情况下，一种图像压缩的方法对不同特点的图像，压缩效果会有所不同，本文利用分形压缩编码对不同特点的图像进行编码，分析了分形编码对不同图像的编码适用性，利用去掉8种变换的分形编码算法与简单的均匀量化编码方案相结合，得到了一种可以调节压缩比与解码质量的分形编码方案，该提高编码速度6倍以上。2分形编码的特点之一是分形解码的分辨率无关性，即对于一组分形编码可以将其解码到任意分辨率下，本文利用分形编码的这一特点，结合不同的量化编码方案，选择合适的定义域块与值域块及适当的编解码分辨率，得到了一种提高解码质量，编码速度提高12倍以上的加速算法。3比例因子是基本分形算法中的一个重要变量，目前有两种计算比例因子的方法，文中给出了一种新的求比例因子的方法，该方法简化了求比例因子的计算，从整体上减小了基本分形算法的计算量，简化了算法4分形压缩的数学基础是不动点定理与拼贴定理，本文根据基本的自动分形编码方法，建立数学模型对其进行推导，得到了用普通数学的极限理论解释分形编码的数学表达式，从而对由基本分形编码得到的解码图像中的像素点的值给出了确定的表达式。

The absolute solution of Jiaojia ERP is put forward, the system models are established, and the solution are explained in detail. The business program of Jiaojia gold mine is reengineered based on the theory of "business centers", and the program-oriented compressed organization is framed. The index group and the solution of mine total quality management are setup. Then the optimize program of SCM and its components are designed on the guidance of "Horizontal Integration". The data of Jiaojia gold mine are reengineered based on the data warehouse technology. The information integration can be available after the establish of the business oriented databases, the subject integration oriented data marts, the application oriented data warehouses, the code databases and metadata, as weil as the OLAP system. The mathematics models and data mining modes are set up to function for the decision support of ERP system. The model of programming Master Production Schedule driven by geological resources and marked is figured out, so as to the models for material requirements planning and other decision supports are set up. The models provide service in forms of model storehouse, method storehouse, and algorithm tools center. The agent center is introduced to process the models' organizing, service, as well as self-study. The function system of Jiaojia gold mine ERP is figured out. By combining the development characteristics of Clients/Server and Browse/Server, the general framework and every sub systems are described in detail, including the function, structure, arrangement, modality, and so on.

主要内容如下：（1）深入论述了黄金矿山实施ERP的可行性，并结合应用需求将ERP理论在深度和广度上进行了拓延，建立了黄金矿山ERP系统的理论基础：以资源与市场共同驱动的供应链管理；黄金矿山的双重物流体系；以地质资源有效利用为目标的生产控制体系；黄金矿山财务管理的成本控制核心理论等；（2）提出焦家金矿ERP系统的整体解决方案，构建ERP系统模型，并进行了细节方案的设计：基于"作业过程核心"理论重新规划焦家金矿的业务流程，在此基础上设计面向流程的"扁平化"组织机构；建立了矿石全面质量管理的指标体系和实施方案；以"横向一体化"为指导思想，提出供应链管理各组成部分的全面优化方案；（3）以数据仓库技术为核心完成焦家金矿的数据规划，分别建立面向业务的数据库、面向主题集成的数据集市和面向主题应用的数据仓库，设计代码数据库和元数据库，定义OLAP方式，实现焦家金矿的全面信息集成；（4）针对ERP系统中的决策支持功能，建立了相应的数学模型和数据挖掘模型，提出了地质资源和市场共同驱动的主生产计划模型制定过程，进一步建立了物料需求计划的线性规划模型，以及其它决策支持模型；提出以模型库、方法库和算法工具为核心的模型服务方式，并设计了代理机制完成模型的组织、服务和自学习过程；（5）构建焦家金矿ERP系统的功能体系，针对C/S和B/S模式系统的开发特点，分别对功能体系架构以及各子系统的功能、结构、层次和形式进行详细设计。

Research and development of ABS/ASR for HFC6820 light bus is a challenging project. In fact the dissertation is a report of the project. In this dissertation a logic threshold controller based on the driving wheel skid rate is successfully designed for the HFC6820 light bus.

结合江淮汽车集团生产的HFC6820客车，建立该车驱动过程的数学模型和计算机仿真模型，包括：整车动力学模型、车轮模型、发动机模型、传动系模型、轮胎-地面模型、制动器模型、ASR控制逻辑。

A integrated mathematical model was established in accordance with the process of metallurgical production and it was composed of the process models and the raw materials distribution models. The process models include the sintering process model, the pelleting process model and the iron making process model.

数学模型分为6个子模型，其中工艺模型有烧结机优化模型、竖炉优化模型、高炉优化模型，物料配置模型有铁精粉优化配置模型，烧结矿优化配置模型和球团矿优化配置模型，模型之间交互的数据流为原料或产品的物料流量、物料性能、价格及原料性能的影子价格。

The dynamic model and equivalent circuit are researched, A dynamic model and equivalent circuit in d-q frame of dual three-phase synchronous machine are presented for the first time, based on the analyzing of the inductance factor between the windings of synchronous machine under ideal conditions. From them, a dynamic model and equivalent circuit that has general significance is educed.

基于理想同步电动机模型，以相绕组为研究对象，对双电枢绕组同步电动机的动态数学模型进行了研究，首次推导出双电枢绕组同步电动机在d-q坐标系的动态数学模型，绘出了d-q坐标系等效电路。

Based on the detailed analyzing of impact system working process, the differential eguation of the system was got, and the mathematical model of the hydraulic impact system was builted, on basis of the mathematical model, By using of dynamic simulation function of Matlab ,the author has built the simulation model of the impact system based on software Simulink and run it after inputting the parameter ,the dynamic graph curve of impact velocity and presser of oil and position of knife rest were got, and the dynamic characteristic of impact system was analyzed,the simulated results are accorded with the fact,and some rational parameters can be found.

在对冲击式采煤机液压冲击系统工作过程进行详细分析的基础上，运用微分方程建模方法，建立了液压冲击系统的数学模型即系统的动态方程，并在该数学模型的基础上，采用Matlab中的Simulink动态仿真功能，建立了基于Simulink的冲击系统仿真模型，通过给定冲击式采煤机冲击系统的相关参数，对该系统进行仿真，得到了冲击式采煤机工作过程中冲击速度和油液压力以及刀架位移的变化曲线，进而对冲击系统的动态特性进行了分析，结果与实际情况较为吻合，并由此得出某些合理的参数。

The polarization curve is not sufficient for a reliable and unique validation of a PEMFC model since different parameters can lead to an identical polarization curve. A three-step validation approach is proposed for a complete and unique validation. These three steps are:(1) validated by the global polarization curve,(2) validated by the local current density distribution curve, and (3) validated by the cathode over-potential and anode over-potential versus current density curve. The results from the comparison of four flow-fields show that the PEMFC performance of the flow-fields decreases in order by interdigitated, metal foam, pin-type and parallel.

通过PEMFC参数敏感性研究发现，PEMFC性能受多种参数的影响，这些参数可分为非敏感性参数、敏感性参数和高敏感性参数；与阳极侧参数相比，PEMFC性能对阴极侧的参数更敏感；不同参数值的组合可以得到几乎完全相同的极化曲线，因此电池的极化曲线不足以用于验证数学模型的唯一性与可靠性；为验证PEMFC数学模型的唯一性与可靠性，提出了模型验证的三步法：极化曲线验证、局部电流密度验证和阳极总过电位与阴极总过电位验证。

Synthetical evaluation index system of tractive performance and economic performance of automobile is presented on the base of summarizing former studies.

在建立发动机及整车动力性、经济性数学模型的基础上，提出了传动系参数综合优化模型；并建立了相关参数对汽车动力性与燃料经济性的弹性系数数学模型。

With Death guitarist Schuldiner adopting vocal duties, the band made a major impact on the scene.

随着死亡的吉他手Schuldiner接受主唱的职务，乐队在现实中树立了重要的影响。

But he could still end up breakfasting on Swiss-government issue muesli because all six are accused of nicking around 45 million pounds they should have paid to FIFA.

不过他最后仍有可能沦为瑞士政府&议事餐桌&上的一道早餐，因为这所有六个人都被指控把本应支付给国际足联的大约4500万英镑骗了个精光。