易控制的

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。

The experiment results prove that the boiler coking is largely reduced and the temperature difference of two sides of horizontal gas-pass is very small, when the 330MW boiler operate, the pressure of primary hot air parison is controlled beyond 12.0～12.5KPa, the O2 content of air pheheater is controlled about 3.0%, the door of OFA is opened to 30%, the buffle of the inner secondary air sleeve is adjusted to the minimum, the outer secondary air swirling strength and the baffle of the outer secondary air sleeve is regulated to the maximum and the outlet temperature of pulvervised mill is kept in 70℃.

试验结果表明，330MW运行时，一次热风母管压力控制在12.0～12.5kPa以上、空气预热器实际氧量控制在3.0％左右、燃尽风门开至30％、内二次风量套筒挡板调整在最小、外二次旋流强度和外二次风套筒挡板调整到最大、磨煤机出口温度维持在70℃，此时锅炉结焦大幅度减轻，水平烟道两侧烟温差非常小。优化试验完成后，进行了单烧灵武烟煤对比，结果是：掺烧高灰熔点的银北煤后，炉膛结焦大幅度减轻，锅炉过热器减温水量较小，主蒸汽压力易提高，带负荷能力正常；再热器烟气挡板开度较大、减温水量较小；风机电耗较小。

Constant Angular Velocity mode and Constant Linear Velocity mode are integrated to build a single spindle motor control module to incorporate with long-seek servo. CAV mode and CLV mode are performed to show its feasibility. The experiment results showed that the pick-up-head can perform arbitrarily track-jump command, quite well.

此外，在主轴马达伺服部分，提出以跨轨旗标讯号来决定使用『碰-碰』控制法则让主轴马达转速变化的执行时间，也将主轴马达伺服中的等角速度控制模组与等线速度控制模组整合成功，形成单一的主轴马达控制模组，使与长寻轨伺服结合而更易於操作，让不论内、外寻轨的任意跨轨命令皆可以达成定线速度或是等角速度的控制目标。

"Easy Discussion Web Control" is a highly customizable, easy to use .

"易讨论Web控制"是一个高度可定制的，易於使用。

Echinacea/Eyebright helps the body naturally control excess mucus production. The drying herbs in this formula are useful for the runny nose, weepy eyes and post-nasal drip often associated with allergies and the common cold.

紫雏菊+小米草滴剂，能帮助身体天然控制鼻黏液产生；在过敏或感冒易发季节，配方中的草本成份能够帮助消除流鼻水和泪眼，控制鼻腔黏液分泌。

Wear resistance, good corrosion resistance, high-tech nano-ceramic materials sealed deputy, ten thousand times does not wear headstock applied to a variety of media: liquid, semiliquid, paste liquid, air, flue gas, gas, combustible gas, solid powder, grain materials containing many impurities in the two-phase body easily precipitate, easily scaling to cut off other special media, regulation and transmission control.

耐磨、耐腐蚀性能好：高科技纳米陶瓷材料密封副，启闭一万次也不磨损，适用于多种介质：液体、半流体、浆状液、空气、烟气、煤气、可燃气体，固体粉料，晶粒料及含杂质多的两相流体易沉淀、易结垢等特种介质的切断、调节及输送控制。

Sulfur corrodible sites and their characteristics were introduced of the prefractionation system, air preheaters of heating furnace and product air coolers etc,and chlorine corrodible sites and their characteristics were also presented of the thermocouple casing tubes, product air coolers and fire arrestors of heating furnace etc in the catalytic reforming and diesel hydrogenated unit s.

介绍了中国石油哈尔滨石化公司催化重整及柴油加氢装置在预分馏系统、加热炉空气预热器、加氢装置反应产物空冷器等处易发生硫腐蚀和在预加氢热偶套管、加氢反应产物空冷器、加热炉阻火器等处易发生氯腐蚀的部位及其表现特征，指出装置在低温(不高于120℃)、含水、容易被堵塞的部位易形成HCl-H2S-H2O腐蚀体系，分析了腐蚀原因和介质来源，总结和提出了开好原油的电脱盐、采用脱氯技术、加强对加热炉的排烟温度控制和腐蚀介质的精制与净化、加大空冷器的注水量等针对性防腐经验和措施。

It shows that the new Mecroburet is superior in precision, accuracy and operational performance. The new microburet has many distingushing features, such as no leakage, no bubbles, automatic filling, automatic zero set.

表明新型微量滴定管具有较好的精密度、准确度和操作性能，克服了经典滴定管活塞易渗漏、易生产气泡、装液难、近终点液滴不易控制及酸碱不通用的缺点。

However, the technical practice of the alloy obviously appeared unsatisfication in hot working: The hot working temperature range is narrow and the fissures can be easily generated, The cracks were resulted from unappropriate operation.

但是该合金的工艺实践证明其热加工并不令人满意，热加工温度范围窄、且易产生发纹，控制不当，更易引起加工开裂，故热加工难度大，并严重影响合金质量和材料的成品率。

Pointing to some problems such as easy defect of joint, big pushing to voltage of power net and frequent defects existed in hydraulic station control system of BF, the reforming included replacing pressure meter with electric joint by pressure transmitter with intellectual digital display, replacing alternating contactor by alternating frequency conversion technique and increasing relay control to 984PLC control has been done in Jigang.

针对高炉液压站控制系统存在的接点易损坏、对电网电压冲击大、故障频繁等问题，改造采用带智能数显表的压力变送器代替电接点压力表，应用交流变频技术代替交流接触器，并将继电器控制升级为984PLC控制。

As she looked at Warrington's manly face, and dark, melancholy eyes, she had settled in her mind that he must have been the victim of an unhappy attachment.

每逢看到沃林顿那刚毅的脸，那乌黑、忧郁的眼睛，她便会相信，他一定作过不幸的爱情的受害者。

Maybe they'll disappear into a pothole.

也许他们将在壶穴里消失