最佳系统控制

Based on mechanism and vehicle theories theoretical analysis is pursued and normal driving conditions are put forward. The relations are analyzed between load distribution and power consumption. Mechanical formula is proposed. Furthermore in this paper the theoretical model of the total power consumption is established, and the relations of the total minimized power consumption with the air-cushion pressure and the fan revolution are discussed. The optimum operation point is put forward. The dynamic digital simulation studies are carried out on the operating procedure of the half-track air-cushion vehicle on soft terrain. Mechanical parameters and soil mechanics characteristics affecting vehicle power consumption and riding performance are analyzed. At the same time according to the model formula, the automation control problem is discussed. It is a theoretical instruction for further automation control.

本文还从力学和车辆原理的角度进行了理论分析，推导了半履带式气垫车的需求功率及正常行驶条件，研究了气垫压力和功率消耗之间的关系，提出了力学模型公式；建立了半履带式气垫车总功率消耗的理论模型，研究了最小功率消耗时功率与垫压及表征气垫车行驶状态的各参数的关系，分析了相应的影响因素，并提出了最佳工作状态的定义；同时进行了半履带式气垫车在软地面的行驶过程的动态数字仿真试验研究工作，对影响车辆功率消耗和行驶平顺性的各力学参数和土壤参数进行了分析，得到了各运行状态参数的变化规律，验证了最佳工作状态和最佳垫压的理论，根据力学模型公式对进一步的自动控制问题进行了探讨，为系统的控制提供了理论指导。

A simplified PUMA robot force control model is given in this paper. The stability and rubustness is analysised by computer simulation. The step response of position loop and force loop in external alter mode is tested, and prove that the system posses critical damping ratio.

简化得出了PUMA机器人的力控制模型，利用计算机仿真的方法，分析了系统的稳定性及鲁棒性，给出了最佳参数的选择，测试了在外部修正方式下位置控制环及力控制环的阶跃响应，证明位控环具有临界阻尼的特性，并讨论了参数选择值不同时对系统性能的影响。

At the last through an example, it come to a conclusion that it is not suitable to pursue the optimum when you decide to design a control system because it will damage the stability of control system, which can help ensure the control design index.

最后通过实例，指出在控制系统的性能设计时，不宜过分追求最佳控制性能，否则将使系统的稳定性损失过大。这为控制设计指标的确定提供了一定的依据。

In the information era, there are many multimedia equipments in market, people can not use most of them freely. As a cost-effective system, SVS comes to undertake this role by providing professional large-screen display system and intelligent control system in overall. SVS insist to designing and producing large screen system, covering the products that based on projection technology, such as projector, projection TV, plasma, LCD TV, projection screen, video booth, Whiteboard, writing screen, big-screen mosaic system, matrix interface, video conferencing, central control system and other related accessories.Relying on a high level ideal of "creation and practical", with high-quality technology, market development and service team, SVS is in a fast lane of development. Since was built in 2003, has SVS achieved widespread attention and recognition in field, and established a good relationship with IT media, supporting manufacturers and industry research institutions, always thinking customers' demand and provide specific programs by Symposium, three-dimensional-type promotion, performance monitoring and analysis.

信息化时代，多媒体设备层出不穷，让人措手不及，无法真正去灵活运用，搭配出最佳适合用户需求的高性价比系统，SVS勇于承担这个角色，专业成就大屏幕显示系统与智能化控制系统整体方案设计及制造，SVS自始至终以大屏幕为主线，涵盖了以投影技术为基础或依托所开发、搭配或衍生的产品，包括投影机、背投电视、等离子、液晶电视、投影屏幕、视频展台、电子白板、书写屏、大屏幕拼接系统、矩阵接口、视频会议、中央控制系统及其他相关配件或零组件，公司依托一支具备"作风严禁、勇于创新、讲求实效"的高层次、高素质的技术开发、市场开拓及服务人才队伍，SVS正在惊人地快速发展，自创建以来，已经在业内取得了广泛的关注与认同，与IT媒体、配套生产商以及行业研究机构建立了良好的合作关系，始终以客户的需求为中心，帮助客户提供专项设计方案，专题讨论，立体式推广，效果监测和用户分析等各种服务，最大限度地方便客户，为客户提供解决方案，不断满足客户多样化、个性化、复合化的需要，帮助客户以最少的成本获取最大的收益。

Convention V-belt Continuously Variable Transmission, shifts gears the travel mechanism property fixed constraint, unable full into full play initiative control advantage, to engine and Transmission on the go to hold optimum match, Also takes into consideration acceleration and fuel consumption performance, so this paper research Motorcycles with an Electronically-Controlled Continuously Variable Transmission shift gears planning, to use motor power screw, we shall revolve motion changes rectilinear motion, to push driving sheaves achieved to change speed ratio; Comparison between analysis convention CVT speed ratio shift gears curves of acceleration and fuel consumption performance optimum curves, use engine can hold high performance output or low fuel consumption region run.

中文摘要传统皮带式无段变速器(Continuously Variable Transmission， CVT)，换档行程由於机械特性的限制，无法完全发挥主动控制的优点，让引擎与变速器随时保持在最佳的匹配状态，同时顾及加速性能与燃油消耗，所以本文主要研究机车用电子控制式无段变速系统(Electronically Controlled Continuously Variable Transmission， ECVT)最佳换档规划，利用马达与动力螺杆，将旋转运动改变为直线运动，以推动主动滑轮达到改变减速比；分析传统CVT减速比换档曲线与最佳化曲线之加速性能及燃油消耗比较，使引擎能够保持较高性能输出或较低油耗区间运转。

The key technologies of ABS based on slip-ratio consist of processing of wheel speed and calculation of wheel acceleration, estimation of vehicle velocity, estimation of the optimal slip-ratio, and the control strategy of ABS. In order to improve the performance of conventional ABS, the above mentioned key technologies and corresponding realization algorithms had been investigated in this paper, and the ABS product equipped in vehicle for performance test had been manufactured.

结合车辆动力学控制的最佳ABS系统是以车轮滑移率为控制目标的ABS系统，它涉及到一系列关键技术研究，如轮速信号的处理方法和轮加速度信号的计算方法、车身速度估计方法、最佳滑移率估计方法和ABS的控制方法等。

Research content and research object. The Coagulant Dosage Automatic Control System is discussed emphatically. Including the relation is put up between target standard and the infection factor by date analyzed chart and educational established and sum up the best working point. The target standard including SS COD and OIL .The infection factor including the dosage of PAC PH Mill INTENSION and TIME. On the basis of craft character and control request, it makes a selection of scheme to the whole control system. Finally a scheme is chosen and described as follows: CPU222 of SIEMENS PLC S7-200 is used as the control kernel. V606IC TOUCHER is used as communication man and machine. Controlling pump, compressor, metric pump of system by gathering andanalyzing the flow, PH of raw water .

重点探讨系统的投药自动化，包括系统的数学模型建立的过程，通过数据分析，采用图表和方程式建立系统排放指标(SS、CODcr、含油量)，与各种因素(PAC用量、PH值、搅拌强度、时间)的关系，确定系统的最佳工作点；根据系统工艺特点以及控制要求，对控制系统设计方案进行了选择，确定以西门子PLC(S7-200 CPU222)为控制核心，V606IC10触摸屏作人机界面，通过对原水流量和PH计采样、分析，实现系统中的泵、风机、计量泵等控制；文中从功能上简要地介绍监控系统和给出了自动化原理构成图、PLC软件流程图及部分主要程序。

Through studying the math model and "man- plane-environment" operation system model, we analysed the usage range and virtues and defects of transmitting function model of human, optimal con- trol model and fuzzy control model;After analysing "man-plane-environment" operation system, com- puter simulation, we put forward the man- plane -enviroment operation system computer simula- tion evaluation system to determine the best match between pilot and plane.

摘 要：通过对人-飞机-环境模拟仿真技术中人操作者的数学模型及&人-飞机-环境&操纵系统的数学模型的研究，具体分析了人的传递函数模型、最佳控制模型、模糊控制模型的适用范围及优缺点，并在对&人-飞机-环境&操纵系统的数学模型、性能指标进行分析后，提出了确定驾驶员和飞机之间最佳匹配的&人-飞机-环境&操纵系统计算机模拟综合评估系统，从而使人们一开始设计飞机时就考虑驾驶员作用，减少设计盲目性，缩短设计周期。

For the auto mentioned in the paper, we analyze and establish the dynamic equations under different power systems, respectively discuss the system efficiency of HEV under the conditions of whether the storage battery power is zero or not, utilize the SQP to compute the corresponding optimal decelerating rate and optimal storage battery power under the conditions of different speeds, different demand torsions and different storage battery SOC; then use the optimal computation results to summarize the rules of auto optimal control, provide the foundations for the optimal control rules in the future.

对于本车，分析并建立了在不同动力系统工作模式下的动力学方程；分别讨论了当蓄电池功率为零和蓄电池功率不为零两种情况下的HEV的系统效率；利用序列二次规划法来求解出在不同车速、不同汽车需求转矩和不同蓄电池SOC情况下对应的最佳减速比和最佳蓄电池功率；利用优化计算结果，初步总结了一些车辆优化控制规则，为将来更好的优化控制规则提供了依据。

Theoretical and experiment researches of transmission mechanism and control strategy of the CVT have been carried out under the project (59835160) financed by National Natural Science Foundation which includes follow content:1The kinematic relation of the metal pushing V-belt type transmission is analyzed. The relation among oil pressure of pulley cylinder, transmission ratio and input torque under load condition is studied. Optimal design method for metal pushing V-belt type continuously variable transmission is put forward.2Based on the engine experiment, torque and oil consumption model of engine are established by method of spline interpolation. The optimum economy and performance curves are put forward.

本文在国家自然科学基金重点项目（资助号：59835160）资助下，对金属带式无级变速传动系统的传动机理、匹配及控制策略等进行了系统深入的理论分析和实验研究，具体研究内容如下：1）系统地分析了金属带无级变速传动的基本运动规律，研究了在负载状态下，带轮油缸压力与速比和输入转矩的关系，提出了对金属带式无级变速传动系统进行优化设计的方法。2）通过发动机台架试验，利用样条插值方法构造了发动机转矩和发动机油耗模型，确定了发动机最佳经济性与最佳动力性工作线。

Plunder melds and run with this jewel!

掠夺melds和运行与此宝石！

My dream is to be a crazy growing tree and extend at the edge between the city and the forest.

此刻，也许正是在通往天国的路上，我体验着这白色的晕旋。