棒

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。

Results revealed that the large side insulation of the stator bar in slot is available for ultrasonic pulse-echo testing; Coupling transducer on the surface of a practical stator bar could minimize the influence on the measurements of velocity, contributing no destructivity of the ultrasonic testing for stator insulation; The simultaneity of same velocity and higher attenuation can be used to detect insulation delamination from conductors; Compared with the wide sides of the bars in slot, the short sides of the bars near the exit from slot and the end bars had a same velocity and a higher attenuation; The velocity might be exactly measured on the shot sides of the bars near the exit from slot and the end bars, while the attenuation might not, which were examined though filed tests; V min decreased greatly and V av decreased slightly with the service time of the bars.

在实验室对线棒多种结构处的主绝缘和不同运行年数(未老化、16、18 和23年)线棒的主绝缘进行了低频超声反射法检测试验，并进行了现场试验，发现(参见 Hao et al， IEEE DEI， to be published)，槽部线棒的宽面绝缘不受换位绝缘的影响，比窄面绝缘更适合超声测量；线棒表面平滑的半导体层减小了耦合剂对超声测量的影响，实现了无损性；波速不变而声衰减减小可以检测线棒出现绝缘与导体脱壳缺陷；出槽口和端部线棒的窄面绝缘与槽部线棒的宽面绝缘相比，声衰减大而波速一致；现场试验验证了波速不受绝缘结构和现场测试条件的影响，而声衰减受以上因素影响很大(参见 Hao et al，中国电机工程学报， Vol.23 No.4)； V min 随运行年数明显减小， V av 随运行年数慢慢越小。

Based on structural singular value theory, the robust control model for vibration response is built, and the design method of μ- synthesis controller is presented. The main ideal is as follows: by introducing fictive uncertainty, the robust performance problem of vibration response is transformed into the robust stability problem of the augmented system. It can be solved by D K iteration.

基于鲁棒结构奇异值理论，建立了振动响应的鲁棒控制模型，提出了设计鲁棒μ控制器的方法，通过引入虚构的不确定块，将振动系统响应性能的问题转化为广义系统的稳定鲁棒性问题求解，兼顾了系统的稳定鲁棒性和性能鲁棒性。

The sufficient conditions to guarantee robust exponential stability for the closed-loop systems are obtained based on Linear Matrix Inequality, moreover, the approach of design of robust H# output feedback controller is introduced.3 The problem of reliable H# control for a class of Lur"e systems with polytopic uncertainties is studied when all control components are operational as well as when some control components experience failures, the design approach of reliable H# controller is also obtained.4 Considering a class of uncertain Lur"e singular system with time-delays, the problem of robust stability is investigated based on Barbalats Lemma and nonsingular linear transformation of model reduction.

针对一类不确定Lur'e奇异时滞系统，基于Barbalat引理以及非奇异降阶变换，讨论了Lur'e奇异时滞系统的鲁棒稳定问题，提出了鲁棒H_∞状态浙江大学博士学位论文反馈控制器的设计方法。5、针对一类具有饱和执行器的不确定Lur'e奇异系统，提出了时滞依赖的鲁棒稳定与鲁棒二次镇定的充分条件，所的结果不需要参数的整定。6、针对任意协方差有界的有色噪声，讨论了一类不确定Lur'e奇异系统的鲁棒凡滤波问题，得出了鲁棒几滤波器设计的充分条件。7、针对一类不确定Lur'e时滞系统，通过线性变换，把它转换成奇异系统，根据奇异系统鲁棒控制理论所得出的鲁棒稳定与鲁棒镇定控制器设计的充分条件具有很小的保守性。

X6 3?,large specific surface area and adsorbent capacity However,most molecules and hydrated ions can not enter the aperture pass because of their size over the aperture diameter of palygorslote except less simple ones Furthermore,Palygorskite adsorbs water molecule choosingly In most cases the absorbing of palygorskite is by its outside surface that works in the form of colloid and ion exchange other than i...

但是由于凹凸棒石孔道直径小于大多数分子及水合离子的直径，除少数简单分子和离子外，多数分子和离子都不能进入凹凸棒石孔道，而且凹凸棒石选择性吸附水分子，因而在多数情况下，凹凸棒石对吸附质的吸附不是内表面吸附，而是外表面吸附。并且外表面吸附是胶体和离子交换吸附。本文阐述了凹凸棒石的孔道直径、吸附选择性、体系pH 值及凹凸棒石和蒙脱石胶体颗粒的互相作用对凹凸棒石吸附性能应用的制约。

The problems of robust stability and robust stabilization for interval systems were discussed. A necessary and sufficient condition for the robust stability of a line segment polynomial was proposed. The tested results of robust stability of a polynomial polytope and robust stabilization of an interval system were obtained in terms of the condition.

讨论了区间系统的鲁棒稳定性和鲁棒镇定性的有限检验问题，给出了线段多项式鲁棒稳定性的充分必要条件，利用该条件对多项式多面体鲁棒稳定性和区间系统鲁棒镇定性进行了有限检验，并给出了相应的检验结果。

Then after analysising each characteristics of phosphate glass material, the fiber rod-in-tube by invaginating core rod, inside cladding and outside cladding is used to fabricate the Er/Yb phosphate glass fiber successfully by polishing and vacuumizing fiber rod-in-tube.

利用玻璃浇注方法得到增益玻璃芯棒，然后对芯棒进行抛光处理，并且采用芯棒、内包层玻璃管和外包层玻璃管套接的方法制作光纤预制棒，将制作的预制棒进行了粘度等测试，并抽真空加热到一定温度条件下成功地拉制出芯径5μm，外包层65μm的单模铒镱共掺磷酸盐增益介质玻璃光纤。

The company has one product, copper row type: a, extrusion-type copper-Ping Pai, extrusion-type copper heterotypic Pai b, wear-resistant bronze II copper category: T2 (C1100) red copper, T3 copper, H90, H70, H68, H65, H62, HPb59-1 yellow copper, CuFe96-3 copper iron alloy plate, AgCu silver copper alloy plate, HMn58-2 yellow copper manganese, QSi3-1 silicon bronze plate three, Copper Rods category: T2, T3 copper, H90, H70, H68, H65, H62, HPb59-1 brass rod, CuFe96-3 copper iron alloy rods, HMn58-2 manganese brass rods, QSi3-1 manganese brass rods, QAl9-5-1-1 aluminum bronze rods four, brass Class: TU2 oxygen-free copper tube are my newly developed Products Division for the computer for cooling tube.

公司主要产品有一、铜排类： a、挤制型红铜平排、挤制型红铜异型排 b、耐磨青铜二、铜板类： T2（C1100）红铜板、T3铜板，H90、H70、H68、H65、H62、HPb59-1黄铜板，CuFe96-3铜铁合金板，AgCu银铜合金板、HMn58-2锰黄铜板，QSi3-1硅青铜板三、铜棒类： T2、T3铜棒，H90、H70、H68、H65、H62、HPb59-1黄铜棒，CuFe96-3铜铁合金棒，HMn58-2锰黄铜棒，QSi3-1锰黄铜棒，QAl9-5-1-1铝青铜棒四、铜管类： TU2无氧铜管是我司最新研制产品，为电脑散热管专供。

By abration experiment, the impact action between pin and particle is studied, and the impact position is revealed according to abrated position and abrated degree in a pin, by which the structure design of GLS pin mill is suggested based on this analysis.

采用颗粒与销棒相互冲击碰撞的磨蚀实验，根据销棒的磨蚀位置及磨蚀程度，分析了颗粒在粉碎过程中与销棒碰撞的部位，研究了颗粒与销棒相互作用的规律，揭示了颗粒在销棒粉碎机中的粉碎机理，由此提出了销棒粉碎机结构设计的改进措施。

Based on these, an improving μ-synthesis is presented, with which the high-purity distillation is designed well. 2. The robust performance problem of MIMO plant is explained with the plant direction angle, which shows that the robust performance varies with different input uncertainties and the μ-synthesis should be applied correctly according to the uncertainty structure. 3. Condition number and bandwidth are the important items for robust performance design in MIMO system. The H〓 two-block problems can not deal with the robust performance design of MIMO system because of the condition number cancellation. A general μ-synthesis procedure for MIMO system with uncertainties is presented. 4. For the SISO system, the object function in robust performance is amplified by at most 〓 than that of H〓 two-block problems in value: So the robust performance of SISO system can be done with the H〓 two-block problems to avoid the complicated μ-synthesis procedure. 5. All the conclusions and methods presented in this paper are demonstrated by some typical design examples.

从而形成一种改进的μ综合方去，并对精馏塔病态对象进行了鲁棒性能设计，得到令人满意的结果；（2）利用对象的方向角解释了MIMO对象鲁棒性能设计出现问题的原因，并提出不同输入摄动形式下系统的鲁棒性能问题也并不相同，因此利用μ综合处理鲁棒性能设计时，应根据不同的摄动情况采用不同的结构进行设计：（3）条件数问题和带宽问题是MIMO系统鲁棒性能设计的两个主要问题，指出由于条件数对消的存在使得一般H〓两块问题无法处理MIMO系统的鲁棒性能设计，而μ综合方法则是处理MIMO系统鲁棒性能设计的有效方法，并给出了其处理MIMO系统鲁棒性能设计的一般性方法；（4）提出对于SISO系统H〓两块问题（S/T问题、S/KS问题）的设计指标函数与鲁棒性能设计的μ指标函数在数值上最大差〓倍，因此对于一般SISO系统的鲁棒性能设计可以简单地用一般的H〓的两块问题处理，而避免μ综合设计的复杂过程；（5）本文中提出的结论和算法都利用H〓/μ发展中的典型例子：Doyle-Stein问题，Safonov的战斗机模型，精馏塔对象等进行了设计验证。

By using competitive adsorption of activated carbom to remove unfavorable influence of carbon in carbonaceous gold concentrate on leaching process, the leaching rate of gold concentrate can be improved to 88% as compared with 10%by direct cyanidation.

本文论述了利用活性炭竞争吸附作用，消除含炭金精矿中炭在浸出过程中的影响，使金精矿的浸出率可由直接氰化的10％提高到88％。

The only thing you're ever gonna be king of is King of the Stupids!

你只配做傻瓜的国王！