由摩擦产生的

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。

Hot air enters into stirring and crushing and drying chamber from the botton of drier with suitable atomizing speed. It exerts strong shearing, blowing, floating and rotating effect to raw material. Therelore raw material is granulated through centrifuge, sheafing, impacting and friction effect. It strengthens the process of heat exchange.

热空气由入口管以适宜的喷动速度从干燥机底部进入搅拌粉碎干燥室，对物料产生强烈的剪切、吹浮、旋转作用，于是物料受到离心、剪切、碰撞、摩擦而被微粒化，强化了传质传热。

Model QS-350 This machine is of horizontal disc type airflow crusher, and the whole crushing process is comprised of air compressor, air storage tank, air freezer and drier, model QS-350 airflow crusher, cyclone catcher and dust collector is ejected into the crushing chamber by means of high speed ejection flow formed by high pressure air through charging ejector, and the crushing nozzle outside ejects high speed air flow into the crushing chamber at a certain direction, making the material severely collided and frictionated therebetween and thus crushed.

QS-350型为水平圆盘式气流粉碎机，整个粉碎流程由空压机、储气罐、空气冷冻干燥机、QS350型气流粉碎机主机、旋风捕集袋及吸尘器等组成。该机是靠高压气体通过加料喷射器所形成的高速射流，使粉碎原料被射人粉碎室，粉碎室外围的粉碎喷嘴，有方向性的向粉碎室喷射高速气流，使物料间产生激烈的碰撞，摩擦而获得粉碎。

However, because of the creep phenomena in the stiction range, the control force may induce extra but finite error in the final stage of positioning.

但由於静摩擦的潜变现象，在最后定位的阶段还是会有额外但有限度的误差产生。

Through above numerical analysis of the TiN coating/substrate system, some typical rules about the fatigue failure are found:(1) the fatigue damage of a coating/substrate system appears first on the interface, then expands along the interface and to the substrate, and finally causes the coatings broken and spalled;(2) under the cyclic loadings of tangential sliding and radial extrusion, the equivalent plastic damage on the interface is mainly generated by the shear stress and the accumulated plastic contributed by the increments of shear stress. Thus the change of the shear stress is the main factor for the contact fatigue damages of coating/substrate system;(3) the frictional coefficient, external loading and coating thickness have some influence on the carrying capacity and contact fatigue life for a coating/substrate system.

通过对TiN涂层／基体系统的数值模拟分析，得到了涂层／基体系统疲劳失效的一些典型规律：(1)、涂层基体的初始损伤首先出现在交界面处，然后沿界面并向基体中扩展，最后导致涂层断裂而发生剥落失效；(2)、在切向滑动和径向挤压循环载荷作用下，交界面处的塑性损伤主要是由剪应力τ产生，塑性累积也是由于△τ的变化引起，说明循环过程中剪应力变化是影响涂层接触疲劳破坏的主要因素；(3)、材料摩擦系数、外界载荷大小以及涂层厚度都对涂层／基体系统的承载能力以及疲劳寿命都有一定影响。

The sones fall into the high-speed turning impellers from the top of the machine.Under the function of high-speed centrifugal force,the stones crushed the others distributed around the impeller in the form of umbrella.After the stones impact each other,the eddying motion is formed between the impeller and main case to bring obout many times mutual impactind,rubbing,and crushing till the granularity required is achieved.

石料由机器上部直落入高速旋转的转盘，在高速离心力的作用下，与另一部分以伞形方式分流在转盘四周的石料产生高速度的撞击与高密度的粉碎，石料在相互打击后，又会在转盘和机壳之间形成涡流运动而造成多次的互相打击、摩擦、粉碎、直至粉碎成所要求的粒度。

The split between the two groups can hardly be papered over.

这两个团体间的分歧难以掩饰。

This approach not only encourages a greater number of responses, but minimizes the likelihood of stale groupthink.

这种做法不仅鼓励了更多的反应，而且减少跟风的可能性。