电机驱动的

Afterwards, we propose a new constant coefficients measurement method in dynamic equation of robot manipulators, this measurement method includes three groups of experiments: group one, let each joint of robot manipulator keep static to measure the constant coefficients in gravity term of dynamic equation and Coulomb frictional torque, group two: let only one joint of robot manipulator move at a constant velocity to measure the viscous frictional coefficient and constant coefficients in effective inertia of dynamic equation, group three: let only one joint of robot manipulator move at constant acceleration at a time to measure constant coefficients in Coriolis and centrifugal term and coupling inertia of dynamic equation.

让操作器单个关节恒速运动，在对驱动系统中传动机构，减速装置和电感系数综合考虑的基础上，这组实验对粘滞摩擦系数及有效惯量中常数系数进行测量。这种测量方法只要求旋转关节的驱动电机施加恒定电压，回转关节驱动电机施加正弦波电压。3。让操作器单个关节恒加速运动，这组实验测量动力学方程中哥氏力、离心力项和耦合惯量项中的常数系数，这种测量方法只要求单个关节匀加速运动，而其它各关节保持静止，这种测量方法虽然要求关节匀加速运动，但不必进行关节角加速度检测，而只需进行关节角位移和角速度检测即可，输入量直接给定为输入电压。

This controller can be used not only in ordinary AC motor-driven,it can also drive ordinary AC motor in a small frequency range.

这种控制器不但可用于一般交流变频电机的驱动，也可以在小频率范围实现对普通交流电机的驱动。

In this topic, the dynamic analysis methods for piezoelectric vibrator are studied systematically based on the theoretical model, FEM numerical experimentation and FEM governing equation for given compound-mode vibrator, and some valuable conclusions are obtained. The main work accomplished is summarized as follows: 1.Elaborate the main modeling methods for piezoelectric vibrator and the significance and necessity to study the dynamic characteristics of piezoelectric vibrator which emphasize the urgency of this paper. 2.Take the bending deformation induced by piezoelectric ceramic as example, the energy transfer mechanism of electric energy to mechanical energy are analyzed; the motion and force transfer mechanism are analyzed for the longitudinal-bending vibrator. 3.Based on mode assumption and Hamilton principle, the coupling model of piezoelectric vibrator of linear USM is built; moreover, the equivalent circuit model is obtained and a coupling equation represents the relation between electric parameters and mechanical parameters is derived which provides foundation to match the vibrator and driving circuit. 4.Combine the constitutive equation of piezoelectric ceramic with elastic-dynamical equation, geometric equation in force field and the Maxwell equation in electric field and the corresponding boundary condition equation, the FEM control equation for piezoelectric vibrator of USM to solve dynamic electro-mechanical coupling field is established by employing the principle of virtual displacement. The equation lays the foundation to study the non-linear constitutive equation of piezoelectric ceramic driven by high-power. 5.Define the dynamic indexes of characteristic of vibrator and carry out variable parameters simulation by calculating the model parameters and the electric characteristics of vibrator are simulated according to the equivalent circuit model. By numerical experimentation, the working mode of vibration of vibrator and the shock excitation results of the working frequency band which provides the mode frequency to realize bimodal are analyzed. Detailed calculation of the electro-mechanical coupling field parameters is made by programming the FEM control equation.

本课题从理论模型、有限元数值试验、有限元控制模型等方面以复合振动模式振子为例对超声电机压电振子的动力学特性及其分析方法进行了全面系统地研究，得出了许多有价值的结论，主要概括如下： 1、阐述了目前针对超声电机压电振子的主要建模方法，对压电振子动态特性的研究意义和必要性进行了论述，突出了本文研究内容的迫切性； 2、以压电陶瓷诱发弹性体发生弯曲变形为例，分析了压电陶瓷通过诱发应变来实现机电能量转换的机理；对基于纵弯模式的压电振子的运动及动力传递机理进行了分析； 3、基于模态假定，利用分析动力学的Hamilton原理，建立了面向直线超声电机压电振子的机电耦合动力学模型，并据此建立了压电振子的等效电路模型，导出了电参量与动力学特性参量的耦合方程，为压电振子与驱动电路的匹配提供了依据； 4、从压电陶瓷的本构方程出发，综合力场的弹性动力学方程、几何方程、电场的麦克斯韦方程以及相应的边界条件方程，采用虚位移原理，建立了压电振子动态问题机电耦合场求解的有限元控制方程，为研究其大功率驱动下的非线性本构模型奠定了基础； 5、界定压电振子的动力学特性指标，对压电振子的机电耦合动力学模型参数进行计算及变参数仿真；依据等效电路模型，对压电振子的电学特性进行了仿真分析；通过有限元数值实验，对压电振子工作模态附近的模态振型及工作频率附近的频段进行了激振效果分析，找出了实现模态简并的激振频率；利用有限元控制方程，通过编程计算，对压电振子的力电耦合场参数进行了详细计算，得出了一些有价值的结论。

Theoretical analysis and simulation shows that the direction driving motor accelerates first, and then decelerates to compensate for the eccentricity when the satellite is deviated from laser center with a certain distance, and reacquires the tracking satellite. The needed time from reacquisition to tracking is affected by motor acceleration, telescope′s detecting precision, and detector′s response and treatment time, and the effect of detector precision on the reacquisition and re-tracking time is greater, as a result, the detector response and treatment time is decreased to the least.

理论分析与仿真结果表明，当卫星偏离光斑中心一定距离时，指向驱动电机先加速后减速，补偿这个偏心，重新捕获跟踪卫星；重新捕获到跟踪所需时间受电机加速度和望远镜探测精度以及探测器响应处理时间影响，其中探测器精度对重新捕获到跟踪所需时间影响较大，探测器响应处理时间要减小到最小；为了使从捕获到跟踪过程中卫星始终在扫描光斑范围内，经纬仪驱动电机的最小角加速度为25.5°/s2。

The driving part is made up of leveling driving seat, decelerate machine, YWZ arrester, coupling, drive distributing box, shafts and sheath connector, universal cross transmission shaft etc. The main motor is equipped with DC timing motor in high power and DC numerical control system imported from England which has the qualities of rotate speed adjustment, low current in startup, large torsional moment and suits specially for continuous startup under the situation of high load.

驱动部分是由高程驾驶座位，减速机， ywz避雷器，耦合，驱动配电箱，槽及护套管接头十字万向传动轴等主电机配备直流调速电机在高功率直流数值控制系统输入来自英格兰有素质的转速调整，低电流启动大扭矩，特别适合连续开机的情况下，高负荷。

A wind- and motor-powered land vehicle with a fore-and-aft longitudinal axis comprising a body supported by wheels, at least one of said wheels fixed to rotate in a plane parallel to the fore-and-aft axis of said vehicle, an airfoil system comprised of two vertically extending airfoils rigidly mounted on said body in an arrangement having bilateral symmetry about a vertical plane through said fore-and-aft axis, said airfoil system providing a forward propelling force of said vehicle when the airfoil system is subjected to certain cross wind conditions, and self-contained motor propulsion means on said vehicle for providing acceleration from a stationary position and for propelling the vehicle either independently or in combination with propelling forces generated by wind action on said airfoil system, each airfoil having a plurality of airfoil sections telescopically fitted together, the lower airfoil section being rigidly mounted in fixed relationship to said body, said airfoil system including a retracting mechanism for lowering upper airfoil sections of said airfoil system when desired and for subsequently extending said airfoil system, said retracting mechanism including a plurality of linkages interconnecting said sections and an actuator means operatively connected between said body and to said linkages for lowering and extending each airfoil, and an intermediate airfoil extending between the upper sections of each of said airfoils so as to provide an inverted U-shaped airfoil.

风力和电动机驱动的陆地车辆与前列和尾部长轴组成的一个机构的支持，车轮，至少有一说，车轮固定在一个旋转平面平行的前列和前后轴的说，车辆，翼型系统组成的两个垂直扩展翼型硬性安装在说，机构在安排后，双边对称约一垂直面说，通过国内外和前后轴，表示翼型系统提供了一个向前推进的力量说，车辆时，翼型系统是受到某些横风条件下，和自我载电机推进的手段就表示，车辆提供加速从一个固定的立场和为推进车辆单独或结合，与推进力量所产生的风的行动表示翼型系统，每个机翼有一个多元化翼型第telescopically装在一起，较低的翼型节被硬性安装在固定的关系，说身体，说翼型系统包括一个撤消的机制，降低上翼型章节说，翼型系统时，理想的和其后再将说，翼型制度，说收回机制包括多元化的联系互连说，部分和一个致动器的手段手术之间的连接说，身体和说，联系降低，并延长每翼型，及一个中间翼型延长之间的路段上的每说翼型，以便提供一个倒U -形翼型。

The USM is a kind of new electrical motor which develops in recent 20 years, it broke through the traditional concept of electrical motor. It didn"t have the electromagnetism winding and the magnetic circuit, and it didn"t uses the mutually electromagnetism to transform the energy, moreover, the volume of electrical motor is small, the weight is light, the transfer efficiency is high. For it was so small, so light, and so thin, it have begun to use on automobile. But the usage of superconductivity electrical motor is still in the experimental stage at present. The main reason is that the super conductivity material has not realized the high temperature, but with the development of technical, the possibly uses of superconductivity electrical motor in the big horsepower like automobile generator and on actuation electrical motor causes the electrical machinery to be smaller in volume, lighter in weight, and higher in efficiency.

超声波电机是近二十年来发展起来的一种新型电机，它突破了传统电机的概念，没有电磁绕组和磁路，不用电磁相互作用来转换能量，体积小、重量轻、转换效率高，很小、很轻、很薄，在汽车上已经开始使用；超导电机的使用目前还处在实验阶段，这主要的原因是超导材料还没有实现高温化，但是，随着技术的发展，超导电机可能使用在汽车的起动机和驱动电机这些大马力上，使原有的电机体积更小，重量更轻，效率更高。

In this system the motion controlling centers upon regulating the speed of wire feeding and movement of lead screw in each direction.Four motors separately drive the wire-feeding tape roll and the lead screw move respectively following their directions of X, Y, Z axis. If all the motors are controlled by 89C51 directly,it will rise great difficulty for software and hardware implementation. So the suggested solution is to combine the microcomputer with stepper motor driver and control of their motion.

在本系统中运动控制的关键即送丝与各丝杠移动的调节，由四个电机分别驱动X，Y，Z轴方向的丝杠行走以及送丝操作，运动控制部分如果用89C51直接驱动各电机则在软件和硬件实现上都比较困难的，所以选用单片机与步进电机驱动器结合起来控制它们的运动。

The crawler and swing arm both are driven by DC servo motor directly, the complex driving devices are eliminated, swing arm drive DC servo motor is installed in the interior of driven wheel and swing arm wheel; it ensures robot has high maneuverability and strong over-obstacle capability, at the same time it overcomes the disadvantages of traditional drive and transmission system, such as a lot of elements, complex structure and low efficiency, it reduces energy consumption, saves interior space, reduces overall weight, increases the work reliability and running stability of robot and provides new design programs and new technology channels for small-sized crawler ground movable robot drive device.

机器人的履带和摆臂均由直流伺服电机直接驱动，省去了复杂的传动机构，摆臂驱动直流伺服电机则安装在从动轮和摆臂轮内部，在保证机器人具有高机动性和强越障力的同时，克服了传统驱动、传动系统零件众多、结构复杂、效率低下的缺点，降低了系统能耗，节省了内部空间，减轻了整体重量，提高了机器人的工作可靠性和行驶稳定性，为小型履带式地面移动机器人驱动装置提供了新的设计方案和新的技术途径。

Based on the electronic focus technology development of state-of-the-art,the paper suggested a complete apparatus s cheme ofauto-focus based on SSPD(self-scanned photodiode array)and 8098 singl e chipprocessor,giving out a focus criterion algorithm based on image high freq uencystatistics.The function of auto-focus of both reflected and transparent o pticalmicroscope was realized.Meanwhile some corresponding problems such as sta bility of lightsource,step motor driving etc.were also discussed,which greatly improved the accuracy andreliability of the system.

文摘：在介绍与分析了国内外电子调焦系统的技术发展与现状的基础上，提出了一种基于SSPD与8098单片微处理器自动调焦的整体技术方案，给出了基于图像高频成分统计的聚焦判识算法，在此基础上实现了反射式与透射式光学显微镜的自动调焦，同时对系统的可靠性有关的其它相关问题如光源稳定性、步进电机驱动等问题也进行了讨论。

This one mode pays close attention to network credence foundation of the businessman very much.

这一模式非常关注商人的网络信用基础。

Cell morphology of bacterial ghost of Pasteurella multocida was observed by scanning electron microscopy and inactivation ratio was estimated by CFU analysi.

扫描电镜观察多杀性巴氏杆菌细菌幽灵和菌落形成单位评价遗传灭活率。