电机驱动的

First, this article introduced the status of the electromagnetic launch technology in general. Then, the author further introduced a new principle of coil launch technology and its inductance in the equivalent circuit which are based on the principles of linear motor. It is a more comprehensive thought in the study. Third, in the building of the power supply system, the most important things are the trigger control loop structures, the gap switch debugging, the measurement of the impact current, and electromagnetic interference protection. Finally, I introduced the experiment, the simulation analysis of some questions in the experiment. The most important thing is the analysis of the equivalent circuit of the stator windings. And the author build a simulation model based on it.

本文首先介绍了电磁发射技术的概况；其次，基于直线电机的原理，介绍了直线驱动线圈发射技术的基本原理、等效电路和回路电感计算，得到了较完整的课题研究思路；第三，搭建电源系统，工作的的重点是触发控制回路的研制、间隙开关的调试、冲击电流的测量、电磁干扰防护措施；最后，介绍了课题实验情况，对实验中产生的问题进行了仿真分析，其中以定子线圈的等效电路的分析为重点，建立了仿真模型，并对参数的变化进行了仿真研究，为后续的实验研究提供参考。

The main content of this thesis is as follows: 1The structures of EPS are analyzed. The main components of EPS are introduced in detail. Then the distributed torque in EPS is analyzed and the control system model is set up. 2Three control modes are discussed and the control strategy of EPS is studied in detail. Three principal modules in the control strategy are discussed—the predicted module which predicts motor rotational speed and steering rotational speed, the power-assistant module and the return control module. 3The assistant torque curves of the motor are designed by using the B-spline, so that any kind of custom-built assistant torque curves can be designed according to different kinds of automobiles. 4The hardware frame of EPS is studied. The developed controller based on 8-bit MCU MC68HC908MR8 is introduced and many related circuit units are designed, including the control circuit, the driver control circuit and so on. The software structure is discussed, then the steering control program flowchart is given.

本文的主要工作有： 1分析了EPS 的总体构成，对EPS 的各个部件作了详细的介绍，并在此基础上分析了EPS 的受力情况，建立了控制系统模型，并研究了EPS 的安全性能； 2讨论了EPS 的三种控制方式，提出了控制策略，并讨论了其中三个关键模块的作用：预估模块包括对电机转速和方向盘角速度的预估，助力控制模块以及回正模块； 3用B 样条插值方法进行EPS 助力曲线的设计，可按照用户的要求设计任意形状的助力曲线，以满足不同车型和不同用户的要求； 4研究了控制系统的硬件结构，以MC68HC908MR8 为核心设计了控制器，详细讨论了控制器的控制电路、驱动电路等；设计了控制系统的软件，给出了控制程序流程图，并对要点进行了详细的说明。

Secondly, based on the function analysis of EV test bench, using the modular design idea, this dissertation compartmentalizes the functional module of EV test bench, and analyzes the essentially comprising of the modules such as driving module, power take off module, inertia simulation module, load simulation module, main control module and power supply module. Especially introduces selection principles of driving motor of power take off module.

其次，在对电动汽车试验台功能进行分析的基础上，采用模块化设计的思想对电动汽车试验台的功能模块进行了划分，并就驾驶引导模块、动力输出模块、惯量模拟模块、负载加载模块、试验台主控模块和电源模块的基本组成进行了深入分析，并在动力输出模块部分着重介绍了驱动电机的选择原则。

All the actuators of the three-axis turntable are brushless torque motors, all the bearings are aerostatic air bearings, so the friction caused by these elements can be neglected. The main source of friction is the metal-to-metal friction on the slip rings. Hence the "Columb+Viscous+Static" friction model is used here for analysis.

由于三轴转台的驱动系统选用的是无刷电机，轴承则采用的是气浮轴承，轴系上的摩擦力已大大降低，三轴转台上的摩擦主要是滑环轴上金属对金属的摩擦，所以文中选用&库仑＋粘滞＋静摩擦&的摩擦模型来进行分析。

As a downstream piping system when the valve opens, reflux valve, when closed, the main medium used to prevent backflow to prevent the pump and drive motor reversal, as well as a container medium discharge; currently the most commonly used is the valve flap around the body Swing Pin rotation flap valve and the valve body along the vertical axis to move lift check valve, but the above two kinds of structures exist in the valve closed, medium speed back quickly from the largest drop to zero, inlet side of the pipe resulted in the rapid pressure rise, resulting Proportional Pressure Reducing Valves in damaging effects on the piping system of water hammer phenomenon, it is generally a diameter of valve production of 50 ~ 500 mm.

止回阀作为管道系统顺流时开启，逆流时关闭的阀门，主要用于防止介质倒流，防止泵及驱动电机反转以及容器内介质泄放；目前使用最普遍的是阀瓣围绕阀体销轴旋转的旋启式止回阀和阀瓣沿着阀体垂直中心线移动的升降式止回阀，但以上2种结构的阀门均存在关闭时介质倒流速度从最大迅速降为零，致使管道进水管一侧内压迅速升高，从而产生对管路系统有破坏作用的水锤现象，所以一般止回阀生产口径为50～500 mm。

On the research of reciprocating pump,if the linear motor-driven piston or reciprocating plunger being applied,the structure of reciprocating pump will be greatly simplified.And the movement of the piston can be changed so that the flow of pump is constant;Meanwhile easily to achieve automatic control,and when using the intelligent control system,easily to implement automated production.

在往复泵的研究中，如果采用直线电机直接驱动做往复运动的活塞或柱塞，那么往复泵的结构将大为简化，泵总体结构紧凑，系统效率高；并且可以通过改变活塞的运动规律，使泵的流量恒定；同时便于实现自动化控制，若采用智能化控制系统易于实现自动化生产。

On the research of reciprocating pump, if the linear motor-driven piston or reciprocating plunger being applied, the structure of reciprocating pump will be greatly simplified.

在往复泵的研究中，如果采用直线电机直接驱动做往复运动的活塞或柱塞，那么往复泵的结构将大为简化，泵总体结构紧凑，系统效率高；并且可以通过改变活塞的运动规律，使泵的流量恒定；同时便于实现自动化控制，若采用智能化控制系统，易于实现自动化生产。

Linear motor is a kind of equipment for converting electrical energy into linear movement use. In most occasions where need converting rotary movement into linear movement, linear motor shows its superiority. It makes many in-between transferring machine unnecessary. Therefore, the whole system runs more steadily. In addition, thanks to the reducing of the in-between machine, the friction wastage of the whole system is reduced and the efficiency of the whole system is improved.

直线电机是一种将电能直接转换成直线运动机械能的驱动装置，在许多需要由旋转运动转换成直线运动的场合下使用，它可以省却中间机构，从而使装置得以简化，减少了维护的工作量，提高了系统的可靠性，且易于控制，在合适的使用场合下，还可以提高整个系统的效率。

By the time of its fall, most of the prisoners were writers who had written against the corruptions of the government.

到它被攻陷的时候，里面多数的犯人是写了反对政府贪污文章的作家。

The most obvious variation to ovum morphological character was that the color was changed from light green to sepiaceous in embryonic development, and all the ovums were almost hatched after 96h.

在胚胎发育过程中卵的形态特征最明显的变化是颜色从淡绿到深褐色，卵在发育96h后卵基本全部孵化。