电路的

Note: Requires a 20 amp circuit to start and run.

注：需要一个20安培电路的启动和运行。

Equation of Van der Pol is the mathematical model of an audion circuit.

VanderPol方程是三极管电路的数学模型。

The problem with automatic gain circuits is they're always looking for something to amplify.

自动增益电路的问题在于其总是在寻找需要声音并进行放大。

A detailed analysis of the main circuit introduction, control method and working principle of the direct-drive wind energy conversion system are given to introduce the two important parts a of this paper: First part is the control method of the multiple boost convertor, the important instantaneous current control method of this paper is given through the analysis of the main circuit structure, control method and working principle. Then a steady-state analysis for low-frequency, a high-frequency component analysis, and a closed-loop tracking performance analysis for dynamic response are provided to analyze the method proposed; And the second part is the control method of invertor.

在系统变流器整体结构分析的基础上，引出本文重点研究的两个变流环节的控制：第一部分是系统升压斩波器的控制，通过分析相关主电路结构、原理，建立了数学模型，引出本文重点研究的瞬时值控制策略的概念和具体实现，并对升压斩波器的瞬时值控制策略进行了详细的高频、低频模型分析和稳态、动态性能分析；第二部分是系统并网逆变器的控制，通过对逆变器主电路的数学建模和控制要求分析，研究了并网逆变器的瞬时值控制策略，包括电感电流控制内环和直流电压控制外环的具体设计和实现方法。

The luminescence power of semiconductor laser diode is tested after the radiator element of laser diode is made and the drive circuit is designed. Then, chaos mathematic model is introduced to produce deterministic class stochastic signal and C langrage program, which is based on the hardware circuit design of MSP430, is designed and on-line debugged to implement the dynamic stimulation effect and avoid the body adaptability with the duty cycle of chaos sequence. The duty cycle is adjusted and controlled to accomplish the reinforcing and reducing in moxibustion. At last, Average power of laser diode is tested under the conditions of different duty cycles and the waveforms are collected by applying virtual instrument.

在半导体激光器散热装置的特别制作及工作驱动电路的设计基础上，完成半导体激光器发光功率的测试，然后引入混沌数学模型方法来产生确定性的类随机信号，在 MSP430 单片机硬件电路设计的基础上，应用单片机 C语言进行程序设计并在线调试，实现传统灸法的动态刺激效果，采用混沌序列占空比信号消除人体适应性，调整和控制输出占空比的改变以达到灸疗的补泻手法的实现，最后对不同控制占空比情况下激光器输出的平均功率进行测试，完成工作波形的采集。

7 To 3.3 V operating supply voltage 44.1 kHz sampling frequency 16.9344 MHz (384fs) system clock Built-in crystal oscillator circuit 16-bit, MSB rst, rear-packed serial data input format ( 64 fs bit clock) 8-times oversampling digital lter · 32 dB stopband attenuation ·+0.05 to -0.05 dB passband ripple Deemphasis lter operation · 36 dB stopband attenuation ·-0.09 to +0.23 dB deviation from ideal deem- phasis lter characteristics Attenuator · 7-bit attenuator (128 steps) set by microcontrol- ler Soft mute function set by parallel setting ·(approximately 1024/fs total muting time) Mono setting · Left or right channel mono selectable by micro- controller Built-in innity-zero detection circuit , two-channel D/A converter · 3rd-order noise shaper · 32fs oversampling Built-in 3rd-order post-converter low-pass lters 24-pin VSOP package Molybdenum-gate CMOS process

2.7至3.3 V工作电源电压为44.1千赫的采样频率16.9344兆赫（384fs）系统时钟内置晶体振荡器电路的16位，MSB在前，后包装的串行数据输入格式（64飞秒位时钟）8倍超采样数字滤波器·32分贝的阻带衰减·+0.05至-0.05分贝通带纹波去加重滤波器的运作·36 dB抑制频宽衰减·-0.09到0.23 dB的偏差认为不理想，症状困扰评估滤波特性衰减器·7位衰减器（128级）集由单片机在-莱尔软静音功能的平行设置·（共约1024/fs静音时间）单声道设置·左或右声道单声道微控制器可选的内置的无限零检测电路Δ，两通道的D / A转换器·第三阶噪声整形·32fs过采样内置三阶后转换器的低通滤波器24引脚VSOP封装钼栅CMOS工艺

This dissertation introduces the history, key technology, current status of nation and internation ,and the importance of MiroSot ; describes function theory and constitutes of MiroSot resumptively firstly ; then introduces machine structure in detail including the characters and choice of electromotor and the design and facture of hull; stresses on control circuit of soccer robot including the choice of control circuit and DSPs, basic circuit of soccer robot and control algorithmic of soccer robot.a new design based on DSPs is made; lucubrate radio communication subsystem including the origin of yawp and controlled method in radio communication finally, and a emitter is made, and hard base has gained to upbuild experiment bed of MAS.

本论文首先简要地介绍了机器人足球比赛的发展历程、所涉及的关键技术和研究意义，概括地描述了MiroSot系统的构成；然后系统地研究了足球机器人机械结构的设计、电动机的选择、壳体的设计等，重点研究了MiroSot足球机器人的控制电路，包括DSPs芯片的选择、足球机器人硬件电路的设计和控制算法的编写，在此基础上研制了基于DSPs的足球机器人；最后深入研究了无线通讯子系统，包括无线通讯干扰噪声的来源及其抑制方法，无线发射器软、硬件的设计和制作，为全面建立多智能体系统实验平台奠定了基础。

Through theoretic reckoning and simulating analyzing, several control strategies for shunt APF were compared and chose ip-iq arithmetic ofthe instantaneous reactive power theory control strategy as the right scheme to produce the instructing current. Based on it, some new control arithmetic was subjoined to suppress the resonance in system and balance the dc side capacitor voltage. Two topologies of main circuit were compared and chose the three-phase voltage-source converter with a split-capacitor as its main circuit structure. The numerical scales of the dc side capacitor and inductance of reactors were calculated. The high-pass filters were designed to eliminate effectively the highfrequency harmonics produced by APF.

通过理论计算和仿真分析，比较了并联型APF的几种控制策略的优点和缺点，从中选择瞬时无功理论控制策略i_p-i_q计算方式为指令电流产生的算法，并在此基础上增加了抑制系统谐振和平衡直流侧电容电压的控制；比较了并联型APF主电路的两种常见形式，从中选择了三相电压型变流器的主电路形式；算出适合该APF的直流侧电容和出线电感的参数；设计出能有效消除APF产生的高次谐波的高通滤波器。

Other conclusion include: the trip of transient protection must be locked when the power circuit breaker of transimission line operated,because the trip is incorrect at this time;the features of transient current and its energy is different between the fault and thunder over- voltage in transimission line,and them can be identified;the ratio of high frequency component of current in serise capaciters compensation line , SVC and HVDC system is far little than fault transient current, so all of them do not affect the working of trasient current protection.

研究了在串联补偿电容的输电线路上发生故障时，串联补偿电容的MOV非线性保护电路对暂态保护的影响。串补电容MOV保护电路的非线性电流高频分量含量很小。静止补偿器、高压直流输电系统换流器的非线性特性产生的谐波分量含量极少。仿真计算表明，在与暂态保护判据中高频分量对应的频率范围内，其电流对应的功率谱估计值大大低于线路故障时故障电流的功率谱估计值，因此它们都不会对暂态电流保护的正常工作产生影响。

Main works of the author:(1) Has developed a design of charge amplifier which using a kind of integrated chip replace a large number of leave components, though all the realized proposal of measurement circuit for the piezoelectric accelerometer;(2) Has made the circuit board;(3) Has proposed a programme-controlled scheme in the sensitivity throw-over of charge convert and gain throw-over of output amplifier;(4) Has done the experiment, give the experimental result;(5) Has done the error analysis based on the experimental result and the principle of the charge amplifier.

作者完成的主要工作包括：(1)通过对压电加速度传感器的测量电路的各种实现方案的深入调研，提出了一种用集成芯片取代大量分离元件的电荷放大器的实现方案；(2)制作了完整的电路板；(3)在电荷转换部分的灵敏电容的切换和输出放大级的增益切换电路的实现上提出了程控的方案；(4)进行了实验验证，给出了实验结果；(5)在实验结果的基础上，结合电荷放大器原理对系统作了误差分析。

According to the clear water experiment, aeration performance of the new equipment is good with high total oxygen transfer coefficient and oxygen utilization ratio.

曝气设备的动力效率在叶轮转速为120rpm～150rpm时取得最大值，此时氧利用率和充氧能力也具有较高值。

The environmental stability of that world - including its crushing pressures and icy darkness - means that some of its most famous inhabitants have survived for eons as evolutionary throwbacks, their bodies undergoing little change.

稳定的海底环境─包括能把人压扁的压力和冰冷的黑暗─意谓海底某些最知名的栖居生物已以演化返祖的样态活了万世，形体几无变化。