自适应控制

In this paper, the theory studies, digital simulation and microcomputer control experiments to a robot have proved that the AFDC system of robot has signally effective intelligent dynamic control functions and makes robot to have excellent dynamic response performances and motion accurary by measuring only input and output of the robot, and that the system structure and control algorithm is more simple, reliable, and more easy to be used on common microcomputer then another high-level dynamic control systems of robot.

文章在理论研究、仿真控制和机器人的微机控制试验方面的研究工作表明，文中提出的机器人自适应模糊动态控制系统既具有显著有效的智能动态控制功能。能在仅测量输入-输出信息条件下，保持机器人取得优秀的响应性能和运动精度；又在结构和算法上比一般的高级机器人动态控制系统更简洁、可靠和易于在普通微机上实时在线实现。

This paper also analyzes control problem in cartesian space and presents several improved indirect methods , to counter kinematic uncertainty ect.. Then, a sliding mode control and an adaptive control are proposed as direct cartesian space control scheme. All of them has been extended to redundant manipulator.

本文研究了机械手工作空间控制问题，提出了考虑具有不确定运动学参数等多种改进的分解运动控制方案，它是机械手控制的间接方法，进一步本文又提出了滑动模及自适应两种分别考虑运动学及动力学不确定性的工作坐标直接控制方案，它们均被推广至具有冗余自由度的机器人控制中。

A four\|node piezoelectric composite laminated plated element was implemented for dynamic analysis of adaptive structure. The damping ratios of truncated models were considered as the control objects, so that each of the structural modal oscillation could decay rapidly. Hence, the structural oscillation was effectively controlled.

利用四节点压电复合材料层合板单元进行自适应结构的有限元动力分析；采用模态控制方法，将结构的各阶模态的阻尼比作为控制目标，并以此计算出各压电片的控制电压，达到控制结构振动的目的。

For the voltage space vector close loop control-based strategy, based on the proportional-plus-integral-based control scheme, a new control scheme composed of an adaptive resonant controller and a PI controller is proposed in the paper, by which the stator voltage waving is almost elimited, and a very well control performance is achieved for stator voltages, naturally, the softly cut-in control is realized.

针对基于空间电压矢量闭环控制的这一投切方案，在PI调节器控制的基础上提出了自适应谐振调节器与PI调节器并行控制的控制策略，有效抑制了定子电压幅值的波动，使定子电压具有较好的控制响应，进而实现了双馈风力发电机零电流切入电网的目的。

For these reasons the fuzzy adaptive PID controller is feasible and effective. The controllers coefficient self-adjusting can be realized, and its performance is better than traditional PID controllers.

因而木材干燥窑的模糊自适应PID控制是可行的、有效的，它实现了参数的自整定，且优于传统PID控制。

For further study to improve performance, an adaptive control algorithm based on Neural Network is tried in stabilization control. A new method of selecting the initial weights of Neural Network is put forward, which is that the coefficients of discrete equivalent of continuous transfer function in traditional control are used as the initial weights of Neural Network. Adaptive Neural Network control is combined with traditional control by using different method in different segment.

作为进一步提高稳定系统性能的探讨，对基于神经网络的参数自适应调整控制方法在稳定控制中的应用进行了研究，提出了将传统校正方法经离散化后所得到的数字控制算法的系数作为神经网络权值初值的新方法，并采用分段控制，将传统校正方法和神经网络控制方法相结合，取得了较好的控制效果。

Differing from the feed-back error compensation method, the selflearning error pre-compensation method offered by the paper is based on both ANN and time series technique to obtain the error pre-compensating curve using the non-linear ANN pre-compensation model. Because of the self-learning character of the ANN, this new type of precompensation model can be self-adjusted.

与常规的反馈补偿方法不同，本文提出的自学习误差预测补偿方法，将时间序列预测与神经网络的自学习自适应优化建模技术相结合，利用神经网络非线性预测模型产生误差预补偿函数，并利用神经网络的自学习特性对所建预测模型进行修正，所以这种新型的误差补偿方法能够获得更高的误差补偿精度和控制速度，简单实用，适于推广，具有生产应用价值。

In the last three chapters, according to the structure of the hydraulic servo system, an optimal control algorithm for dynamic control and an adaptive control approach of the system for the rolls to move synchronistically are presented.

根据轧机液压压下系统的特点提出了一种动态自寻优带钢同步控制算法和轧辊大行程运动时的自适应同步控制算法。

If control horizon is weighted as usual, it results in constraint control law. Author proposes pseudo weighted control scheme which avoids assumption of inverse stability.

最后，又提出了该模型自适应逆动态组合极点配置控制方案该方案的新颖之处就在于构造非线性增益自适应动态逆，用来补偿非线性增益。

Startup process timing analysis of liquid bipropellant pressure-fed propulsion system;2. Implementation of Parallel Extending Memory Based on Timing for AT89C2051;3. Combining with the timing of strip elements spraying status calculation and setup values outputting in on-line feed-forward control,the timing of calculation and outpu.

结合国内某1450mm热轧带钢厂层流冷却系统的改造，介绍了过程级数学模型子系统的组成，主要包括进程的划分及激活逻辑、共享数据区的分类及数据流程，并结合实际在线前馈控制过程中样本集管组态计算和下发的时序，以及自适应后计算时序及自适应系数的数据流程，说明了数学模型子系统构成机制的合理性和运行结果的有效性。

Breath, muscle contraction of the buttocks; arch body, as far as possible to hold his head, right leg straight towards the ceiling (peg-leg knee in order to avoid muscle tension).

呼气，收缩臀部肌肉；拱起身体，尽量抬起头来，右腿伸直朝向天花板（膝微屈，以避免肌肉紧张）。

The cost of moving grain food products was unchanged from May, but year over year are up 8%.

粮食产品的运输费用与5月份相比没有变化，但却比去年同期高8％。