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An electromagnetic power steering kinematics model is built combined with the sensor and power equipment"s kinematics characteristic, then according to bond graph theory the bond graph model and diamond model of the electromagnetic power steering system are built based on the kinematics model. They could lead to the system"s transfer function, which is combined with automobile"s two freedom degree model, finally leads to the system"s model in condition with step input of steering wheel.

结合转矩传感器和电磁力发生装置的动力学特性建立了电磁式助力转向系统的动力学模型，然后在系统的动力学模型的基础上根据键合图理论建立了电磁式助力转向系统的键合图模型及其方块图模型，从而导出系统的传递函数，再结合二自由度汽车模型，最终建立了系统在方向盘转角阶跃输入下的模型。

Meanwhile, the reliability and validity of the model with consideration of tire nonlinearity, lateral mass transfer and axis slip are verified by the steady static circular test and steering wheel angle step input test using a Unique (NJ1020) car.

同时，以优尼柯轿车作为样车进行了稳态回转和角阶跃操纵稳定性实车试验，对考虑车身侧倾、轮胎非线性和横向质量转移的轴侧偏三自由度模型进行验证。

This paper makes use of PID control, Fuzzy- PID control based on single parameter these two control strategies to simulate the systems model. Compared with common vehicle, the results of simulation show that the vehicle equipped with the electromagnetic power steering system has better yaw velocity frequency response characteristic under condition with step input of steering wheel, so it has more betterhandling stability; Compared with PID control strategy, the results show that the Fuzzy-PID control strategy has the advantages, such as response fast, stabilize itself quickly and less over-altitude.

本文使用了PID、单参数自整定Fuzzy-PID两种控制策略对系统模型进行控制，仿真结果表明：相对于普通汽车，装有电磁式助力转向系统的汽车在方向盘转角阶跃输入的情况下，汽车横摆角速度频率响应特性更好，因此具有更好的操纵稳定性；而相对于采用PID控制，采用单参数自整定Fuzzy-PID控制又可以使系统响应更迅速、超调量更小、稳定更快。

The handling stability is analyzed, mainly the steering transient response test of steering wheel step input、 the steering transient response test of steering wheel angle pulse input、 return-ability test、 steady static circular test and central steering test are carried out. With those test, how the front suspension system can influence the handling and stability performance is investigated.

在此基础上进一步建立了整车模型，包括前悬架系统、后悬架系统、转向系统、前轮胎系统、后轮胎系统、车身系统，分析了该车的操纵稳定性，主要进行了稳态回转试验、转向盘角阶跃输入、转向盘角脉冲输入、转向回正试验、转向盘中间位置转向试验，并通过这些试验来考察了前悬架对操纵稳定性的影响。

Thereafter,the response of magnetic bearing to a step disturbance force is simulated under PD and PID controller,which provides some references for design of the actual controller.

并在此基础上，对磁轴承在PD以及PID控制器下对阶跃扰动力的位移响应进行了仿真，分析了各种控制器参数下系统的响应变化情况，为实际控制器的设计提供了理论上的参考。

I wrought again; and when I had made a good deal of fire-dust I emptied it into a handful of dry brown grass, intending to carry it home and keep it always and play with it; but the wind struck it and it sprayed up and spat out at me fiercely, and I dropped it and ran, when I looked back the blue spirit was towering up and stretching and rolling away like a cloud, and instantly I thought of the name of it-smoke!

我又开始劳作。我造出了许多火灰，然后我把火灰放在一束已经干枯得变成棕黄色的草叶里，打算带回家保存起来，能够经常同它玩；可就在这时，一阵风吹来，它便飞扬起来毫不留情地向着我身上扑来，我扔下火灰飞跑。等我回头望去，只见那蓝色的精灵已凌空跃起，翻滚着，扩散着，犹如一朵云，蓦地，我便想出了它的名字--烟！

In these years we depended on the good quality of the products, the honest and dependable prestige, by the reasonable and superiority price, we won many customer's trust and the praise, and leaps into the first enterprise spice trade area inside and outside.We has obtained the self-management import and export power in 2004, enjoys the national exportation tax reimbursement, the export deducted interest and so on the related preferential policy, the enterprise swift and violent development.

我们多年依靠产品质量、诚实可靠的信誉，以同行业的优势价格，赢得全国各地同行业客商的信赖和赞誉，一跃成为区内外香料贸易的龙头企业，并在2004年获得了自营进出口权，享受国家出口退税、出口贴息等有关优惠政策，企业迅猛发展。

The relations between the potential difference and the discharging time when the discharge current is a step function as well as a step function containing high frequency vibrations, the relations between one-dimensional and two-dimensional spark locations and potential difference based on the thin wall model and the thick wall model have been studied.

仿真研究了放电电流为阶跃函数以及含高频振荡时电位差与放电时间的关系；基于薄壁模型和厚壁模型，仿真研究了电极下表面一维放电点位置和二维放电点位置与电位差的关系；对于确定的电位差，仿真研究了放电点位置的分布情况，说明两点输入不能唯一地检测出放电点位置，从而引入四点输入检测的思想。

Considering the skin effect and skin depth, a thin wall model and a thick wall model are derived creatively with different frequencies of discharge currents, which are used to study the relation between the spark location and the potential difference for a cuboid electrode.

本文从放电电流为任意函数入手，阐述了电极电位差法的检测原理，首次利用傅立叶级数推导了电位差与放电时间的关系，证明了放电电流为阶跃函数时，电位差与放电时间成指数关系；当放电电流中含有高频振荡时，电位差与放电时间的关系为指数曲线上叠加相移后的高频振荡；根据放电电流频率的不同，考虑到趋肤效应和趋肤深度，首创了薄壁模型和厚壁模型，研究了长方体电极下表面二维放电点位置与电位差的关系。

The EIM was introduced at first. By solving the scalar wave equation within cladding of TIR-PCF, the fundamental space-filling mode and the effective index of the cladding were calculated. The logical effective radius was selected, and the propagation properties of TIR-PCF were discussed with the classical theory of step-index fiber.

深入研究了有效折射率模型的构造，通过求解标量波动方程得到了光子晶体光纤包层基空间填充模，得出光子晶体光纤的包层有效折射率；选择了较合理的有效半径，利用经典的阶跃光纤理论来研究光子晶体光纤的传输特性。

The absorption and distribution of chromium were studied in ryeusing nutrient culture technique and pot experiment.

采用不同浓度K2CrO4(0，0.4，0.8和1.2 mmol/L)的Hoagland营养液处理黑麦幼苗，测定铬在黑麦体内的亚细胞分布、铬化学形态及不同部位的积累。

By analyzing theory foundation of mathematical morphology in the digital image processing, researching morphology arithmetic of the binary Image, discussing two basic forms for the least structure element: dilation and erosion.

通过分析数学形态学在图像中的理论基础，研究二值图像的形态分析算法，探讨最小结构元素的两种基本形态：膨胀和腐蚀；分析了数学形态学复杂算法的基本原理，把数学形态学的部分并行处理理念引入到家实际应用中。