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From component to system and from theory to practices, This diesis has done extensive research on the fundamental models, optimal design theory -. sensitivity analysis and parameter design etc. of a kind of adjustable linear oil damper on the basis of following the international research steps of oil dampers.

本文以可调式线性油压减振器为研究对象,在跟踪油压减振器国际研究前沿的基础之上,对其基础模型、优化设计理论、敏度性与参数设计等进行了一系列从元件到系统、从理论到实践的深入研究。

Analysis shows that the robot model containing uncertainty can be transformed into a quasi—linearized form by using nonlinear feedback and diffeomorphism. Based on this result, a simple design method is proposed for robot tracking control.

第一种算法将谈自忠等提出的机器人反馈线性化控制推广到存在不确定性的情形,指出通过非线性反馈和微分同胚变换可将含不确定性的机器人模型变换成准线性形式,基于此给出一种简单的跟踪器设计方案。

Based on the diffeomorphism transformation and Lyapunov direct method, controllers for the reference yaw angle and the reference speed are designed.

首先应用微分同胚等效变换和Lyapunov直接法设计参考航向和参考速度,然后对船舶模型参数不确定的操纵环路和推进环路分别设计神经网络稳定自适应控制器跟踪参考航向和参考速度,并对外界风浪流干扰进行自适应补偿。

The reduced dynamic model including motor dynamics is developed for nonholonomic mobile manipulators. The system is then decomposed into four lower-dimensional subsystems by applying diffeomorphism and nonlinear input transformation to the reduced model. The design of robust controller is also addressed for the output tracking of mobile manipulators.

首先给出了包括驱动电机动态特性的非完整移动机械臂的简化动态模型,然后通过微分同胚和输入变换将其分解为四个低阶子系统,并给出了其输出跟踪的滑模控制器设计方法。

Firstly, the reduced dynamic model including motor dynamics is developed for mobile manipulators. The system is then decomposed into four lower-dimensional subsystems by applying diffeomorphism and nonlinear input transformation to the reduced model. The design of the second order dynamical sliding mode controller is then addressed for the output tracking of mobile manipulators.

首先给出了包括驱动电机动态特性的移动机械臂的简化动态模型,然后通过微分同胚和输入变换将其分解为四个低阶子系统,并给出了其输出跟踪的二阶动态滑模控制器的设计方法。

The high-rank differential coefficient of error is one of the necessary parts which influence the system track precision.

误差的高阶导数是影响系统跟踪精度不可缺的一部分。

Common image segmentation there are many ways,such as the threshold method,regional growth,differential operator,the border tracking law.

常用的图像分割方法有很多种,如阈值法,区域生长法,微分算子法,边界跟踪法等。

The development of phase separation were followed by optical microscopy, scanning electron microscopy, transmission electronic microscopy, Synchrotron Radiation soft X-ray contact microscopy, time resolved light scattering, differential scanning calorimeters and rheometer.

本论文系统研究热塑性树脂改性环氧体系相分离过程中的流变行为,通过光学显微镜,扫描电子显微镜,透射电子显微镜,软X射线显微术,时间分辨激光光散射和DSC等仪器跟踪研究相分离过程,与体系的流变行为相对照,探究反应诱导粘弹相分离过程中流变行为。

In this work the rheological behaviors during phase separation in thermoplastic modified epoxy resin were systemically investigated. The development of phase separation were followed by optical microscopy, scanning electron microscopy, transmission electronic microscopy, Synchrotron Radiation soft X-ray contact microscopy, time resolved light scattering, differential scanning calorimeters and rheometer.

本论文系统研究热塑性树脂改性环氧体系相分离过程中的流变行为,通过光学显微镜,扫描电子显微镜,透射电子显微镜,软X射线显微术,时间分辨激光光散射和DSC等仪器跟踪研究相分离过程,与体系的流变行为相对照,探究反应诱导粘弹相分离过程中流变行为。

The result shows that the Particle-tracing Method is not only less diffusive, but also more conservative.

结果显示质点跟踪法不仅耗散更低,而且守恒性也更好。

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