轨线

Based on the analysis of the mechanism of robot manipulators, a trajectory tracking controlling research model is first built up with ADAMS, and its mathematical model is formulated through the study of robot kinematics and dynamics. After the modeling errors are analyzed in practical robotic systems, a conception of centralized error is brought forward according to the theory of weighting functions. In the case of modeling errors' exist, the robotic uncertain model is derived by introducing an auxiliary control variable into inverse dynamic analysis. The control strategy of robust exponential convergence is applied to the robotic uncertain model, the applicable conditions and the applicable controller with this application are presented. The stable control effect under three main model uncertainties (parametric errors, joint disturbs, joint frictions) are systematically studied on the previously built research model. The problems of robust exponential convergence controller which often results in unstable output and so produces a large relative error when the input trajectory is in a small range are resolved by adjusting the control parameters based on the controller's structure.

本文在机械手的机械结构分析基础上，利用ADAMS建立了用于机械手轨线跟踪控制研究的机械手模型；通过对机器人运动学和动力学问题的研究，建立了机械手研究的数学模型；分析了机器人系统中模型误差的主要来源，根据加权函数法分析，提出了模型集中误差的概念；在存有模型误差的情况下，采用逆动力学结构并引入辅助控制量，由机器人误差模型推导了机器人非确定性模型；提出了采用鲁棒指数收敛法对上述机器人非确定性模型进行鲁棒镇定的控制策略，并给出了对机器人进行鲁棒指数收敛控制时系统不确定因素应满足的匹配条件；针对机械手研究模型，深入研究了鲁棒指数收敛控制器对机器人系统中常见的模型参数误差、关节扰动、关节摩擦等不确定因素的镇定控制效果；针对鲁棒指数收敛控制器易产生控制量振荡的问题以及在小范围内系统轨线跟踪的稳态误差过大问题，本文分别提出了基于控制器结构的控制参数调整法和基于轨线跟踪范围大小的控制参数分段切换法。

We proved that the necessary and sufficient condition that the developable surfaces touch the second focal surface along the orthogonal trajectories was that the base surface S was a developable surface.

证明了线汇中的两系可展曲面交第二叶焦曲面于正交轨线族的充要条件是原曲面是可展曲面，并给出了两叶焦曲面在同一条光线上两焦点相互对应下，保持渐近曲线相互对应的充要条件。

First low order approximation of generating function and approximate optimal trajectory were obtained. Then using low order approximation of generating function of Hamilton "relative motion" to the approximate optimal trajectory, improvement of the approximate optimal trajectory was iteratively made. In this way, high order approximation accuracy can be obtained by only using low order approximation, which is much cost effective in computing.

首先以较低的计算代价，获得最优控制Hamilton系统生成函数的低阶近似，得到一条近似的最优轨线，然后将最优控制Hamilton系统相对于近似最优轨线求"相对运动"，该"相对运动"仍具有Hamilton性质，利用这一"相对运动"的生成函数低阶近似，可以对近似最优轨线进行迭代修正，从而以计算代价较小的低阶近似逼近计算代价高得多的高阶近似的精度。

In chapter 3, concentrating on the perturbation of Hamiltonian systems with parameters.

在第二章中，分析了系统E的奇点性态，研究了系统E中奇闭轨的存在条件，考虑了鞍点间的轨线连结，绘出了系统E的拓扑相图的分枝图和相应的全局相图。

Secondly, we investigate C°-flows on orientable closed surfaces having POTP, and obtain a necessary and sufficient condition of such flows.

剖析了这些轨道的邻域的轨线结构，还考虑了经过Poisson稳定点及几乎周期点的横截圈和相应的回归映射，其中本文讨论了可定向闭曲面上具有伪轨跟踪性质的C〓-流，得到了可定向闭曲面上C〓-流具有伪轨跟踪性质的较为简洁的充分必要条件；最后本文借助于从可定向的闭曲面到不可定向闭曲面的复叠投射，讨论了不可定向闭曲面上的C〓-流与其提升的轨线之间的联系，解决了不可定向闭曲面上C〓-流具有伪轨跟踪性质的判定问题。

In Chapter Ⅲ, the global stability and global attractivity of some planar autonomous systems are dealed with.

第二章考虑平面自治系统同宿轨族的一些定性性态，证明了系统至多存在一个最大椭圆扇形，得到此系统的轨线趋于奇点及同宿轨族、闭轨族、双曲扇形和椭圆扇形的存在性与不存在性的充分或充要条件。

Only with such characteristics, the movement equations can be expressed as matrices, and the idea of transforming the movement equations to the simplest form through a nonlinear transformation can be realized;(2) The form of Zi =Yi + YTH2i Y + Y7H3i Y(2)+ Y(2)T H4i Y(2)+ YTH5i Y(3) is adhibited in the nonlinear transformation, so that the multivalued problem caused by the nonlinear transformation is avoided, and the higher order transformation can be taken next;(3) The fourth order nonlinear transformation matrices H21,H31,H41 and H51 are derived, by which the original movement equations of electric power system is transformed to Jodan form in Z space;(4) By use of the fourth order nonlinear transformation, the approximate expression of the stability boundary is obtained, in Z space it is Z1= 0,in Y space it is Y1 + YTH21 Y + YTH31 Y(2)-i- Y(2) TH41 Y(2)+YTH51 Y(3)= 0;(5) The criterion used in this paper to judge whether the system critical unstable is simple and quick;(6) The method used in this paper is a direct method, and no need to construct an energy function.

正是由 于电力系统的运动方程具有这样的特性，才能写成矩阵的形式，通过非线性变换将电力系统的运动方程变换为最简单的线性形式的思想才能得以实现；（2）将通常运用于电力系统暂态稳定性分析的Normal Form变换的形式由 Yi＝ Zi＋ ZTh2riZ变形为 Zi＝ Yi＋YTH2iY＋YTH3iY（2）＋Y（2）TH4iY（2）＋YTH5iY（3），从而使得在对持续故障轨线实施同样的非线性变换以确定临界切除时间时，避免了非线性变换带来的多值性的问题，而只有在没有多值性问题的困扰下，才能采用较高阶的变换：（3）推导出了将原始电力系统系统的运动方程变换到Z空间的约当形式的非线性变换矩阵H21、H31、H41、HS1：（4）在运用四阶了「线性变换的情况下，给出了受扰动后系统的稳定边界的近似的解析表达，在Z空间为Z1=0，在y空间为： Y1+YTH21Y+YTH31Y(2)+Y(2)TH41Y(2)+YTH51Y(3)=0 （5）确定临界失稳的判据简单、快捷：对于一个复杂的电力系统，其稳定边界是相当复杂的一个高维曲面，即便是已知系统稳定边界的解析表达，要求出系统持续故障轨线何时与这一高维曲面相交，在数学上几乎是不可能实现的。

Then we find out the exact bounded wave solutions for WBK equation in chapter four. According to the theory of dynamical system, we investigate the explicit exact traveling wave solutions of nonlinear wave equations by using the characters of the closed trajectory connecting equilibrium points and the relations between obits and traveling waves.

在对系统进行定性分析、了解了系统所有可能解的大致形态的基础上，论文第四章给出了WBK方程的精确有界解，应用动力系统理论，利用连接平衡点的闭轨线的特点结合轨线与行波之间的对应关系来研究非线性波方程行波解的有界性及精确的显式表达式。

I'm always looking at n-day trajectories - 10, 20, 40, up to maybe 280 days. Twenty-day trajectories worked for a while, but that started going downhill 15 years ago.

我总是看N天的轨线——10天、20天、40天，一直到280天。20天的轨线有时候有用，但是从15年前开始就走下坡路了。

I'm always looking at n-day trajectories - 10, 20, 40, up to maybe 280 days. Twenty-day trajectories worked for a whellole, but that started going downhelloll 15 years ago.

我总是看N天的轨线——10天、20天、40天，一直到280天。20天的轨线有时辰有用，可是从15年前开始就走下坡路了。

However, as the name（read－only memory）implies, CD disks cannot be written onorchanged in any way.

然而，正如其名字所指出的那样，CD盘不能写，也不能用任何方式改变其内容。

Galvanizes steel pallet is mainly export which suits standard packing of European Union, the North America. galvanizes steel pallet is suitable to heavy rack. Pallet surface can design plate type, corrugated and the gap form, satisfies the different requirements.

镀锌钢托盘多用于出口，替代木托盘，免薰蒸，符合欧盟、北美各国对出口货物包装材料的法令要求；喷涂钢托盘适用于重载上货架之用，托盘表面根据需要制作成平板状、波纹状及间隔形式，满足不同的使用要求。