辅助系统

DR consists of Doppler Velocity Log,Electronic Compass,GPS and the speed which is transformed from airscrew.

论文根据实际需求，设计了利用捷联惯性组合系统作为主系统，多普勒计程仪、GPS、电子罗盘和由螺旋桨转换过来的速率信息构成的DR系统作为辅助子系统的水下组合导航定位系统。

The soft-measuring technique is systemically described from the following aspects: auxiliary variable selection, data processing, soft-measuring model construction and model correction. Moreover, in order to solve the problem of measuring temperature of aluminum electrolytic cell, the importation electric power and blanking velocity are selected as auxiliary variable, then the temperature estimated value of the electrolytic cell is calculated. An autoregressive model with controlled item based on Modern Time Series Analysis method is established.

从辅助变量选择、数据处理、软测量模型建立和模型修正等方面系统地介绍了软测量技术；并针对铝电解槽温度高、腐蚀性强、温度难以直接测量的问题，选择电解槽的输入电功率和下料速度作为辅助变量，利用现代时间序列分析法建立了带受控项目的自回归数学模型，从而计算出电解槽的温度估计值。

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。

After analyzing the characters of current hydraulic CAD, the method was put forward to use concurrent computer supported cooperative work to regulate hydraulic CAD, and to realize assistant graphics element drawing, principle drawing formation, data exchange, network communication and background data - base service by employing object - oriented technology, dialog box and control widget technology, input - output of graphics ＆ image and socket technology.

在分析当前液压CAD的特点之后，提出了用并行协同设计模式规划液压CAD，运用面向对象（object-oriented）技术、对话框和控件技术、数据库图库存储提取技术、导入导出图形图像技术和socket技术，具体实现了辅助图元绘制、原理图生成、数据交换、网络通讯和后台数据库服务各个功能，使液压系统计算机辅助设计得到进一步的完善。

This method is based on the theory of stability of linear time-varying systems. It realizes the synchronization by transferring high time-varying systems into low linear constant coefficient system.

该方法基于线性时变连续系统的稳定性理论，通过把高维时变系统的稳定性判定简化为低维定常辅助方程稳定性判定，从而减弱了时变系统的稳定性条件，实现了系统的耦合同步。

The logical function was expressed in terms of cubic notation andthe logical operation was carried out cubically through intersection,compatibility and sharp product.

采用立方符号表述逻辑函数，把逻辑运算表示为立方的相交、相容及锐积运算，提出用判断最小项来完成对给定程序的判断和校正，进而实现了计算机辅助逻辑综合，得到了最优的逻辑设计结果，并将此应用于计算机辅助气动系统设计中取得了良好的效果

In this paper, The power grid planning system that utilize the computer network, share the information of SCADA, Customer Information System, Production Management System, explore new mathematics model, help the user planning based on GIS technology, space load-forecast and decision making will be discussed. The system will help the power supply company to allocate power substation appropriate, bring great economic benefit with limited investment and improve its planning level.

本文探讨了如何通过计算机网络，共享自动化系统、营销系统、输配电管理系统等系统的已有资源，采用适当的数学模型，实现基于GIS的空间负荷预测和电网规划辅助决策功能，合理和适时地配置电源，优化网络的结构，使电网具有可扩展性和可持续发展的能力，从而使有限的投资可以发挥最大的经济效益，使目前的电网规划工作提高至一个新的水平，适应新形势的要求。

This thesis expatiates on the theory and architecture and primary content of Reusable Design technology and Reusable Process Design technology, study the feasibility and practicability of some important technology about Reusable Process Design, adopt a special knowledge representation to describe reusable process design information and make use of "FenHua "to realize knowledge acquisition about fuzzy knowledge.Craft database system is the mostly important support of CAPP (Computer Aided Process Planning) system. To some extent, the essence of process design is a process that craft data is visited, used, dealt with and generated. This thesis expatiates on data base design technology. Based on the detailed analysis of the craft data"s characteristic and sort and the craft database"s component part, the author build craft database through detailed conceptual design and logical design and physical design for data base.the application and research of Web database technology becomes increasingly wide, which can make a close combination between Database technology and Web technology.

本文阐述了基于知识复用的可复用设计技术与可复用工艺设计技术的理论、体系结构与主要研究内容，研究了可复用工艺设计中的若干关键技术的可行性、实用性，采用了三表知识表示来描述工艺知识及利用"分划"的方法对灰色知识进行知识获取；工艺数据库系统是计算机辅助工艺设计系统的重要支撑系统，从某种程度将，工艺设计的实质就是对工艺数据库中工艺数据的访问、调用、处理和生成新的数据的过程，本文阐述了数据库系统设计技术，在详细分析工艺数据的特点、分类以及工艺数据库的数据库组成的基础上，通过对工艺数据库概念结构、逻辑结构、物理结构等几个方面的详细的分析与设计，建立了系统工艺数据库； Web数据库将数据库技术和Web技术很好的融合在一起，其应用研究日益广泛。

The relationship between the tracking error and those auxiliary errors is clearly established when plant relative degree is greater than one and therefore, it can be proved that the influence of averaging filters on a VS-MRAC system can be considered as, in a sense, an unmodelled dynamics. As a result of this, it is shown that the stability analysis of a signal synthesis based VS-MRAC system must be modified to include the 'unmodelled dynamics'.

当对象建模部分相对阶大于1时，得到了系统跟踪误差和辅助误差间明确的关系表达式，进而证明平均值滤波器对系统的影响相当于未建模动态对系统的影响，这表明以往相关文献关于系统稳定性的分析是有缺陷的，没有将平均值滤波器对系统稳定性的影响完全考虑在内； 3。

In order to fully exploit the potential of the Flare plate solar collector and the low temperature water source pump in Sitsang, the simulation model of Solar assisted heat of low temperature water source pump system is developed in this paper. Using this simulation procedure, the designer can predict the dynamic characteristic of the system at the design phase.

为了使太阳能低温水源热泵辅助供暖系统可以在西藏地区充分发挥水源热泵和平板集热器的潜力，本文采用matlab的simulink仿真技术对该系统进行建模，通过模拟来预测该太阳能系统系统的运行情况，可以使设计人员，在设计阶段可以对该系统的动态特性有一个较全面的了解。

I am accused of being overreligious," she said in her quiet, frank manner,"but that does not prevent me thinking the children very cruel who obstinately commit such suicide.""

客人们在卡罗利娜·埃凯家里，举止就文雅一些，因为卡罗利娜的母亲治家很严厉。

Designed by French fashion house Herm è s, this elegant uniform was manufactured in our home, Hong Kong, and was the first without a hat.

由著名品牌 Herm è s 设计，这件高贵的制服是香港本土制造，是我们第一套不配帽子的制服。