运动控制

The method combines the inverse dynamics control with the ZMP-plane acceleration projection, whereby the whole body stability of the robot can be considered simultaneously when tracking the predefined trajectories. With this method, the inapplicability existing in the classical control methods in the terms of disturbance rejection and stability maintenance is solved.4 Finally, in order to verify the proposed methods, experiment platforms for the motion planning and disturbance rejection control are constructed respectively.

提出了利用逆动力学控制和ZMP平面的加速度映射相结合的抗干扰策略，在对运动轨迹进行精确跟踪的同时保证系统整体的动态平衡性，解决了经典轨迹跟踪控制方法在抗干扰及稳定性保持等方面的不足。4为验证本文所提出方法的有效性，分别构建了非规则运动规划与抗干扰控制算法的实验平台，详细地介绍了运动生成和运动执行系统的设计与构成。

Except for Tibetan Plateau and its surrounding regions, the results derived from lithospheric isostasy model are closer to observed elevations and consistent with vertical velocities of crustal movement in most tectonic units.

通过对均衡状态分析，我们得到以下主要结论：(1)构造稳定地区均衡程度较高；(2)青藏高原及周边造山带现今地壳运动主要为区域构造过程及深部动力学过程所控制，均衡调整过程不是主要控制因素；(3)现今地壳垂直运动比较明显的块体处于均衡调整阶段，地表垂直运动的大小反映了该区所受的均衡力作用的程度；(4)构造稳定地区基于岩石层均衡的理论计算海拔与观测海拔之差值和现今地壳垂直运动速率有较好的相关性，据此我们可以通过均衡分析研究构造块体的运动趋势和动力学性质；(5)地慢热结构对现今地形、海拔及地壳垂直运动有显著影响，在处理均衡问题时，地慢岩石圈热结构是我们必须考虑的重要因素。

Because of the nonuniqueness in the positional solution, it's not easy to test the performance of the coordinated control system. So the model of NN was built to convert the vector of the length of 6 jars into the vector of the position of the motion deck. It's fast and accurate for the lengthwise direction. The state space system model of the six degree freedom motion simulator was built by the equations of electrodraulic servo mechanism and the multi-body dynamics equation of the six degree freedom motion simulator,the vector of the length of 6 jars was the control variable.

本文结合六自由度运动模拟器的多体动力学方程和电液伺服驱动机构的特性，经简化得出了具有实际意义的六自由度运动模拟器整体系统的状态空间方程式，通过分析该系统的稳定条件和能控性，采用状态反馈对系统的状态方程式进行合理配置，从而建立了以运动模拟器杆长向量为控制变量的运动模拟器整体控制系统，并将该控制系统输出的杆长向量转换为位置向量。

The pathways that regulate tone are similar to those that regulate voluntary and involuntary motor movements and, as a final common pathway, involve the spinal reflex arc.

控制张力的传导通路和那些控制随意或非随意运动的通路是一样的，即脊髓反射弧，这是一个最后的公共通路：控制肌纤维的α运动神经元位于脊髓前角，发出反射弧的传出纤维，源自肌梭的传入冲动经由Ⅰa纤维传向脊髓，这些直接与α运动神经元连接的轴突中的一部分激活主动肌。

The fourth chapter talks about the weft carrier, in this part, we mostly introduce the big gripper shuttle in the comparative way and not only analyze the structure but also analyze the stress of the fatigable parts. In the fifth chapter, the shuttle box is our research emphasis, we start with the design principle and analyze its structure and the logic of the action of the parts. The sixth chapter discusses the shoot mechanism, builds its theory model and analyzes its law of motion from the view of kinematics and kinetics during the wefting. And then, we can consider the hydraulically shoot mechanism and comprehend its principle and some special parts. Subsequently, the content is about the flying of a shuttle, because the course of the flying of a shuttle is very complex, it is necessary to study the shuttle according to mechanics and to analyze its course of motion and its change of speed from the view of energy.

第五章谈的是梭箱，这部分从梭箱的设计原理入手，从结构的角度对梭箱进行分析，考虑到梭箱上各执行件间的动作存在一定的逻辑关系，还对执行件动作时间与控制作出论述，从中可以看出重型宽幅织机所独有的特性；第六章论述投梭机构，先构造出投梭机＿重型宽幅织机引纬机构与梭箱的设计＿构的弹性理论模型，从动力学的角度剖析投梭规律，随后分析液压式投梭的工作原－－理和一些特型元器件；第七章论述梭子的飞行运动，考虑到梭子飞行运动的复杂性，我们把梭子飞行运动划分为三个阶段，然后分阶段介绍其运动规律，在对梭子进行＿运动分析的同时还详细分析它的受力情况，在这一章的最后，我们对影响梭子飞行＿的因素也作出了讨论；顺沿这一过程，即是第八章对制梭机构的论述，在这一部分，、主要研究制梭过程与制梭力的情况，同梭子飞行过程一样，制梭过程也分为三个阶段，就每个阶段而言，我们都对其进行受力与运动方面分析，同时也就一些容易出现的问题作出讨论；最后两章是对纬纱交接机构和纬纱的退绕与张力控制作出讨＿论，鉴于这两部分不存在复杂的动力学方面的问题，论述重点便放在结构与原理的分析上面，包括分解纬纱交接机构，解析其动作过程，介绍储纬与纬纱张力的一些情况。

To overcome the bad effect resulting from the nonlinearity time-variability and uncertainty on autopilot system performance during the motion process of aerodynamics missile, and to further improve the flight quality of missile, the autopilot system and used control method are researched. Firstly the integrant structure of system is discussed; then baaed un introducing the traditional PID method, controllers for missile attitude motion are designed respectively using fuzzy self-turning PID method and neural network self-adaptive PID method; at last a simulation experiment is finished. By comparing the simulation results that the designed controllers have good qualities is showed, and the feasibility and validity of applying fuzzy control and neural network into automatic control of aerodynamics missile is confirmed, and the base that other nonlinear control theory can be combined with the traditional control for missile to further improve the performance of missile control system is established.

为了克服飞航导弹运动过程中的非线性、时变性和不确定性对自动驾驶仪系统性能的不良影响，进一步提高导弹的飞行质量，对自动驾驶仪系统及其采用的控制方案进行了研究；首先对系统的整体结构进行了分析，然后在介绍经典PID方案的基础上，分别采用模糊自调整PID方案和神经网络自适应PID方案设计了导弹姿态运动控制器，最后进行了仿真实验；仿真结果的对比展示了所设计控制器良好的品质，验证了将模糊控制和神经网络应用于飞航导弹自动控制中的可行性和有效性，为其它非线性控制理论与导弹传统控制相结合以进一步提高导弹控制系统的性能奠定了基础。

Dual-manipulator coordination motion planning based satellite attitude control and path optimization strategy and algorithms are proposed. According to the function of two manipulators, four kinds of coordination modes of stabilizing function, counterbalancing function, adjusting function and cooperative operation are defined. Common motion planning algorithm for the four kinds of coordination modes is proposed.

在讨论卫星姿态控制的重要性和实现方法的基础上，指出了通过机械臂运动进行卫星姿态控制的可行性及优越性，提出了基于双臂协调运动规划的机器人卫星姿态控制及路径优化的策略和算法，定义了稳定作用、平衡作用、调节作用和协同作业等四种双臂协调方式，并给出了四种协调方式下统一的运动规划算法。

According to the wire electrode on the trajectory of the different forms of control, WEDM can be divided into three types:* is a copy-control, cutting their lines in advance to create the shape of the workpiece and the same mode *, When the rough machining parts and die at the same time * Clamping in the machine tool table, in the process of cutting wire electrode tightly * close to the edge of model for mobile track, thus cutting out the model * with the same shape and precision to work; another One is the optical tracking control, the cutting in line before the first parts in accordance with drawings by a certain ratio of enlarge depicts an electro-optical tracking maps, drawings will be processed when the machine electro-optical tracking placed on the stage, followed on the stage The first photo has to follow the ink line graphics track movement, and then through the use of electrical, mechanical linkage to control the machine tool table work together with the relative electrode wire Xiang Sixing do sports in order to cut out the pattern and shape of the workpiece to the same; a re - Is a digital process control, advanced digital automatic control technology, machine-driven process in accordance with the geometry of the workpiece before the parameters of good pre-processing CNC automatic completion of the processing, production do not look like without drawing board also plans to enlarge, in front of more than two Control in the form of higher precision processing and broad scope of application, at home and abroad for more than 95% of WEDM have been using digital technology.

根据对电极丝运动轨迹的控制形式不同，电火花线切割机床又可分为三种：一种是*模仿形控制，其在进行线切割加工前，预先制造出与工件形状相同的*模，加工时把工件毛坯和*模同时装夹在机床工作台上，在切割过程中电极丝紧紧地贴着*模边缘作轨迹移动，从而切割出与*模形状和精度相同的工件来；另一种是光电跟踪控制，其在进行线切割加工前，先根据零件图样按一定放大比例描绘出一张光电跟踪图，加工时将图样置于机床的光电跟踪台上，跟踪台上的光电头始终追随墨线图形的轨迹运动，再借助于电气、机械的联动，控制机床工作台连同工件相对电极丝做相似形的运动，从而切割出与图样形状相同的工件来；再一种是数字程序控制，采用先进的数字化自动控制技术，驱动机床按照加工前根据工件几何形状参数预先编制好的数控加工程序自动完成加工，不需要制作模样板也无需绘制放大图，比前面两种控制形式具有更高的加工精度和广阔的应用范围，目前国内外95％以上的电火花线切割机床都已采用数控化。

In order to reduce geometric errors between motion trajectory and work piece curve,this paper present a means of controlling trajectory motion law to replace traditional position control.

为了减小刀具运动轨迹与工件几何曲线的误差，提出将传统的位置控制改为物理运动规律控制，即建立数控机床的运动模型，分析被加工轮廓的曲线方程、加工工艺运动要求与刀具加工运动的合成或分解关系，推导出轨迹运动方程组。

Wire electrode based on the trajectory of the different forms of control, WEDM can be divided into three types: one is shaped by the imitation controlled cutting in line in advance and work to create the same shape by mold, when processing the workpiece at the same time rough and on the mold clamping in the machine tool table, in the process of cutting wire electrode tightly against the mold on the edge of the track for the mobile, thus cutting out and die on the same shape and precision to the workpiece; another One is the electro-optical tracking control, to carry out the cutting line, before the basis of certain parts to enlarge the proportion of drawings depicts an electro-optical tracking map-processing machines will be placed in design stage of electro-optical tracking, tracking platform Photoelectric first line of graphics has always been to follow the track of the Mexican campaign, and then through the use of electrical, mechanical linkage to control the machine tool table, together with the workpiece so相似形wire electrode relative movement, thus cutting out the same shape and design to the workpiece; again a digital control, the use of advanced automatic control of digital technology-driven machine tool in accordance with the pre-processing parameters according to the workpiece geometry pre-processing procedures for the preparation of a good CNC auto-complete processing, the production does not require appearance on board the need to map to enlarge map of the previous two form of control has a higher machining accuracy and a broad range of applications, both at home and abroad more than 95% have adopted WEDM NC.

根据对电极丝运动轨迹的控制形式不同，电火花线切割机床又可分为三种：一种是靠模仿形控制，其在进行线切割加工前，预先制造出与工件形状相同的靠模，加工时把工件毛坯和靠模同时装夹在机床工作台上，在切割过程中电极丝紧紧地贴着靠模边缘作轨迹移动，从而切割出与靠模形状和精度相同的工件来；另一种是光电跟踪控制，其在进行线切割加工前，先根据零件图样按一定放大比例描绘出一张光电跟踪图，加工时将图样置于机床的光电跟踪台上，跟踪台上的光电头始终追随墨线图形的轨迹运动，再借助于电气、机械的联动，控制机床工作台连同工件相对电极丝做相似形的运动，从而切割出与图样形状相同的工件来；再一种是数字程序控制，采用先进的数字化自动控制技术，驱动机床按照加工前根据工件几何形状参数预先编制好的数控加工程序自动完成加工，不需要制作靠模样板也无需绘制放大图，比前面两种控制形式具有更高的加工精度和广阔的应用范围，目前国内外95%以上的电火花线切割机床都已采用数控化。切割属电加工范畴，是由前苏联人发明的，我国是第一个用于工业生产的国家，当时由复但大学和苏州长风机械厂合作生产的这是最早的机型叫复旦型，我们国内在此基础上发展了快走丝系统。欧美和日本发展了慢走系统LS

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。