运动控制

On the basis of improving the dramatic characteristic of fluid drive system of the platform, the electro-hydraulic servo control system of simulating platform is designed, and its characteristic is analyzed, and the corresponding control algorithm is studied in this paper. What all do is in order to make the platform of ship motion simulating simulate the motion of ship, and realize the high precision motion pose of the platform, and achieve the motion performance index required by the testing of sea sickness.

在提高平台液压驱动系统动态性能的基础上，本文进行了模拟平台电液伺服控制系统的设计、特性分析和控制策略研究，使该模拟平台能模拟船舶运动，实现高精度的平台运动姿态，达到晕船病测试所需的运动环境性能指标。

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。

The essential feature of the Moral Society is natural operation, that is, the social mechanism operates naturally, without any factitious control or promotion. The intelligent effects and natural motions interact and interfuse, forming one unified entity, and neither can dominate or do without the other. Such social motion of natural development and transformation is what Laozi called "Dao follows nature" and "Order from inaction".

道德社会最根本的特征是自然运化，即社会机制是自然运动的，没有任何人为的控制和推动的作用，智能作用与自然运动互动互化，浑然一体，谁也不控制谁，谁也离不开谁，这种自然运化的社会运动就是老子说的"道法自然"和"无为而治"。

The results of simulations showed that the magnitude attenuation and phase lag of the system come to the project demand.

为进一步提高控制品质、设计运动模拟器整体控制系统，首先对运动模拟器的运动平台进行位置姿态反解。

Some topics for future research, such as nonlinear dynamical behavior of moving strings, vibration of moving viscoelastic strings, control of hybrid systems containing moving strings and control of nonlinear oscillations of moving strings, are suggested.

最后指出该研究方向今后需要研究的若干重要问题，包括运动弦线的非线性动力学行为、黏弹性运动弦线的振动、含运动弦线的混杂系统的控制和轴向运动弦线非线性振动的控制。

The investigation and simulation results show that the two methods are effective and practicable on predicting for and controlling the movement cross direction of shipping: periodogram predictor and controller is super than optimal predictor andcontroller in the case of large-scale nonlinear system.

本文通过理论研究和大量仿真计算结果表明，利用这两种方法进行船舶横向运动姿态预报及控制均是可行的：周期图预报及控制的方法在船舶大范围运动的预报控制中，控制效果比经典的LQG控制效果更好。

The national defence basic project as background and the dynamic model of cotrolled transfer matrix for multiple launch rocket was created in order to reduce the initial disturbance of rocket projectile. The causes that affect the angle change of orientation locator were analyzed by the engineering system dynamic theory base on multibody system transfer matrix method. The simulation of dispersion for multiple launch rocket was implementation, and the affect law between the angle of elevation and side deflection and the control parameters was acquired. The control module was installed on the orientation locator of multiple rocket launcher to control the initial disturbance of rocket that provide new method and theory base and show the engineering system dynamic base on the multibody system transfer matrix method is effective.

本文以国防基础科研项目为背景，建立了通过控制定向器角运动来减小火箭弹起始扰动的多管火箭受控多体系统动力学模型，应用基于多体系统传递矩阵法的工程系统动力学理论，进行了定向器角度运动的影响因素分析，进行了受控多管火箭炮发射动力学和密集度数值仿真，得到了定向器俯仰和侧偏角控制参数对俯仰角和侧偏角的影响规律，为在火箭炮定向器上加装控制集成模块控制火箭弹的起始扰动和射击精度提供了新思路和理论基础，也表明了基于多体系统传递矩阵法的工程系统动力学理论的有效性。

After take analyzed deeply for the opened magnet circuit with FEMM (Finite Element Method Magnetics) we find out the field distributing that is separated into three sections . One is the main area what we called as positive field section. Beside the main field there are tow areas that are called the inverted field sections. Loudspeaker arise a very serious distortion when the voice coil moving into inverted field areas. The direction of induced current in the coil part of entered inverted field area is same with the current driving into loudspeaker so that total currents increas largely and heat increase rapidly. With more coils moving into inverted area the voice coil will take on negative inductance properties. It is the main reason that voice coil is burned by heating with increasing current due to arise negative inductance. So opened magnetic circuit is not suitable for the woofers in which the voice coil have wider displacement range. When using this kind magnetic circuit design, the voice coil moving range should be less than the range of positive field to avoid loudspeaker arise serious distortion and heating. Even though voice coil moving range is in the positive area, loudspeaker will still arise more distortion because the field distribution is very cliffy at tow sides of the positive area and full range of magnetic field distribution is not parallel that will arise distortion. Base on above reasons, opened magnetic circuit is not an ideal magnetic circuit for low-frequency loudspeakers. But it can be used in mid-range or high-frequency productions.

开式磁路是由2片钕铁硼磁铁和主导磁板和导磁垫片组成，我们在实践过程中发现这种磁路结构不适合于低频扬声器的使用，我们通过使用FEMM（Finite Element Method Magnetics）软件包对该磁路进行了分析，该磁路的磁场范围被分成3个区域，其中在主导磁板附近形成一个正向磁场，在正向磁场的两边存在反向的磁场，音圈在工作时有很大一部分进入了反向磁场中，在反向磁场内线圈的感应电流方向与驱动电流方向相同，使得音圈呈现出负感抗特性，由于音圈的负感抗特性引起电流的增加导致音圈发热甚至烧毁，因此在扬声器中使用开式磁路时，音圈的运动范围应控制在正向磁场范围之内，否则音圈运动到反向磁场区域时将会产生很大的失真和发热，即使在设计时已经将音圈的运动范围控制在正向磁场范围之内，由于正向磁场的2个边缘磁场强度衰减太快，同时开式磁路中磁场的分布不是平行的，而是自由发散的分布，这样肯定会导致扬声器的非线性失真，因此我们得到的结论是：开式磁路并不是一个理想的磁路，它不适合于低频扬声器的使用，但它还可以应用于中高频扬声器。

The first one is Vector Pursuit which is based on Screw Theory. The second one is Replicate Line Method presented by this thesis which is presented according to the skid-steering property of track-laying mobile robot and the constraint of its working environment. Thirdly, use the path tracking method proposed by Kanayama for reference to control the robot moving for the current position to the desired position with the desired velocity, so make the path tracking process more precise.

然后从运动学方面，根据机器人当前位置与目标点的位置偏差和角度偏差，采用基于螺旋理论的向量追击法，以及本文根据履带式移动机器人运动特点和工作环境特点提出了的轨迹跟踪方法，折线法，来确定机器人的期望运动；再借鉴Kanayama提出的轨迹跟踪控制方法，对机器人以期望运动速度从当前位置运动到目标点的过程进行控制，从而进一步精确了跟踪过程。

In the second part of the paper, the sport techniques of the flight elements was analysised in-depth theoretically by the movement technical structure:①the giant swing was first analysised in mechanics by applying the Kane's method, the dynamic equation of 5-link multi-body model was established, and the computer simulation software of the giant swing on the high bar was developed.

其次，作为单杠上飞行动作系统性研究的另一主要方面，本论文对飞行动作一般技术结构中的各技术环节进行了深入的理论分析：①着重对飞行动作准备阶段的回环运动技术进行了动力学分析，主要采用了多体力学理论中的Kane方法，建立了5环节人体回环运动的动力学方程，并应用计算机数值仿真技术研制开发了用于回环运动动力学分析的数值仿真软件，进而以动作实例对回环运动进行了数值仿真与误差分析，其所得到的数值仿真结果能够满足对人体回环运动的动力学分析和仿真要求；②对于飞行动作的撒手技术环节，本论文从人体环节相对运动角度，来分析撒手时人体质心的运动以及撒手时角动量参数，并列举了几种飞行动作撒手技术的基本力学指标；③关于飞行动作的空中技术，论文在总结了空翻转体动力学机理的研究成果基础上，对人体空中运动定量化问题进行了一般性描述，并进一步应用刚体动力学理论，着重建立起了描述空翻与转体技术之间定量化的关系，讨论了空翻转体运动的稳定性及其运动模式的转换问题，它对于定量地评定空翻转体技术以及今后对空翻转体动作进行数值仿真都具有理论上和实践上的重要意义；④关于飞行动作再握技术环节，本论文避免了以再握瞬时性的力学参数指标来描述再握技术特征的简单化途径，提出以再握下摆与回环下摆相对比的方法来研究再握技术，并以飞行动作再握技术的具体实例进行了对比分析，表明再握下摆技术相比回环下摆技术有着相当的困难性和复杂性，运动员对再握下摆过程中各环节的相对运动实施有效的控制，是连接高难动作以及顺利流畅地完成成套动作的关键。

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。