运动控制

Intelligent artificial leg consists of knuckle, an executive mechanism, an anklebone, a foot and an intelligent controller. The executive mechanism controls the bent and stretchs movement of knuckle and the pendular movement of calf. The key components of the intelligent artificial leg are the executive mechanism and the intelligent controller.

智能人工腿主要由膝关节、控制膝关节屈伸运动及小腿摆动的执行机构、踝关节、脚以及智能控制器等组成，其最关键部件是控制膝关节屈伸运动及小腿摆动的执行机构和智能控制器。

We investigate the accuracy of sliding mode of continuous- time variable structure control systems by using computer simulation technique.

变结构控制系统是一类典型的非线性控制系统，其运动特征是滑模运动。

Optimal control of DSS formation adjusting based on Hamilton Mechanics and generating function method was investigated. An iterative way of solving the two-point boundary value problem induced by optimal control by relative motion generating function approximation was proposed.

基于考虑J_2项的DSS相对运动Hamilton力学模型和生成函数方法研究了DSS构形调整的最优控制问题，提出了求解最优控制两点边值问题的相对运动生成函数近似迭代方法。

The system further includes an high-level data link control controller for transmitting and receiving a packet data to and from a subscriber wireless connection unit through an HDLC channel, a dynamic random access memory having a first buffer for storing a mobile image packet data transmitted between the HDLC controller and the LAN controller and a second buffer for storing a packet data other than the mobile image, and a CPU for performing the corresponding control function of a packet data routing unit.

系统进一步包括用于通过HDLC信道向/从用户无线连接单元发送/接收分组数据的高级数据链路控制控制器；具有用于存储在HDLC控制器和LAN控制器之间传输的运动图象分组数据的第一缓存器和用于存储运动图象分组数据之外的分组数据的第二缓存器的动态随机存取存储器；和用于执行分组数据路由单元的相应控制功能的CPU。

From the viewpoint of large system dynamics including rockets, gun, propellant and launch environment, the whole process of LRMLRS from the ignition to level point is deeply studied by three ways, that is theory, computation and experiment, in this paper.

远程多管火箭动力学是研究远程多管火箭在发射与飞行过程中的受力及运动规律和控制过程，进而研究控制其受力与运动的理论、技术和试验测试方法。

This invention relates to a DC linear motor digital controller including a central processor circuit, a data memory, a program memory, an A/D conversion circuit, a D/A conversion circuit, a linear shift orthogonal code pulse signal circuit, a signal isolation circuit, among which, the center processor circuit is composed of a special DSP chip controlled by the motor, a complicated programmable logic device CPLD combining with a peripheral expanding circuit, said digital controller fully utilizes the motor to control the special DSP chip to integral DSP kernel CZXLP and the rich external circuit in a single chip to make up of a digital controller for controlling high frequency response DC linear motor with small volume, low dissipation and high reliability.

高频响直流直线电机数字控制器，属于电机自动控制技术领域，目的在于获得快速、高精度往返运动的控制效果，实现高频响直流直线电机的精密位置跟踪控制功能。本发明包括中央处理器电路，数据存储器，程序存储器，A/D转换电路，D/A转换电路，直线位移正交编码脉冲信号电路，信号隔离电路；中央处理器电路由一个电机控制专用DSP芯片，复杂可编程逻辑器件CPLD，结合外围扩展电路组成。该数字控制器充分利用电机控制专用DSP芯片将高性能DSP核C2xLP和丰富的功能外设电路集成在单个芯片上这一特点，构成了一个体积小、功耗低、可靠性高和功能比较齐全的高频响直流直线电机控制用的数字控制器，使系统的整体成本大大降低。

The industry control computer correlation controlled variable instruction is requests the movement, the location parameter interpolation according to engineer which the movement and the location parameter and measured, after the analysis computation to obtain, again bequeaths the servo motor by labor controlling machine the instruction the driver.

工业控制计算机的相关控制参数指令是根据工程师要求运动和位置参数和所测的运动、位置参数的差值，分析计算后获得的，再由工控机将指令传给执行电动机的驱动器。

An instantaneous optimal semi-active control method is put forward. Combined sliding mode control with lyapunov's stability theory, the control weights matrix, which can minimize structural instantaneous energy, is designed. Simulation and shaking table test is conducted to validated the method's effectiveness. To solve combination explosion of controlled structural state encountered in high-rise building control, the semi-active control strategy, which can drive structural state point to reach the sliding mode switching band, is designed by using sliding mode control theory, and genetic algorithm is used to find the optimal semi-active switching to drive the structural state point to sliding mode switching band at prestissimo speed.

提出了一种瞬时最优半主动结构控制方法，利用滑模变结构控制理论和Lyapunov稳定性理论设计使结构瞬时能量最小的半主动控制权矩阵，仿真实例和振动台试验验证了本文所提方法的有效性和实用性；为解决在高层建筑半主动控制中半主动控制器状态组合爆炸的问题，利用滑模变结构控制理论设计在Lapunov稳定意义下使结构在运动状态空间中任一相点于以最快速率到达滑模切换带的半主动控制策略，并用遗传算法找出了最快到达滑模切换带的半主动控制切换组合。

On control method, develop under the control of from hand movement to autocontrol; On the control function, arrive at intellectualized under the control of from developing simplely under the control of; Develop on the busy, from scheme weight to informatization treatment; On controlling principle, touch the relay logic navar working a telephone switchboard stiffly from unitary having developing to centering on microprocessor or microcomputer network-rization autocontrol system.

控制方法，开发的控制之下，从手运动的自动控制；在控制功能，达到智能化的控制之下，来自发展中国家单纯的控制之下；开发的繁忙，体重从计划向信息化的待遇；控制原则，触摸继电器逻辑navar工作电话总机招待了从单一发展以围绕微处理器或微机网络化自动控制系统。

Linkage mechanism of study. Forepart all gather be linkage mechanism structural analysis and agency designer. In recent years so emphasize in kinetic synthesis dynamic and motility analysis. So text needle towards inquire into slider four-bar linkage mechanism agency positioning control.Research emphases are as PID control, fuzzy control, Fuzzy sliding mode control three kinds of controllers for control core. Permeate practical mechanism to positioning control to function. Simple exertion market vends signal extract card (PCL-833) and multi-function card (PCI-1711). Make it make signal extract and bring forth exportation control voltage. Will AC servo motor turn signal, as positioning system point of angle sensor. Reach to slider four-bar linkage mechanism servo positional control research.

连杆机构的研究，早期都集中在连杆机构的结构分析和机构设计，近年来也多著重於运动及动力分析上，因此本文就是针对於探讨滑块四连杆机构的定位控制，研究重点是以PID控制、模糊控制、模糊顺滑模式控制三种控制器为控制核心，透过实际的机构达到控制定位的功能，运用市面上贩卖的讯号撷取卡(PCL-833)和多功能卡(PCI-1711)，使其对讯号做撷取和产生输出控制电压，将AC伺服马达的转动讯号，作为定位系统的角度感测器，达到滑块四连杆机构伺服定位控制的研究。

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。