运动控制

In this paper, the theory studies, digital simulation and microcomputer control experiments to a robot have proved that the AFDC system of robot has signally effective intelligent dynamic control functions and makes robot to have excellent dynamic response performances and motion accurary by measuring only input and output of the robot, and that the system structure and control algorithm is more simple, reliable, and more easy to be used on common microcomputer then another high-level dynamic control systems of robot.

文章在理论研究、仿真控制和机器人的微机控制试验方面的研究工作表明，文中提出的机器人自适应模糊动态控制系统既具有显著有效的智能动态控制功能。能在仅测量输入-输出信息条件下，保持机器人取得优秀的响应性能和运动精度；又在结构和算法上比一般的高级机器人动态控制系统更简洁、可靠和易于在普通微机上实时在线实现。

In view of the uncertain load disturbances and parameter variations and so on, the disturbance restraint performance of the six-phase synchronism motor control system for the ship electric propulsion is improved under the robust control theory.

在船舶的空间运动模型和螺旋桨四象限模型的基础上，综合考虑船舶和螺旋桨地相互作用，建立了船桨一体化的运动模型，并结合六相同步电功机控制系统仿真研究船舶电力推进六相同步电动机控制系统典型工况下的运行性能。

Convention V-belt Continuously Variable Transmission, shifts gears the travel mechanism property fixed constraint, unable full into full play initiative control advantage, to engine and Transmission on the go to hold optimum match, Also takes into consideration acceleration and fuel consumption performance, so this paper research Motorcycles with an Electronically-Controlled Continuously Variable Transmission shift gears planning, to use motor power screw, we shall revolve motion changes rectilinear motion, to push driving sheaves achieved to change speed ratio; Comparison between analysis convention CVT speed ratio shift gears curves of acceleration and fuel consumption performance optimum curves, use engine can hold high performance output or low fuel consumption region run.

中文摘要传统皮带式无段变速器(Continuously Variable Transmission， CVT)，换档行程由於机械特性的限制，无法完全发挥主动控制的优点，让引擎与变速器随时保持在最佳的匹配状态，同时顾及加速性能与燃油消耗，所以本文主要研究机车用电子控制式无段变速系统(Electronically Controlled Continuously Variable Transmission， ECVT)最佳换档规划，利用马达与动力螺杆，将旋转运动改变为直线运动，以推动主动滑轮达到改变减速比；分析传统CVT减速比换档曲线与最佳化曲线之加速性能及燃油消耗比较，使引擎能够保持较高性能输出或较低油耗区间运转。

To control the pipe bending motion, AMA needed a motion controller with ability to execute complex instructions such as a sinusoidal motion function, and also the ability to control and synchronize the motion of multiple axes J145X diaphragm type electric remote control valves at the same time.

为了控制弯管议案，反垄断法需要一个执行能力，如正弦运动功能复杂的指令运动控制器，并能够控制和同步，同时多个轴的议案。

The thesis designs that PLC controls four servo electric motors using Aimosheng EC20H , the rocker arm realizing beam drill goes up and down , the rocker arm rotates , the main spindle box slides , the chief axis moves forward to give axial four action , PLCs the motion controlling one frequency conversion electric motor at the same time realizing the machine tool host moving the revolution being a chief axis.

本论文设计使用艾默生EC20H PLC控制四台伺服电机，实现摇臂钻床的摇臂升降、摇臂旋转、主轴箱滑动、主轴进给四个轴向的动作，PLC同时控制一台变频电机实现机床的主运动即主轴的旋转运动。

Only if the joint clearances are limited to within 0.02 mm can the displacement error of the paper-transferring grippers be controlled to within 0.1 mm.

运动副间隙只有严格控制在20μm以内，才能保证递纸牙运动轨迹偏差控制在100μm之内。

On the research of reciprocating pump,if the linear motor-driven piston or reciprocating plunger being applied,the structure of reciprocating pump will be greatly simplified.And the movement of the piston can be changed so that the flow of pump is constant;Meanwhile easily to achieve automatic control,and when using the intelligent control system,easily to implement automated production.

在往复泵的研究中，如果采用直线电机直接驱动做往复运动的活塞或柱塞，那么往复泵的结构将大为简化，泵总体结构紧凑，系统效率高；并且可以通过改变活塞的运动规律，使泵的流量恒定；同时便于实现自动化控制，若采用智能化控制系统易于实现自动化生产。

On the research of reciprocating pump, if the linear motor-driven piston or reciprocating plunger being applied, the structure of reciprocating pump will be greatly simplified.

在往复泵的研究中，如果采用直线电机直接驱动做往复运动的活塞或柱塞，那么往复泵的结构将大为简化，泵总体结构紧凑，系统效率高；并且可以通过改变活塞的运动规律，使泵的流量恒定；同时便于实现自动化控制，若采用智能化控制系统，易于实现自动化生产。

In view of the uncertain load disturbances and parameter variations and so on, the disturbance restraint performance of the six-phase synchronism motor control system for the ship electric propulsion is improved under the robust control theory.

在船舶的空间运动模型和螺旋桨四象云母加热圈限模型的基础上，综合考虑船舶和螺旋桨地相互作用，建立了船桨一体化的运动模型，并结合六相同步电功机控制系统仿真研究船舶电力推进六相同步电动机控制系统典型工况下的运行性能。

The low voltage separation models with moving grade electrical field and high voltage separation model have been discussed.

建立了电泳低电压运动梯度场分离的理论模型，提出了实现运动梯度场分离的控制方法和控制流程。

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。