运动控制

Considering the two trail objective functions of objective trail and trail speed, and considering the output continuousness of real time, the thought of premeasure control was promoted and the parameters of pre-measure control were discussed. Good results were obtained in the simulation and experiment.

考虑目标轨迹和运动速度二个跟踪目标函数及实际控制输出的连续性，提出了预测控制的思想，并对预测控制的参数进行了分析和探讨，以水下机器人Twin-burger为控制对象，在计算机仿真和水池实验中都得到了与理论分析相一致的结果，验证了本文所提出的思想和方法的正确性。

Based on the approximation expression of the oil film force of CSFD presented in chapter 6 for the short bearing, effectiveness of the active vibration control of CSFD on the rigid rotor、flexible rotors with one disk and two disks are studied both theoretically and experimentally.

在第六章推导出了CSFD在短轴承π油膜假设下油膜力的计算公式之后，分别从理论及试验两方面详细地分析了CSFD对刚性转子、单盘柔性转子、双盘柔性转子系统的振动进行分段控制的控制作用；讨论了不同的控制规律、切换滞后、切换次数以及转子角加速度等对控制效果的影响，以及在双稳态区切换时转子运动的方向性问题。

And the inverse result of kinematics for the shield hinge equipment is obtained and one-degree inverse coefficient matrix of the impact, two-degree inverse coefficient matrix of the impact and the expression of velocity, acceleration for every component are calculated, all of these lay the foundation for the following kinetics of the shield hinge equipment.

研究盾构铰接装置的能控性问题，讨论铰接液压缸的驱动力对切口环上末端力的控制能力，通过盾构前体切口环的末端力能控性，理论证明盾构铰接装置在土层中工作时切口环的可行运动与不可行运动，并得到可行运动的运动特性曲线。

A new method of controlling moving path in real-time for engineering animation is presented based on de Boer algorithm for B-spline construction.

本文引入一种新的实时控制工程动画运动路径的方法，以构造B样条的德波尔算法为基础，在初始驱动样条路径上进行节点插入的局部升阶，生成新的插入节点u，并实时响应控制参数的输入v，将输入参数节点与节点插入生成的节点形成一组控制节点用来控制样条的偏移度，然后引入关于时间t的线性函数的质量权重Wk来控制路径曲线的偏移量。

Numerical simulations were done for a bistable latch valve of the system by FLUENT, and three groups of datum for different fluids were obtained with the same effective exit sectional area. Besides, a static mathematic model for the electromagnetic valve was established based on the obtained datum. Secondly, the motion of the valve spool was realized by UDF file in FLUENT. Three kinds of motions, uniform, acceleration and motion driven by the coupling effect of the liquid resistance and the electromagnetic force, were calculated and compared. The dynamic characteristic of the electromagnetic valve was obtained by analyzing the relationship of the mass flow rate of the inside flow field of the electromagnetic valve, the change of the drop pressure of the passageway of the valve, and motion time.

并针对系统中的某双稳态电磁阀，使用商用CFD软件FLUENT对其进行内部流场的数值模拟，通过使用不同流体介质，不改变阀门有效出口截面积的情况下，分析得到的三组数据，建立了该电磁阀的静态数学模型；通过编写UDF文件，实现对阀芯运动方程的控制，在阀门做由闭合到开启、开启到闭合运动时，控制阀芯分别做匀速运动、匀加速运动以及阀芯受到液体阻力与电磁力作用力的耦合力的运动，分析了三种工况下电磁阀内部流场质量流率和阀门出口入口压降的变化以及运动时间，从而得到该电磁阀的动态特性。

The Movement Disorder Society is an international professional society of clinicians, scientists, and other healthcare professionals, who are interested in Parkinson's disease, related neurodegenerative and neurodevelopmental disorders, hyperkinetic movement disorders, and abnormalities in muscle tone and motor control.

运动障碍学会是帕金森氏病、相关的神经退行性和神经发育疾病、运动机能亢进性运动障碍、运动协调和控制异常等疾病的临床医生、科学家和其他健康专家的国际专业学会。

Firstly, this paper analyzes the transmission style of diving machine in detail and selects hydrostatic transmission as transmission manner of Heavy Engineering Transporter. Then we analyze the principle of hydrostatic transmission, control style of hydraulic components and the basic driving theory of transporter and pay attention to solve the problems of driving speed-regulation control when transporter runs on different road surface and differential speed control ensured every wheels pure roll when transporter is in swerving.

接着分析了静液压传动的液压原理、静液压传动液压元件的控制方式和汽车行驶理论基础，主要解决了以下控制问题：(1)车辆在不同工况下行驶时，选择不同速度的整车调速控制；(2)车辆转弯时，为确保车轮实现纯滚动，而使各驱动轮按设定规律运动的差速控制；(3)车辆从一坡度过度到另外一坡度时，使每个驱动桥实现同步的桥间差速控制。

The experimental group received 10 weeks of walking exercise training, at 50 minuets per session, 5 days per week and at a exercise intensity limit between 60% and 70% maximum heart rate. The control group received ordinary special education curriculums. All participants completed three times of the PACER（Progressive Aerobic Cardiovascular Endurance Run）20-Meter Shuttle Run test and test for the average walking speed during 1600 meters:before the experiment started , after the experiment and the follow-up test at the fourteenth week of the experiment started. All results from these tests were recorded and analyzed by descriptive statistics; repeated measure t-test; the one way analysis of covariance .

实验组进行星期一至星期五每天一次，合计每周五次，每次50分钟，总共10周，运动强度为60％-70％最大心跳率的步行运动；控制组接受学校安排的特殊教育课程，两组学生在进行步行运动前、后以及实验处理结束后第四周，分别接受PACER渐进性心肺耐力跑-20 公尺和1600公尺的步行速度之测验，并将所得的成绩以描述性统计、重复量数t 考验、单因子共变数分析进行统计考验，评估实验处理之运动与维持成效。

To adopt band type rail rolled by stainless steel and chain type drive method run circumferential movement along with the pipe to be cut by flame cutting carriage,cutting torch will run radial movement driven by ball bearing screw by step motor along with the pipe to be cut,the above two dimension movement compose to inclined cutting movement of cutting torch,the inspection of circumference position of cutting torch,the determination of radial position and return point of cutting torch all controlled by SCM.

为了满足钢管斜截切割的要求，建立了钢管斜截切割的数学表达式，采用不锈钢轧制的带形轨道和链式传动的方式使火焰切割小车沿被切钢管做周向运动，割炬沿被切钢管的轴向运动由步进电动机带动滚珠丝杠完成，上述两维运动合成为割炬的斜切运动，割炬周向位置的检测、割炬轴向位置及折返点的确定均由单片机控制完成。

In this paper, a self-edited anxiety inf luencing-factor inventory was used as its' reliability and validity was confirmed. Adopting factor analysis, this paper discussed the influence factors to the sports anxiety of the football players and reveal the reason of the their different anxiety level, the result showers that training factor 、 self factor、 psychology factor 、 others- influence factor and education factor have a significance influence to the anxiety level of the players, and which will benefit to the players selection and sport anxiety control.

本文采用个人自编焦虑影响因素问卷，在确保其良好的信度与效度基础上，采用因子分析法，对足球运动员运动焦虑的影响因素进行了探讨，揭示了不同被试运动焦虑水平差异的内部原因，研究表明：训练因子、自我因子、心理因子、他人影响因子以及教育因子对研究对象的焦虑水平起着非常显著的影响，这在一定程度上为运动选材和运动焦虑水平的控制提供了理论参考。

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。