运动控制

After a detailed analysis of the forces in subway train's running, the dynamics mathematical model of subway train is constructed; the eventbased control technology is adopted to solve the controlling of subway, the velocity and acceleration function with respect to the distance are deduced by introducing the action reference variable in the control problem which the object is to minimize the running time. The running scheme can be programmed in realtime, the delay caused by uncertain events is avoided. So it offers a new way for the metro research.

分析了地铁列车运行过程中的受力情况，建立了地铁列车的力学模型；将基于事件的控制技术应用到地铁列车的控制中，通过引入运动参考变量，求出在以站间最小运行时间为最终目标的列车控制中，列车速度、加速度等关于列车运行距离的函数表达式，从而可以根据列车走行距离来实时调整和规划地铁的运行规律，避免人为因素或不确定性因素导致的列车运行晚点，为研究地铁列车的规划提供了一种新的方法。

And it is very difficult to control the tool contouring with nanometer lever accuracy.

课题研究的主要内容包括：超精密机床进给机构的运动特性研究，进给系统的伺服控制技术和跟踪控制技术研究，两轴联动轮廓误差控制技术研究等。

Based on the sensitivity, the co-existence and the ergodicity of chaos system, two new methods of chaos control are presented.

本文利用混沌系统的敏感性、共存性及各态历经性，提出控制混沌的两个新方法，并应用控制方法控制油膜轴承-柔性转子系统的混沌运动。

A modified exponential approach law for sliding mode control is submitted in this paper. Then it is applied to structure control under seismic excitation.

众所周知，滑模控制对结构参数的变化具有鲁棒性，滑模控制中的一个重要问题是趋近律问题，而土木工程结构的振动控制系统在地震或强风作用下也主要表现为趋近运动。

For optimizing the control system of the steel-wire napper, an embedded control system was developed, which use ARM platform implanted with the μC/OS-Ⅱ real time multitask kernel as the control centre and realize the control of the 6 separate motions of the napper through the RS-485 bus. Meanwhile, it is capable of making rapid response to the user's request and various malfunction signals.

为优化钢丝起毛机控制系统，以移植有μC/OS-Ⅱ实时多任务内核的ARM平台为控制核心，通过RS-485总线实现对钢丝起毛机6个独立运动的控制，并能对用户的要求及各种故障信息做出迅速响应。

On the base of RTK and ethernet technique, this paper proposed a plan on ship automatic berthing system, and pointed out a new development trend in ship nonlinear control research, that is, a logic-based hybrid control and its applications to ship automatic berthing.

基于RTK技术和以太网技术给出了船舶自动靠离泊智能系统方案，同时指出了当前船舶运动非线性控制研究发展的一个新方向：一种基于逻辑的混合控制策略在船舶自动靠离泊控制设计中的应用。

The Iterative Learning Control must be used on a repeatable or a peridocital system. By using motion time and iteration times as the two orthogonal vectors, a two-dimensional control system is construct, which can discribe the attribute of the dinamic behavior and learning process completely.

反覆式学习控制必须应用於具有反覆性或周期性的系统，文中将以运动时间与学习次数作为二正交向量来架构二维控制系统，使其能够完整的描述控制系统本身的动态行为与学习过程的特性。

The experimental results prove that an IPMC based centimeter scale micro robot fish is feasible. The velocity control can be realized by changing frequency and duty ratio of the control signal, and ascent-descent, turning, cruising can be realized by the cooperation of pectoral fin and caudal fin.

实验结果证明，基于IPMC的厘米级机器鱼是可行的：通过改变控制信号的频率和占空比，实现微型机器鱼的速度控制；通过控制胸鳍和尾鳍，实现上浮、下潜、转弯、巡游等运动模式。

The line-tracking system and obstacle-avoiding system use the infrared photoelectric sensors to realize intelligent walking. The LED display system which through control the input and output of 74HC595's data, shows the prearrange face at 24×24LED matrix. Then, simulate the brow change by changing picture to get the function of changing faces.

机器人运动过程中，采用PWM技术和开环系统控制无刷直流电机的运行，实现机器人的行走控制；机器人的寻线及避障系统采用红外光电传感器，实现机器人的智能行走；LED显示系统中，通过编写程序实现对74HC595的数据输入输出控制，在24×24LED点阵上显示预置的面部表情，通过画面切换模拟人物表情变化，实现变脸功能。

In this topic, the dynamic analysis methods for piezoelectric vibrator are studied systematically based on the theoretical model, FEM numerical experimentation and FEM governing equation for given compound-mode vibrator, and some valuable conclusions are obtained. The main work accomplished is summarized as follows: 1.Elaborate the main modeling methods for piezoelectric vibrator and the significance and necessity to study the dynamic characteristics of piezoelectric vibrator which emphasize the urgency of this paper. 2.Take the bending deformation induced by piezoelectric ceramic as example, the energy transfer mechanism of electric energy to mechanical energy are analyzed; the motion and force transfer mechanism are analyzed for the longitudinal-bending vibrator. 3.Based on mode assumption and Hamilton principle, the coupling model of piezoelectric vibrator of linear USM is built; moreover, the equivalent circuit model is obtained and a coupling equation represents the relation between electric parameters and mechanical parameters is derived which provides foundation to match the vibrator and driving circuit. 4.Combine the constitutive equation of piezoelectric ceramic with elastic-dynamical equation, geometric equation in force field and the Maxwell equation in electric field and the corresponding boundary condition equation, the FEM control equation for piezoelectric vibrator of USM to solve dynamic electro-mechanical coupling field is established by employing the principle of virtual displacement. The equation lays the foundation to study the non-linear constitutive equation of piezoelectric ceramic driven by high-power. 5.Define the dynamic indexes of characteristic of vibrator and carry out variable parameters simulation by calculating the model parameters and the electric characteristics of vibrator are simulated according to the equivalent circuit model. By numerical experimentation, the working mode of vibration of vibrator and the shock excitation results of the working frequency band which provides the mode frequency to realize bimodal are analyzed. Detailed calculation of the electro-mechanical coupling field parameters is made by programming the FEM control equation.

本课题从理论模型、有限元数值试验、有限元控制模型等方面以复合振动模式振子为例对超声电机压电振子的动力学特性及其分析方法进行了全面系统地研究，得出了许多有价值的结论，主要概括如下： 1、阐述了目前针对超声电机压电振子的主要建模方法，对压电振子动态特性的研究意义和必要性进行了论述，突出了本文研究内容的迫切性； 2、以压电陶瓷诱发弹性体发生弯曲变形为例，分析了压电陶瓷通过诱发应变来实现机电能量转换的机理；对基于纵弯模式的压电振子的运动及动力传递机理进行了分析； 3、基于模态假定，利用分析动力学的Hamilton原理，建立了面向直线超声电机压电振子的机电耦合动力学模型，并据此建立了压电振子的等效电路模型，导出了电参量与动力学特性参量的耦合方程，为压电振子与驱动电路的匹配提供了依据； 4、从压电陶瓷的本构方程出发，综合力场的弹性动力学方程、几何方程、电场的麦克斯韦方程以及相应的边界条件方程，采用虚位移原理，建立了压电振子动态问题机电耦合场求解的有限元控制方程，为研究其大功率驱动下的非线性本构模型奠定了基础； 5、界定压电振子的动力学特性指标，对压电振子的机电耦合动力学模型参数进行计算及变参数仿真；依据等效电路模型，对压电振子的电学特性进行了仿真分析；通过有限元数值实验，对压电振子工作模态附近的模态振型及工作频率附近的频段进行了激振效果分析，找出了实现模态简并的激振频率；利用有限元控制方程，通过编程计算，对压电振子的力电耦合场参数进行了详细计算，得出了一些有价值的结论。

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。