运动控制

The combination of speed control and location control of servo driver realized the accurate control of crane's location and steeve's movement.

采用伺服驱动器的速度控制和位置控制相结合的方法实现天车定位和吊臂运动的精确控制。

It can fulfill automatic control on swash plate of

它通过对发动机转速信号、大气总温信号的处理，解算出斜板的理论位置，与斜板的位置传感器信号进行比较，其差值作为控制信号经放大后控制电液伺服阀带动作动筒，使斜板向减小差值的方向运动，从而实现对飞机进气道斜板的自动控制。在这一系统中

On this foundation, application changes control of structural slippery model designed dimensional machine theoretically inertial space contrail coordinates brachial carrier attitude and extreme ungual hand of motion change; of program of control of structural slippery model to overcome afore-mentioned changing controller of structural slippery model trembles brace up defect, add designed an ambiguous controller, with coming to dynamic adjustment to change according to control output of the system the structure slips the coefficient that the fast approach such as modular controller leads, achieve thereby make sure the system is had already answer quickly can eliminate original controller to have again tremble brace up the purpose of defect.

在此基础上，应用变结构滑模控制理论设计了空间机械臂载体姿态和末端爪手惯性空间轨迹协调运动的变结构滑模控制方案；为了克服上述变结构滑模控制器抖振的缺点，附加设计了一个模糊控制器，以根据系统的控制输出来动态调节变结构滑模控制器等速趋近率的系数，从而达到既保证系统具有快速响应又能消除原有控制器具有抖振缺点的目的。

In order to provide uniform motion of the interferometer mirrors, a driving system based on ATMEL89C52 singlechip was described. With the help of laser interferogram, the system achieved not only uniform velocity but also precise position through feedback controlling. It satisfys the spectrometer's velocity demand.

为实现干涉仪的平稳运动，提出一种基于ATMEL89C52单片机的干涉仪驱动系统，在激光干涉信号配合下，通过反馈控制，该系统实现了比较匀速的速度控制和精确的位置控制，满足光谱仪对干涉仪的速度要求。

With the portable terminal unit, the operator for manually control of the motorized measuring machines can use it. It provides operations for emergency control, to change the axes speed and set/reset some status functions.

采用便携的终端控制单元，使得操作者可手动控制测量机的机械运动，操纵盒可用来控制紧急情况、设置轴运动速度，并可设置/复位一些状态功能。

To meet requirement of production and quicken rolling speed, No.2 heating furnace was put into operation in 2002 and No.3 in 2007. All automatic control was adopted, displacement of walking beam was detected by displacement transducer, and acceleration and deceleration control of walking beam was carried out through proportional valve and by use of slope technique in program of GE 90-70 PLC, thus, travelling speed of walking beam can be controlled and lift and release of slab can be operated lightly.

为适应生产的需要，加快轧制速度，2002年投产的2号加热炉和2007年投产的3号加热炉均采用全自动控制，利用位移传感器检测步进梁的位移量，通过比例阀以及在GE90-70PLC程序中采用斜坡技术对步进梁运动进行加减速控制，达到控制步进梁运行速度的目的，实现对板坯的轻拿轻放。

Secondly, the vector control theory,the kinematics model and the sinusoidal space vector Pulse-Width-Modulation control technology were analyzed dividually, and then the mathematic simulation model of the servo system of PMSLM was built.

其次，综合运用电机控制理论和计算机仿真技术，分别对永磁同步直线电机的矢量控制原理、运动力学模型以及电压空间矢量脉宽调制技术进行分析，搭建了永磁同步直线电机伺服控制系统的数学模型。

A one degree of freedom force control strategy combining fuzzy control with impendence control is introduced in this paper.

介绍利用模糊控制与阻抗控制策略相结合对一维运动机构进行力控制。

Adopt AT89S51 MCU as the main part to realize the automatic control of the object motion locus in this design, system using multiturn potentiometer to measure the position of object, and introduces local closed-loop feedback control system link to correct error, in that case system can improve the accuracy of control and orientation.

设计采用AT89S51单片机作为核心器件实现对物体运动轨迹的自动控制，通过多圈电位器实现对悬挂物位置的精确测量，并引入局部闭环反馈控制环节对误差进行修正。以达到对物体的控制和对坐标点的准确定位。

Today, in the foreign intelligent artificial leg, the executive mechanism which controls the bent and stretch"s movement of knuckle and the pendular movement of calf is a single air cylinder. In the air cylinder, there is a throttle, the cylinder"s damp can be adjusted by controlling the opening of the throttle valve, when the air cylinders damp changes, the pendular speed of calf will change too.

目前，在国外研制成功的智能人工腿中，控制膝关节屈伸运动及小腿摆动的执行机构是一个单级空压气缸，其内有一个针阀，通过调节针阀的开度可控制气缸阻尼，从而控制小腿摆动的速度。

And Pharaoh spoke to Joseph, saying, Your father and your brothers have come to you.

47：5 法老对约瑟说，你父亲和你弟兄们到你这里来了。

Additionally, the approximate flattening of surface strip using lines linking midpoints on perpendicular lines between geodesic curves and the unconditional extreme value method are discussed.

提出了用测地线方程、曲面上两点间短程线来计算膜结构曲面测地线的方法，同时，采用测地线间垂线的中点连线和用无约束极值法进行空间条状曲面近似展开的分析。