运动控制

In this paper,we have presented an autonomous guidance strategy based on optimal states feedback technology.First,by utilizing classical Gauss motion equations,we derived the three separate control laws,which could maximize the time rate of change of a desired orbital element.

首先利用传统Gauss型运动方程，推导出三个轨道根数增大最快的独立控制律；然后根据当前根数与目标值的偏差量对独立控制律进行加权组合；最后为高效可靠地获得最优制导律，采用一种遗传算法和逐次二次规划相结合的混合方法对权重进行了优化。

First, by utilizing classical Gauss motion equations, we derived the three separate control laws, which could maximize the time rate of change of a desired orbital element. Then, the separate control laws were blended based on the deficit between current and target value of orbital state. Finally, to obtain the optimal guidance law effectively and reliably, a hybrid method combining genetic algorithm with sequential quadratic programming was used to optimize the weight values.

首先利用传统Gauss型运动方程，推导出三个轨道根数增大最快的独立控制律；然后根据当前根数与目标值的偏差量对独立控制律进行加权组合；最后为高效可靠地获得最优制导律，采用一种遗传算法和逐次二次规划相结合的混合方法对权重进行了优化。

This article introduced the numerical control gear cutter's basic structure, the principle of work, gear cutter various movements' realization and controls, gear cutter related part's computation and monolithic integrated circuit control procedure diagram, electric control principle.

本文介绍了数控铣齿机的基本结构，工作原理，铣齿机各运动的实现及其控制，铣齿机有关部件的计算及单片机控制程序框图，电气控制原理。

The design of the device using NC Lathe CA6140 control, part of the main transmission system using AC spindle motor and graded by the pulley driven spindle gearbox, through the inverter and gearbox to achieve sub; Feed System used by stepper motor driven ball screw slowdown after campaign vertical feed system through a gear after the ball screw drive, in the horizontal feed system through two gear-driven ball screw; Tool to automatically transfer tool carrier (4-position), thus achieving automatic tool change; by MCS-51 series 8051 data to be dealt with. from the I / O interface stepper pulse output signal to control the feed rate and itineraries; In order to maintain the function of cutting thread, to the outer end of spindle or other appropriate location loaded pulse generator; Lathe will be transformed into Tailstock manually controlled electric Tailstock.

本设计利用数控装置对CA6140普通车床进行控制，主传动系统部分采用交流调频主轴电动机经带轮及分级齿轮变速箱驱动主轴，通过变频器和齿轮变速箱实现分段无级变速；进给系统采用步进电机通过减速后驱动滚珠丝杠运动，在纵向进给系统中通过一级齿轮减速后驱动滚珠丝杠，在横向进给系统中通过二级齿轮减速驱动滚珠丝杠；刀架改为自动转位刀架从而实现自动换刀；通过MCS-51系列8051单片机对数据进行计算处理，由I/O接口输出步进脉冲信号控制进给速度和行程；为了保持切削螺纹的功能，要在主轴外端或其它适当部位装上脉冲发生器；将车床的手动尾座改造成为可控电动尾座。

The design of the device using NC Lathe CA6240 control, part of the main transmission system using AC spindle motor and graded by the pulley driven spindle gearbox, through the inverter and gearbox to achieve sub; Feed System used by stepper motor driven ball screw slowdown after campaign vertical feed system through a gear after the ball screw drive, in the horizontal feed system through two gear-driven ball screw; Tool to automatically transfer tool carrier (4-position), thus achieving automatic tool change; by MCS-51 series 8051 data to be dealt with.

本设计利用数控装置对CA6240普通车床进行控制，主传动系统部分采用交流调频主轴电动机经带轮及分级齿轮变速箱驱动主轴，通过变频器和齿轮变速箱实现分段无级变速；进给系统采用步进电机通过减速后驱动滚珠丝杠运动，在纵向进给系统中通过一级齿轮减速后驱动滚珠丝杠，在横向进给系统中通过二级齿轮减速驱动滚珠丝杠；刀架改为自动转位刀架从而实现自动换刀；通过MCS-51系列8051单片机对数据进行计算处理，由I/O接口输出步进脉冲信号控制进给速度和行程；为了保持切削螺纹的功能，要在主轴外端或其它适当部位装上脉冲发生器；将车床的手动尾座改造成为可控电动尾座。

Taken the three dimensional shining metal combination machine tool as an object of study in the paper,the main structure and motion form have been discussed and the work process and control requirement of machine tool have been analyzed,the movement cycle diagram of machine tool and the motion table of hydraulic pressure component have been given.Then the control system design based on PLC has been proposed,the I/O address table has been listed and the hardware and software of the control system has been de...

文章以三面铣组合机床为研究对象，通过对主要结构和运动形式的探究以及对机床的工作过程和控制要求分析，给出了机床动作循环图、液压元件动作表；并采用PLC控制系统的设计方法，列出了I/O地址分配表，进行了软硬件设计，绘制了 PLC的外部接线图和单循环自动工作流程图及其说明；实验运行结果表明，将PLC技术应用于三面铣组合机床具有整体技术及经济效益。

In order to effectively adjust attitude motion of interceptor missile by combine control, an attitude control method was presented.

为了有效地调整复合控制拦截弹的姿态运动，提出了一个姿态控制方法。

The first and secondary Hopf bifurcation and the chaos motion of the Langford system are controlled and the relationships between bifurcation parameter and control gains are obtained.

本文分别对Langford系统的一次Hopf分岔、二次Hopf分岔及其混沌运动的控制进行了研究，分别得到控制增益与分岔参数之间的解析关系。

With the linear and angle momentum conversation, the system state equations for control are gained. And then Through the Lyapunov approach, the input law of the manipulator joint motion and control for work is received.

为此，以空间机器人系统的动量、动量矩守恒关系为基础，转化建立了控制系统设计所需的状态方程，并利用Lyapunov 直接方法，来获得满足任务要求的机械臂关节运动及控制输入规律。

The mentioned control scheme can effectively control two joint of space manipulator to stably track the desired trajectory in joint space. It has obvious advantages that with needless feedback and measured the position, velocity, acceleration, attitude angle velocity and attitude angle acceleration of the floating base. At the same time, no requirements for the dynamic equations of the system are linearly dependent on inertial parameters.

文中提到的控制方案能够有效地控制漂浮基空间机械臂的载体姿态及机械臂关节，可以协调地完成期望的轨迹运动，并具有不需要反馈和测量空间机械臂载体的位置、移动速度、移动加速度，同时也不要求系统动力学方程关于系统惯性参数呈线性函数关系的显著优点。

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。