运动方程

As in the case of linear motion, Eq.(1) holds for any type of angular motion while the other four are true only for uniformly accelerated angular motion.

如在关于线性运动的情况一样，方程(1)适用于任何类型的角运动，而另外四个方程只适用于匀加速角运动。

In order to analyze the vibration characteristics of the high speed dick system,which was an important component of the submuniton angular motion hardware-in-the-loop simulation,the mechanics model was firstly derived.

为了分析子弹角运动半实物仿真装置中快圆运动系统的固有频率及其对整个装置的影响，利用La-grange方程建立了快圆运动系统的动力学方程，得出该系统的质量矩阵和刚度矩阵，对其进行模态分析；同时利用有限元软件仿真，验证了理论分析结果。

The Adolph accurate dynamic model cannot describe the movement of the reciprocating pump valve at the moment of opening, thereby a new accurate dynamic model for describing the motion law of an automatic conical valve is set up, in consideration of the condensability of the fluid, the Westphal's effect, the condition of the continuous flow of fluid and the dynamic characteristic of pump valve's motion.

针对阿道尔夫往复泵泵阀精确运动微分方程在泵阀开启瞬间存在奇点的不足，综合考虑液体可压缩性、魏氏效应、液体连续流条件及泵阀运动的动力特性，建立了描述往复泵自动锥形阀运动规律的精确运动微分方程。

In this paper, a new method used to deal with the motion ability is studied deeply based on Routh-Hurwitz Criterion. The advantage of this kind of analysis method consists in the fact that after establishing the equation in differential calculus for the motion system, there is no need to know a root of the equation, if you know the root signs, you can judge the zero solution stability of the system.

本文利用劳斯－赫尔维茨判据(Routh-Hurwitz Criterion)对机械系统中离心转速调节器的运动德定性进行了分析，这种分析方法的优点就在于：建立系统运动微分方程的特征方程后，不必求解特征方程的根，只需知道根的符号就可判断系统的零解稳定性。

Second order incident boundary condition on fixed incident boundary is derived for numerical simulations, based on the cnoidal or sinusoidal motions of wave maker paddle, which shows that the prediction with second order incident boundary condition is more accurate than the prediction with first order incident boundary condition. 2 The analytical solution for higher-order Boussinesq equations is derived and its applicable range is discussed. 3 A 2-D fully non-linear numerical model using boundary element method is developed to obtain wave forces acting on rectangular obstacle. 4 The three-dimensional fully non-linear waves are studied in a numerical wave tank using finite element method.The studies on the coupled numerical model combined Boussinesq equations with Laplace equation are following.

非耦合非线性波浪计算模型：1 根据造波板做椭圆余弦运动或正弦运动速度，推导出数值模拟波浪水槽时固定入射边界上的二阶波浪入射边界条件，数值计算结果和实验结果的对比表明采用二阶入射边界条件对波面升高的预报比采用一阶入射边界条件对波面升高的预报更为精确；2 推导了波浪水槽造波板做正弦运动所产生波浪的高阶Boussinesq方程摄动展开解析解，讨论了该解析解的适用范围；3 对整个波浪水槽应用边界元方法数值模拟了波浪对物体的非线性作用；4 用有限元法求解三维Laplace方程模拟了三维完全非线性波浪水槽。

In the computation of aerodynamic forces, the present work is based on the work of Morino et al., but the following aspects are improved:(1) In computing the steady transonic aerodynamic load, the steady transonic nonlinear integral equation is solved by relaxation-iteration method in this thesis, instead of solving the time dependent transonic nonlinear integral equation, so that the computing time is saved greatly;(2) The influence coeifficients represented by volume integral are transformed to surface integral by using the Gaussian Theorem, so the analytical form of these coeifficients can be obtained and this leads to be more convenient to analyse and compile computer program;(3) The shock capturing method is used in every time step in present work, no shock moving term is added in the integral equation, so that it is more convenient and simpler to treat.

在气动力计算方面，本文基于Morino等人的工作，作了如下几方面的改进：（1）在计算定常跨音速流场（作为非定常绕流计算的初场）时，本文采用松驰迭代法直接求解跨音速定常非线性积分方程，而不是采用时间相关法求解非定常非线性积分方程，这样大大节省了计算机时；（2）将以体积分形式出现的影响系数化为面积分，并获得解析公式，这样便于分析和编写程序；（3）对运动的激波，本文通过在每一个时间步长上采用激波捕捉法而得到，而不是在积分方程中附加激波运动项，因而处理起来简单方便得多。

Based on the principle of optimality,the search problem is then transformed to an equivalent problem of deterministic distributed parameters system,represented by a second order PDE.

采用分析的方法来研究随机运动目标的最优搜索问题，并将原问题转化为由一个二阶偏微分方程所表示的确定性分布参数系统的等价问题，推导出随机运动目标的最优搜索问题的HJB方程，并证明了该方程的解即是所寻求的最优搜索策略。

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。

The differential equations of three mass points are derived for different mass relations between them,and their analytic solutions are obtained,by which the movement rule of three mass points are discussed.

分析了一个由三质点和弹簧构成的系统的运动问题，给出了三质点质量满足不同关系时各质点的运动微分方程，求出了运动微分方程的解析解，并由此讨论了各质点的运动规律。

Results show that the small vibration of this ideal model is non-simple harmonic,and the period of vibration in x direction and y direction are inverse ratio to the amplitude inverse ratio to the amplitude respectively,but influenced a little by them,and the waveform that coul.

本文应用拉格朗日方程方法研究了理想对称四弹性振子做二维运动的变化规律，得到其微小振动的控制方程，用数值解法求解出了振动方程，得到了振子运动的时程响应和轨迹图样。

It has been put forward that there exists single Ball point and double Ball points on the symmetrical connecting-rod curves of equilateral mechanisms.

从鲍尔点的形成原理出发，分析对称连杆曲线上鲍尔点的产生条件，提出等边机构的对称连杆曲线上有单鲍尔点和双鲍尔点。

The factory affiliated to the Group primarily manufactures multiple-purpose pincers, baking kits, knives, scissors, kitchenware, gardening tools and beauty care kits as well as other hardware tools, the annual production value of which reaches US$ 30 million dollars.

集团所属工厂主要生产多用钳、烤具、刀具、剪刀、厨具、花园工具、美容套等五金产品，年生产总值3000万美元，产品价廉物美、选料上乘、质量保证，深受国内外客户的青睐