雅可比方程

When generators and reactive power generator reach their reactive limits, the corresponding rank of the power flow Jacobin will augment simultaneously, and cause the minimum singular value change suddenly, then lose the commensurability to the value before node type change, this affects its linear nature.

当发电机和无功发生设备达到无功限制时，潮流方程相应的雅可比矩阵阶数也将增大，致使奇异值指标发生突然变化，与节点性质转化之前的奇异值失去可比性，将影响其线性性质。

Firstly, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analyzing and comparing the schemes. The robot's structure was designed with Pro/Engineer and AutoCAD software. Secondly, the kinematics analysis conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced. The manipulative interface about the kinematics equation direct solution and inverse solution was completed with VC++ and the velocity Jacobian of displacement matrix was constructed using differential transform method. In the process of the trajectory planning based on robot's kinematics analysis, I propone a method by which we can get middle nodal point with normalizing factor in order to simplify our searching for these middle nodal points. In addition, I give these middle nodal points with actual physics signification. For eliminating contradiction between real-time and accuracy, I bring forward separately limit of error and reversal interpolation method. For decreasing calculation quantity, we resort to tri-spline interpolation in the articulation space.We analyse the work range of the robot by resorting to graphic means.

首先，作者针对机器人的设计要求提出了多个方案，对其进行分析比较后，选择其中最优的方案后用Pro/Engineer和AutoCAD软件进行了机器人模型结构设计；其次，进行了运动学分析，用D-H方法建立了坐标变换矩阵，推算了运动方程的正、逆解，运用VC++制作了正、逆运动学求解的求解界面；并且用微分变换法推导了速度雅可比矩阵；在基于机器人的运动学的轨迹规划中，通过在操作空间的规划，提出了归一化因子来求解中间结点，通过它可以使求解中间结点变得更简单，并且赋予这些中间结点实际的物理含义，对于规划中精确性和实时性的矛盾，提出了以误差极限法和反向插值法来解决的方法；为了减少规划过程中计算量，在关节空间进行三次样条插值；然后借助图解法进行工作空间分析，作出了实际工作空间的轴剖图。

For this purpose, the minimum modulus eigenvalue of power flow Jacobian matrix of AC/DC power system is researched; by means of the sensitivity index of nodal voltage to reactive power variation and combining with participating factor, the bus or region where the voltage instability could happen most possibly are judged to provide decision-making foundation for the configuration of reactive power compensation device in power system.

该方法研究了交直流系统潮流方程雅可比矩阵的最小模特征值，以节点电压对无功功率变化的灵敏度为指标，结合参与因子，判断全电网中最有可能发生电压不稳定的节点或者区域，从而为系统无功功率补偿装置的配置提供决策依据。

The key problem of this model is to acquire injecting power actual utilization rates. A pseudo load variable to balance network losses and to construct its corresponding Jacobian matrix is introduced. In the solution power flow process, injecting power actual utilization rates of each generation could be easy obtained with solving the n step transposed matrix.

该模型核心是上网电能实际利用率的计算，以直流潮流为基础，引入虚拟网损负荷变量并构造出带有松弛负荷变量的有功不平衡方程雅可比矩阵，一次求解n阶矩阵的转置矩阵，获得各发电机组的上网电能实际利用率。

The reasons of iron ions content overproof in grade Ⅱ desalting water system,such as variation water quality,contamination of regenerant , operation adjustment of pretreatment system and switching operation of bed were discussed.

对二级脱盐水系统中铁离子含量超标的原因，如来水水质发生波动、再生剂受到污染、预处理系统操作调整、床体运行切换等进行了论述。

You were hired to drum up new business, so go and do it.

公司雇你招徕新业务，你就做你的事好了。