非稳态的

The last three joints of PБ-211 robot are controlled by symmetric valve controlling asymmetric cylinder system.

由于对称阀控制非对称缸两个运动方向上系统的开环增益及某些参数的不同，使得两个方向上的动态特性不对称，主要表现在超调量、调节时间、振荡次数和稳态误差等几个方面，这种本质上的非线性和非对称性给系统控制带来困难。

Based on the analysis of the mechanism of robot manipulators, a trajectory tracking controlling research model is first built up with ADAMS, and its mathematical model is formulated through the study of robot kinematics and dynamics. After the modeling errors are analyzed in practical robotic systems, a conception of centralized error is brought forward according to the theory of weighting functions. In the case of modeling errors' exist, the robotic uncertain model is derived by introducing an auxiliary control variable into inverse dynamic analysis. The control strategy of robust exponential convergence is applied to the robotic uncertain model, the applicable conditions and the applicable controller with this application are presented. The stable control effect under three main model uncertainties (parametric errors, joint disturbs, joint frictions) are systematically studied on the previously built research model. The problems of robust exponential convergence controller which often results in unstable output and so produces a large relative error when the input trajectory is in a small range are resolved by adjusting the control parameters based on the controller's structure.

本文在机械手的机械结构分析基础上，利用ADAMS建立了用于机械手轨线跟踪控制研究的机械手模型；通过对机器人运动学和动力学问题的研究，建立了机械手研究的数学模型；分析了机器人系统中模型误差的主要来源，根据加权函数法分析，提出了模型集中误差的概念；在存有模型误差的情况下，采用逆动力学结构并引入辅助控制量，由机器人误差模型推导了机器人非确定性模型；提出了采用鲁棒指数收敛法对上述机器人非确定性模型进行鲁棒镇定的控制策略，并给出了对机器人进行鲁棒指数收敛控制时系统不确定因素应满足的匹配条件；针对机械手研究模型，深入研究了鲁棒指数收敛控制器对机器人系统中常见的模型参数误差、关节扰动、关节摩擦等不确定因素的镇定控制效果；针对鲁棒指数收敛控制器易产生控制量振荡的问题以及在小范围内系统轨线跟踪的稳态误差过大问题，本文分别提出了基于控制器结构的控制参数调整法和基于轨线跟踪范围大小的控制参数分段切换法。

The introduced model can simulate both the steady state and the transient temperature field of the top surface of the thermal sensitive layer on a bolometer detector.

本文主要介绍用有限元数值分析的方法对非致冷红外测辐射热计探测器的温度分布进行计算，其有限元模型可以对测辐射热计探测器热敏层表面的稳态和瞬态温度场进行仿真。

The boundary conditions are assumed to be either the Dirichlet condition or linear Robin conditions.

在第一章，我们应用上、下解方法，bootstrap技巧和Schauder不动点定理考察如下三类周期反应扩散方程组的周期稳态解的存在性和一般的时变解的渐近性态：（1）拟单增系统；（2）混拟单调系统；（3）一个非拟单调2-系统，其边界条件是Dirichlet条件或线性Robin条件。

In Chapter 1, we use the upper and lower solutions method, the bootstrap technique and the Schauder fixed point theorem to investigate the existence of periodic solutions and the asymptotic behavior of general time-dependent solutions for periodic reaction-diffusion systems of the following three types:(1) Quasimonotone nondecreasing system;(2) Mixed quasimonotone system;(3) A nonquasimonotone 2-system. The boundary conditions are assumed to be either the Dirichlet condition or linear Robin conditions.

在第一章，我们应用上、下解方法，bootstrap技巧和Schauder不动点定理考察如下三类周期反应扩散方程组的周期稳态解的存在性和一般的时变解的渐近性态：（1）拟单增系统；（2）混拟单调系统；（3）一个非拟单调2-系统，其边界条件是Dirichlet条件或线性Robin条件。

In the framework of non-equilibrium elastoplastic mechanics, the classic finite element method is extended to the analysis for post-failure state of structure, where the plastic complementary energy norm serves as the criterion of global stability while the unbalanced force and its development indicates the pattern and path of destruction.

在非平衡态弹塑性力学框架下，将经典有限元拓展到结构失稳后的分析，塑性余能范数即可作为库群失稳判据，而不平衡力及其发展则表征了库群失稳破坏的形态和演化路径。

The interatomic potential for Al-Mg alloys is different from the others used in the paper. Although it is the EAM type formalism of many-body potential, the functions of this potential are not analytical forms. The functions are described by a numerical set of points, whose values are the parameters to be optimized.

非晶态Ni〓Al加热至晶态结构需要比结晶更慢的加热速率，当加热速率较大时，得到了bcc型结构占有较大比例的结构，这可能是Ni〓Al的一种亚稳结构；当加热速率较小时，可以获得部分有序L1〓结构晶体，不过晶体中仍有少量hcp型结构存在。

In 5 days after ALA treatment, under the same actinic light intensity, along with the time increased, increased PS II actual photochemical efficiency Φ_(psⅡ, photochemical quench, non-photochemical qnench, electron transfer rate, photochemistry rate, photochemistry and antenna heat dissipation of the watermelon Citrullus lanatus Thunb.

ALA处理5天后，在同一作用光下，随着时间的延长，西瓜叶片PSⅡ实际光化学效率Φ_(PSⅡ、荧光猝灭系数、非光化学荧光猝灭系数、电子传递速率、光化学速率、光化学效率、热耗散速率及天线热耗散的光动力曲线均上升；稳态荧光和PSⅡ反应中心非光化学耗散的光时间曲线逐渐下降。

The effect of reaction, mixing and temperature on reaction rate in the space of instantaneous reaction rate -unreacted main reactant was studied using retention time as an objective, and a new strategy for the synthesis of reactor networks was presented under steady state, isochoric and non-isothermal anditions.

本研究以反应器系统为对象，以停留时间为目标，针对稳态、恒容、非等温条件下的化学反应过程，在瞬时反应速率 r和关键反应物的未转化率x空间探讨了反应、混合、温度对反应速率的影响，提出了在r x空间非等温反应器网络综合的新策略。

As a result, dual fluorescence was observed in non-polar solvents. Long-wavelength emission was found to consist of two components:+D||A" exciplexes resulted by "harpooning effect" and +D^^A" exciplexes stablized by solvation.

研究结果表明：合成的化合物在非极性溶剂中有双重荧光的稳态发射行为；双重荧光中的长波长发射经时间分辨光谱研究为双指数发射衰减；其中的长寿命衰减是由于该类化合物在非极性溶剂中激发后经过分子内电荷转移形成了激基复合物所致，而产生该激基复合物的直接原因是由于在非极性溶剂中的&harpooning effect&所致，短寿命则来自于该类化合物激发后在溶液中发生了分子内电荷转移的直接衰减。

On the other hand, the more important thing is because the urban housing is a kind of heterogeneity products.

另一方面，更重要的是由于城市住房是一种异质性产品。

Climate histogram is the fall that collects place measure calm value, cent serves as cross axle for a few equal interval, the area that the frequency that the value appears according to place is accumulated and becomes will be determined inside each interval, discharge the graph that rise with post, also be called histogram.

气候直方图是将所收集的降水量测定值，分为几个相等的区间作为横轴，并将各区间内所测定值依所出现的次数累积而成的面积，用柱子排起来的图形，也叫做柱状图。