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digital references
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The increased availability of microprocessors allows the implementation of various controller algorithms such as model reference adaptive controllers, which were previously difficult to realize. Hydraulic servo systems in such applications as robotics, machine tools, and aircraft autopilot are representa- tive of systems which are subject to changing external loads and operating conditions. Conseqently, these systems are potential users of adaptive control- lers. However, the application of adaptive controllers...

The increased availability of microprocessors allows the implementation of various controller algorithms such as model reference adaptive controllers, which were previously difficult to realize. Hydraulic servo systems in such applications as robotics, machine tools, and aircraft autopilot are representa- tive of systems which are subject to changing external loads and operating conditions. Conseqently, these systems are potential users of adaptive control- lers. However, the application of adaptive controllers to non-linear hydraulic servo-systems has not yet been very popular. One of the reasons for this is the lack of an effective adaptive law which produces good performance when non-linearities such as those inherent in a typical hydraulic servo-system are present. A new adaptive control law, based on the combination of relay control law and proportional plus integral (P+I) control law, is investigated for use as the controller which includes compensation for Coulomb friction and load- dependent gain and is derived by using Lyapunovs' direct second method to insure stability. (See Reference [4]) General comparison of the three controller types is also shown in Reference [4] using the same construction and parameters of non-linear hydraulic servo- systems, which include compensation for both mechanical friction and valve- saturation. The controller using the combined P+I and Relay law produces an error (between the model and plant output) which is everywhere smallest as compared with the other two types, and this error rapidly converges to zero. So, it gives quite satisfactory performance. The real-time microprocessor application of this combined control law to the first and second order analog plants using a 16-bit microcomputer IBM- Personal is also investigated in Reference [6]. The real-time digital adaptive control algorithm (using Assembly Language and BASIC Language) can be easily implemented (only 25 statements in the program). And control of both first order and second order analog plants is possible using a first-order digital reference model with P+I and Relay adaptive law. In addition, the authors' investigations include: (1) the effect of controller parameters and sampling rates on the steady state and dynamic performance (2) problems encountered in implementing this adaptive control algori- thm This paper presents a new approach based on the hyperstability concept using only filtered input and filtered output of the plant and extends this approach to a typical non-linear hydraulic servo-system. Globally stable model reference adaptive control systems can be designed using either a Lyapunov approach or a hyperstability approach as developed by Landau [1]. However, both methods require that n-1 derivatives of an nth order plant be available if the state vector is not directly measurable or availabla. Monopoli was able to eliminate the requirement that these derivatives of the plant output signals be available by introducing the concept of an augmented error signal [2]. A major disadvantage of this method is the difficulty of implementation. The use of state variable filters in this paper avoids the necessity of detemining the derivatives of the plant output. Two kinds of adaptive laws are used with this method: P+I only, Relay and P+I. Simulation results are used to compare the dynamic performances of non-linear servo systems obtained by using these two adaptive controls respectively. Simulation results show clearly the P+I adaptive law produces acceptable system performance when used with a plant with variation of damping ratios limited between 0.5 and 1.0. But, the relay and P+I controller law produces good performance when the damping ratio of the plant is varied from negative to 1. So, the P+I controller gives performance which is inferior to that of the combined Relay and P+I controller. Excellent perfomance results are obtained using Relay and P+I control law. This is in disagreement with the results reported by Hang and Tang [3]. It can therefore be predicted that this combined adaptive controller will soon be widely used in industry. The authors wish to point out that the present paper is only one of three recent papers by us on adaptive controllers, the other two being [4] and [6].

本文提出了一种基于超稳定性和仅仅利用对象的滤波输入和滤波输出信号设计自适应控制器的新方法。而且,将这种方法应用于非线性液压伺服系统。使用滤波器可以不必要确定对象输出的各阶导数。在这种方法中,采用了二种不同的自适应规律:即P+I自适应规律和继电与P+I相结合的自适应规律。通过仿真实验,对于二种不同的自适应规律进行了比较,结果表明:继电与P+I相结合的适应规律得到了最好的系统性能。仿真结果也表明:甚至当对象的阻尼系数为零时,采用这种规律,对象输出仍然能稳定地紧密地跟踪模型输出。

This paper describes a microcomputer controlled high precision DC motor speed control system which uses the compound control way. In dynamic process, nonlinear control algorithm is performed to decrease the dynamic response, but in static process, the PI controller and the digital integration compensator are adapted to increase the accuracy of speed regulation. The system is equipt with a 16-bit microcomputer for digital reference, digital speed measurement, digital trigger and digital...

This paper describes a microcomputer controlled high precision DC motor speed control system which uses the compound control way. In dynamic process, nonlinear control algorithm is performed to decrease the dynamic response, but in static process, the PI controller and the digital integration compensator are adapted to increase the accuracy of speed regulation. The system is equipt with a 16-bit microcomputer for digital reference, digital speed measurement, digital trigger and digital control.

本文论述了一个微机控制高精度直流调速系统。该系统采用复合控制方式,在动态过程中用非线性控制以减小系统的动态响应时间,在稳态时采用PI调节和数字积分补偿控制以提高系统的调速精度,由一个16位微机实现系统的数字给定、数字测速、数字触发和数字控制等功能。

This paper describes a new measuring method of 3—D object surface profile. The deformed grating with phase modulation caused by the profile of the object under test is sampled by a CCD camera. The phase related to the profile can be determined throygh the shift of the digital reference grating generated by computer. The principle of the mesuring and the detail of image processing are given. The range of mesurement and the sensitivity of the method are also discussed.

本文叙述了一种新型三维物体表面测量方法,该方法利用单光栅投射待测物体表面而获取变形光栅像,然后应用图像处理方法,通过微机计算出物体表面各点高度。该方法测试精度高,速度快。文中对其原理进行了详细的叙述。并讨论了该法的测量范围、灵敏度。

 
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