蓋特機器人 的英文怎麼說
中文拼音 [gětèjīqìrén]
蓋特機器人
英文
getter robo- 蓋 : 蓋名詞（姓氏） a surname
- 特 : Ⅰ形容詞（特殊; 超出一般） particular; special; exceptional; unusual Ⅱ副詞1 （特別） especially; v...
- 機 : machineengine
- 器 : 名詞1. （器具） implement; utensil; ware 2. （器官） organ 3. （度量; 才能） capacity; talent 4. （姓氏） a surname
- 蓋特 : gaite
- 機器人 : robot
- 機器 : 1. （用來轉換或利用機械能的機構） machine; machinery; engine 2. （引申為機構） apparatus; organ
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The stability of electric power system has been being focused for a long time toprevent a power system from losing synchronism after sudden fault ， researchers have done much work and got many accomplishments this paper applied the direct feedback linearization ( dfl ) technique on the power system ， a strong nonlinear system simulation results by matlab proved this method efficiency main works and results are as follows ： this paper compared some existing methods in excitation control ， fast valve control and coordinated control respectively, analyzed the developments and actuality of nonlinear control research in brief, illustrated why ransient stability could be greatly improved by using the fast valve control in chapter 3 ， indicated the importance of coordinated control farther this paper introduced the inverse system theory, based on which ， discussed the dfl theory, pointed out which had consistency with the inverse theory, expanded the dfl theory combined the idiographic model equations ， made which adapt to the model of a single machine - infinite bus power system this paper referenced abundance articles and educed a set of equations ， which could describe the dynamical process of excitation and fast valve control for synchronous generators in the equations ， there were several very important parameters of power system - - rotor angle ( ) ， rotor speed ( ) ， generator q axis voltage ( eq ) ， transient voltage ( e ' q ) ， active power ( pe ) ， mechanical input power ( pm ) ， valve opening ( ) ， generator terminal voltage ( vt ) ， based on the model ， nonlinear coordinated controller and terminal voltage optimal controller have been designed by using the expanded dfl theory and lq optimal control theory the simulation results showed that the controller could keep power system transiently stable under the effects of a symmetrical 3 - phase short circuit fault ， which achieved better postfault regulation compared with another two routine methods ， one is the proportion excitation controller and proportion fast valve controller, the other is the proportion excitation controller and the optimal fast valve controller, which could exert good performance when met 1ittle disturbance either
在介紹逆系統理論的基礎上，詳細介紹了dfl理論，通過比較闡明了dfl理論其本質是逆系統方法的一類，並結合具體課題推導出的模型方程將dfl理論進行了擴展，使之適應于電力系統這個強非線性對象。通過參考大量的書籍文獻推導出一套實用的可將大型汽輪發電機勵磁與汽門綜合起來進行控制的模型方程，此模型方程涵蓋了電力系統中特別引人注目的幾個量- -轉子角、轉子轉速、發電機q軸電勢eq 、暫態電勢e ' q 、有功功率pe 、機械功率pm 、汽門開度、機端電壓vt ，在此基礎上建立了實用的電力系統簡化的數學模型，並將擴展的dfl理論應用於此模型系統，結合線性二次型最優控制理論設計出大型汽輪發電機的非線性綜合控制器及機端電壓最優控制器，通過模擬實驗與採用常規的按電壓偏差進行調節的比例式勵磁控制器+汽門比例控制及採用常規的按電壓偏差進行調節的比例式勵磁調節器和基於二次型性能指標設計的最優快控汽門（考慮發電機的飽和因素）進行了對比，證實了採用此種控制器可以有效地提高電力系統的暫態穩定性，並且在電力系統遭受小干擾時同樣具有良好的調節性能。First, the author builds the improved architecture based on behaviors for the mobile robot moro - i, proposes a full strategy of obstacle avoidance for region filling, and defines random obstacle and general obstacle which will be dealt with differently, - moreover, the multi - sensor system is set up which includes five groups of ultrasonic sensors for detecting the environmental information and the artificial neural network is used to fuse the information from each sensor group to achieve a precision of obstacle identification ; finally, the hardware and software are designed for the realization of obstacle avoidance
本文作者建立了移動機器人改進型基於行為的體系結構，提出了較完善的全區域覆蓋移動機器人的避障理論和策略，定義了突發障礙和一般障礙，並給予不同的處理方式；同時重點構建了多傳感器系統，採用五組超聲波傳感器用於檢測環境信息；基於人工神經網路對每組獲取的信息進行分析和融合，從而較準確地完成了對障礙的識別；最後，通過軟硬體的設計，實現了特定的避障行為。
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