法線加速度 的英文怎麼說
中文拼音 [fǎxiànjiāsùdù]
法線加速度
英文
acceleration normal-
In the hardware design, the paper completes modules ’ design like outside memory, patulous a / d, patulous d / a, rs232 communication, ecan communication, led control, keyboard control, distant control, emulation, reset, logic voltage switch, dsp supply power regulate and ac - dc power circuit, as well as room layout design like anterior panel, back panel etc. and dsp transfers data with peripheral equipments except outside memory using serial ports. besides, the whole circuit is configured in interrupt response. thus, it can meet system demand as well as take full advantage of tms320f2812 ’ s hardware resource. in the software design, the paper finishs programs like the interface programms intercommunicates with people, the distant control program, ad and da modules ’ control program, in addition, the paper select the velocity and acceleration state - feedback algorithm and is written in the program. the software design uses dsp integrate exploiting environment named ccs2. 2 of ti inc. as software instrument, and programs with the combination of c language and assembly language. moreover, in order to maintenance or modify the software expediently and shorten software ’ s exploitation time, the design adopt software modularization technique. finally, some air cylinder experiments are carried out to proved that the pneumatic controller is very practical
在硬體設計中，本文完成了片外存儲器擴展、 a / d擴展、 d / a擴展、 rs232通信介面、 ecan通信總線介面、液晶顯示控制、鍵盤控制、遠程控制、模擬、復位、邏輯電平轉換、 dsp工作電源校正電路和ac - dc電源等模塊設計以及控制器前面板、後面板等的空間布局設計。其中dsp與除外部存儲器的外圍設備之間的數據傳送全部採用串口通信，同時系統電路配置成中斷響應方式，這樣既滿足了系統要求，又充分利用了tms320f2812的硬體資源。在軟體設計中，本文完成了人機界面功能模塊、遠程控制模塊、 ad擴展模塊、 da擴展模塊、速度和加速度狀態反饋的控制演算法的程序設計。According to the moving characteristics of tracklayer, when the vehicle is on ramp and the ground ' s vertical pressure is linear, the calculating formulas of relationship between the deviation of the instantaneous steering center, the position of vehicle ' s gravity, steering radius, moving velocity, moving acceleration, and vehicle ' s orientation, were obtained by the theory and method of vector analysis in mathematics and mechanics
摘要根據履帶式車輛的運動特點，運用數力學中矢量分析理論和方法，推導了接地比壓為線性分佈時履帶式車輛在斜坡上轉向時，瞬時轉向中心偏移量與車輛重心位置、轉向半徑、行進速度、加速度、車輛方位相互關系的計算公式。Another is curvature - parabolic method according to centrifugal acceleration of the vehicle in settlement section
另一種是依據汽車在沉降斷面上行駛時的離心加速度來進行控制的曲率拋物線法。2. dynamics analysis : by setting up jacon matrix differential coefficient sport is passed to descartes space. it makes terminal executing manipulator produce differential coefficient of acceleration and force in every different coordinates can be got. then the effective inertia, coincident inertia and gravity load of two manipulators are calculated by lagrange method. so generalized joint torque of each joint is got, and along with equivalent driving torque, actual driving torque of each joint can be worked out. 3
動力學分析：建立雅可比矩陣將關節空間的各關節的微分運動傳遞到笛卡爾空間，使末端執行器位姿產生微分運動，以用於求加速度及力在不同坐標系間的線性變換，再用拉格朗日法計算兩機械手的有效慣量、偶合慣量、重力載荷，從而計算得到各關節的廣義關節力矩，並與等效驅動力矩共同算得各關節的驅動力矩。In order to make the sensitivity of 2 - demension accelerometer along the two main arbors almost identical, symmetric four - beam structure that embeds a double - sides interdigitated differential capacitive with puckered beam in two directions was used as sensitive component. in addition, the differential capacitive accelerometer fabricated by bulky silicon micromechanical technique has high sensitivity, wide measurement scope, less nonlinear error, and simple converting circuit. then, the structure parameters of the sensitive component were calculated and stimulated, which results in a set of the optimized structure design parameters, main fabrication procedure and several key fabrication technology
為使二維振動傳感器在兩主軸方向的靈敏度大致相同，敏感元件採用高度對稱的四梁結構，其中每個軸向上均採用帶折疊梁的雙側叉指電容結構，採用體硅微機械工藝製作的高深寬比叉指電容式敏感元件，具有高靈敏度、寬量程、非線性誤差小、外圍電路簡單等優點;對設計的敏感元件結構參數進行了計算，並利用有限元法進行了模擬分析，根據模擬結果得出了優化參數;在確定敏感結構的基礎上，研究了敏感元件採用體硅微機械加工工藝製作的工藝流程和關鍵工藝技術;對敏感晶元內部的c - v介面電路進行了原理設計與分析，利用差動測量技術得到由振動引起的微小電容變化量，經c - v介面電路進行相位調制處理，然後通過解調輸出與加速度成正比的電壓信號。This paper presents the displacement solution to mine elevator viscoelastic vibrating equations and the kinetic tension calculation method, discusses kinetic tension characteristics under rectangular, ladder shaped, sinusoidal and parabolic acceleration curves, provides ways to limit or even avoid lifting rope viscoelastic vibration
摘要給出了礦井提升機粘彈性振動方程的位移解及動張力的計算方法，研究了採用矩形、梯形、正弦形、拋物線形加速度時銅線繩的動張力特性，給出了限制和消除提升鋼絲繩粘彈性振動的方法。Theory of getting inertial angular position from linear accelerometer measurements with double integration algorithm is analyzed
分析了使用線加速度計測量慣性角加速度，通過二次積分演算法得到慣性姿態角的原理。At first, the general theory of synthesis angular acceleration and velocity with linear accelerometers is researched and proved in this paper. on the foundation of analyzing the applied barrier in platform stabilized system of angular locomotion, a new method that changes the installation structure from alterable space into plane, is put forward to solve the problems, so that the application of this theory in moep becomes possible
本文首先對線加速度合成角速度、角加速度的一般理論進行了研究，從理論上證明這一方法的正確性，為進一步深入研究奠定了理論基礎；在此基礎上，本文分析了角運動合成一般方法在平臺穩定系統中應用存在的困難，在此基礎上提出了一種改進方法；這種方法的特點是變空間結構的安裝方式為平面結構，使角運動合成理論在工程實踐中應用成為可能。In the full of research, the thesis constructed the dynamic equations of the simplified model, then programmed and computed the feedback gains using lqr method. moreover, the thesis plotted pictures of displacement, velocity, acceleration, bend and shearing force of ship ' s head and middle part in the condition of using cable and not using cable
在研究工作中，首先對船舶的簡化模型建立了動力學方程，然後採用線性二次型最優控制方法，編寫程序並計算出船體垂向振動固有頻率和最優反饋矩陣，得到控制前後船艏以及船舯部的位移、速度、加速度、彎矩和剪力歷程圖。The assemblage angle and maximum step are studied, the method to calculate the maximum step of random structure paramers and random walking orientations is proposed and some formulations are deduced. the singularity and singularity workspace are analysed. based in zmp theory, the track programming is finished depending on leg position workspace
根據zmp理論，在腿位置運動空間內作了軌跡規劃，劃分了步行周期，求出了腳圓心的軌跡，對速度和加速度作了規劃，應用離線軌跡規劃方法，給出了離線求取桿長伸長值及速度值的演算法框圖。The information of skeleton is also used to deal with branching problem. experiments show that the proposed algorithm can retrieve cases with complex contours. the technique of surface reconstruction using distance field is explored in chapter 4
對于離散距離場的計算，我們提出用輪廓線擴散的方法來進行加速，和最小歐幾里得距離方法比較，該方法具有速度快的優點，其時間復雜度為o加。In the paper, based on the method of low pair replacing with high pair, the problem of cam design was transferred to that of linkage design. by means of rotary unit vectors, the equations of displacement, velocity and acceleration of the replacement mechanisms were developed. and then, the virtual linkage ' s length and direction were deduced
論文基於高副低代原理，將平面凸輪機構設計與再現函數的平面連桿機構設計統一為同一種方法，運用圓向量函數建立代換機構的位移、速度、加速度矢量方程式，求取虛擬連桿桿長和方向，由此展開凸輪理論廓線、實際廓線、曲率半徑和壓力角的求解，並得出用圓形刀具加工凸輪時刀具中心的軌跡方程。To solve this problem, a method using double speed loops, combined with technique of nonlinear acceleration compensation is brought forward and applied in the servo system. very high stabilization accuracy is acquired
針對這一問題，提出了採用速率環和穩定環的雙環控制方法，並結合非線性加速度補償技術，只採用一級穩定即實現了較高的穩定精度。Besides, pid control algorithm is introduced and the velocity closed - loop controller is designed on the basis of dynamic model for the train. furthermore, according to kunming world ' s fair route data, the ato system with pid controller is simulated. it shows some disadvantages, and so the predictive control algorithm is brought forward to realize velocity closed - loop control
在已有的列車運動模型基礎上，採用pid控制演算法，設計了列車的速度閉環控制器，結合昆明線線路數據，進行了基於pid控制器的ato系統模擬分析，發現採用pid控制器控制時，列車運行曲線呈波浪形，當遇到坡道或者外界干擾時速度和加速度曲線會出現尖峰現象。Several characteristic parameters are extracted from the angular velocity curve and the acceleration curve of crankshaft instantaneous rotation, and the quality of them is evaluated by use of the gray relation analysis method and the method for inspecting the consistency of the extremum cylinder number
在瞬時轉速曲線和角加速度曲線上提取幾個特徵參數，再用灰色關聯度分析方法和極值缸號一致性檢查法對特徵參數的優良性進行評價。Second, the author introduced a new stability region, and programmed a trajectory of variable zmp, which was defined as a cosine curve ; the author also designed a cog - compensated method to keep the cog ’ s height ; based on dynamics of 3 - d inverted pendulum, the author educed the cog ’ s trajectory equation of the robot in the three - leg - support phase, and used third - order splint function to ensure the acceleration continuity of the robot ’ s cog in the four - leg - support phase. at last, walking patterns of the corresponding gait are generated through programmer design
然後，提出了一種新的支撐區域選取方法，採用了按餘弦規律變化的zmp運動軌跡;為了維持機器人行走時重心高度不變，採用了一套有效的質心高度保持方法;基於三維倒立擺模型，推導了機器人三腳支撐期質心運動軌跡方程;採用三次樣條曲線插值規劃了四足支撐期加速度連續的質心運動軌跡。Then, taking into account the effect of the compression of the approach roadway and the differential slope of the bridge slab, the author analyzes the dynamic response of man - vehicle - road system when the vehicle approaches and leaves the bridge by means of laplace transform, the curve of man ' s acceleration versus time, the vertical force between the vehicle and road versus time, the man ' s maximum transient vibration value and the maximum force between the vehicle and road are got, and the program about the calculating progress above are edited. based on the analysis above, the influence on the maximum transient vibration value of some parameters about the vehicle and road such as the movement direction and speed and weight of the vehicle, the differential slope of the bridge slab and the length of the approach slab, are studied, and some conclusion are given
分上橋和下橋兩種情況，考慮車路耦合和橋面沉降坡差的影響，對車輛通過設和不設搭板的路橋過渡段時「人?車?路」系統的相互作用用拉普拉斯變換法進行了動力響應分析，得到了人的加速度及路面對車的垂直作用力隨時間的變化曲線、人的加速度最大瞬態振動值和路面對車的最大作用力，分析了車輛的行進方向、速度和載重，橋面沉降坡差和搭板長度等車和路各參數對計算結果的影響，並編制了相應的計算程序。Based on the resolving algorithm of continuous - layer method, the time order analyzing curves, acceleration curves and the response spectra of transfer function at the different points of the ground and at the same point on the different ground conditions are gained. it demonstrates that the responses of ground in x, y and z axial directions all change by time, and the obvious wave propagation appears in ground. for different observing points on the same ground condition, at more distant points from the load line, the less swings are found, that is to say, vibration possesses the obvious characteristic of attenuation
基於分層法的解析演算法，得到了在不同點以及在同一點但不同地質條件下的時程分析曲線、加速度變化曲線和傳遞函數反應譜，結果表明，地基土在x 、 y 、 z三個方向的響應都是隨時間變化的，並且伴隨有明顯的波動現象產生；對于相同地質條件的不同觀察點，距離荷載作用線越遠的地方振幅越小，即振動具有明顯的衰減性。The observer using the coupling of axial and lateral and having feedback of acceleration is investigated. this method can estimate the angle of attack and the sideslip angle synchronously. an optimization named extrem is applied to optimize the feedback plus matrix
研究了採用縱橫向耦合且具有線加速度反饋的非線性觀測器方法，該方法能夠同時估計迎角和側滑角參數，並採用extrem優化方法對其反饋參數增益參數進行了優化設計。The integration of wireless acceleration sensor for structural global monitoring, the integration of wireless strain sensor for structural local monitoring, their corresponding network ’ s topological strucuture, the network ’ s communication protocol, saving energy and the network ’ s experiments are studied systemly, the main contents include : 1. for strucutal global monitoring, the electronics components are compared, anlysysed and seleced. on this base, the design modulization method is used for designing and debugging sensing disposal module, micro - processing module, wireless transceiver module and power module, and thus a wireless acceleration sensor node with digital interface is integrated using the above modules
本文在充分研究傳感技術、信號處理技術、無線通信技術的基礎上，針對土木工程結構整體性態監測的無線加速度傳感器集成、結構局部性態監測的無線應變傳感器集成以及相應的無線傳感器網路拓撲結構、網路通信協議、網路能耗處理、網路試驗等問題進行了系統的研究，主要研究內容如下: 1 .針對結構整體性態監測的需要，從設計的小型化、低功耗、低成本、高可靠性角度出發，對相關電子器件進行了比較、分析、選擇;在此基礎上，採用模塊化設計方法，對傳感處理模塊、微處理模塊、無線收發模塊以及能源模塊分別設計、調試，進而集成了基於數字介面的無線加速度傳感器節點。分享友人