Most of the fin stabilizers we use now are angle - feedback system , whose control torque is gotten by the calculation of fin angle 目前使用的絕大多數(shù)減搖鰭都是角度反饋系統(tǒng),它通過(guò)鰭的轉(zhuǎn)角來(lái)計(jì)算控制力矩。
Take puts the winding up roller as the research object , has made the detailed analysis to its state of motion and a program scheme for calculating the tension control torque was provided 以放卷輥為研究對(duì)象,對(duì)其運(yùn)動(dòng)狀態(tài)作了詳細(xì)的分析,進(jìn)而給出了計(jì)算控制力矩的程序框圖。
The optimum balancing of a four bar linkage with elastic links is studied , in which the control torque of redundant drives is taken as the design variable , and the shaking force and shaking moment of the mechanism are taken as the objective . the numerical simulation shows validity of the method 針對(duì)一平面彈性四連桿機(jī)構(gòu),以其震動(dòng)力和震動(dòng)力矩的加權(quán)和為目標(biāo)函數(shù),以冗余驅(qū)動(dòng)力矩為變量,對(duì)附加冗余驅(qū)動(dòng)的彈性機(jī)構(gòu)進(jìn)行最優(yōu)平衡,其仿真結(jié)果表明該方法是有效的。
Fin stabilizer is a kind of active stabilizer , which is designed on the principle of torque counteraction . fin stabilizer applied at present is an angle feedback system which calculate the controlling torque through the fin angle . because the relationship between the lift produced by fin and the fin angle is mainly determined by the hydrodynamic experiment , so there are some defects 目前使用的減搖鰭是一個(gè)角度反饋系統(tǒng),它通過(guò)鰭的轉(zhuǎn)角來(lái)計(jì)算控制力矩,這樣就存在一些不足之處,因?yàn)轹捝袭a(chǎn)生的升力和鰭角的對(duì)應(yīng)關(guān)系主要靠鰭模的水動(dòng)力試驗(yàn)來(lái)求得。
Because the relationship between the lift on the fin and the fin angle is gotten by the static hydrodynamic experiment , which has great error , especially dynamic hydrodynamic experiment , the control torque gotten by the experiment can not counteract the wave torque well and the stabilization result is not perfect 而鰭的水動(dòng)力試驗(yàn)存在著很大的誤差,特別是在動(dòng)態(tài)條件下,鰭的水動(dòng)力特性測(cè)試更困難,所以這種通過(guò)計(jì)算求得控制力矩的方法產(chǎn)生的鰭升力無(wú)法很好地抵消波浪力矩,因而影響了減搖效果。
A set of non - linear differential equation of this model is formulated based on lagrange ’ s equation . the tension of the cable , the control force of translation and the control torque of rotation are obtained by the method of newton ’ s laws in vector space . the tethered mass system is modeled as a spherical pendulum 本文基于一種常見(jiàn)的繩系單體系統(tǒng),運(yùn)用lagrange方程建立了該系統(tǒng)的非線性運(yùn)動(dòng)微分方程,采用矢量法對(duì)該運(yùn)動(dòng)微分方程進(jìn)行了校核,并推導(dǎo)出吊索的張力、變幅控制力和回轉(zhuǎn)控制力。