在多输入系统控制中提出了全程滑模变结构控制方案和利用等效滑模方程进行的递阶滑模变结构控制方案。
A global sliding model variable structure control approach and a sort of hierarchical switching scheme used with equivalent equation are proposed for a class of multi-input systems.
建立了该系统的完整非线性等效模型，导出了系统的状态方程。
Both the perfect equivalent nonlinear model and state equations of the system are obtained.
利用等效热降法理论以及热力发电厂热力系统经济性状态方程的理论，采用经典优化方法对运行机组的热力系统进行结构优化。
Studying the structure optimization of the operating unit thermodynamics system with the classic optimization method, using the theory of equivalent enthalpy drop and state equation.
并用凯恩法建立了系统动力学微分方程，推导了跳跃机构各关节输入扭矩和对地面作用力的计算公式，同时提出了确定等效弹簧参数的方法。
Dynamic differential equation is established with Kane method. The formulas of input torque at each joint and force acting on the ground and the approach to equivalent spring stiffness were presents.
建立了带附加气室空气弹簧系统的动力学方程，经过线性化处理后推导出系统的复刚度模型，依照复刚度模型建立了系统的等效刚度、等效阻尼及固有频率的计算模型。
The dynamics equations of air spring system with auxiliary chamber were established, and the complex stiffness model of the system was deduced according to the equations being linearly processed.
建立了带附加气室空气弹簧系统的动力学方程，经过线性化处理后推导出系统的复刚度模型，依照复刚度模型建立了系统的等效刚度、等效阻尼及固有频率的计算模型。
The dynamics equations of air spring system with auxiliary chamber were established, and the complex stiffness model of the system was deduced according to the equations being linearly processed.
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