2 > on the basis of the experimental excavating robot , several energy saving controls with multi function valve control are investigated in this paper , which include negative control , positive control and load sensing control . because of some defaults of these controls , this paper proposes some improvements on them , which have been proved to be effective in experiments 2 、以试验型挖掘机器人为对象，对多种阀控节能控制进行了深入研究，其中包括负流量控制、正流量控制和负荷传感控制，针对这些节能控制方式的不足提出了多种改进方案，并分别进行了试验验证，效果良好。
The integrated use of the products , chairman and general manager mengqiangzhong invention of anti - gas - burning of environmental protection and energy saving boiler , furnace - burning structure , the electromagnetic valve control , electromagnetic switch control circuits , the new dust remover high pressure and high temperature oven door closed six patents 该产品综合运用了公司董事长兼总经理孟庆忠发明的反烧式煤气化环保节能锅炉、炉膛反烧结构、电磁控制阀、电磁开关控制电路、新型脱硫除尘器和高温高压密封炉门六项专利技术。
It can directly read data of mechanical meters immediately without counting pulse . it realizes remote valve control and extensible prepay function . its data transmission is based on international popular standard m - bus for all types of consumption meters , characterized by reliability , convenience , opening 特点：直接读取表计的机械读数，无需累计脉冲，仅在抄表瞬间加电工作；可实现远程阀控；可扩展预付费功能；数据传输采用消费类仪?国际通行标准m - bus ，可靠、方便、开放。
0 . 58 . 5 kgf cm2 oilless compressed - air pass through depressure , pressure stabilizing valve to keep its pressure constant , indicate by pressure meter , its pressure magnitude about 1 kgf cm2 then via flow control valve control flow , gas flowrator can indicate its gas valve generally at 60 standard liter hour 0 . 5 8 . 5 kgf cm2无油压缩空气经减压稳压阀保持其压力为恒定，由压力表指示，其压力大小约为1kgf cm2再经流量控制阀控制其流量大小，气体转子流量表可指示其气量值一般在60标准升小时。
Until now , there have had the single way proportional valve controlling the power or the route , double way ratio valve controlling the orientation . they cover flux control , pressure control , velocity control and position control . according to these functions , ratio amplifier has single way or double ways type amplifier 由于比例阀已经发展出单通道力、行程控制比例阀，双通道方向控制比例阀，广泛用于流量、压力、速度、位置控制等环节中，比例放大器也本着这些功能研制出了单、双通道的比例电控器。
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 在介绍逆系统理论的基础上，详细介绍了dfl理论，通过比较阐明了dfl理论其本质是逆系统方法的一类，并结合具体课题推导出的模型方程将dfl理论进行了扩展，使之适应于电力系统这个强非线性对象。通过参考大量的书籍文献推导出一套实用的可将大型汽轮发电机励磁与汽门综合起来进行控制的模型方程，此模型方程涵盖了电力系统中特别引人注目的几个量- -转子角、转子转速、发电机q轴电势eq 、暂态电势e ' q 、有功功率pe 、机械功率pm 、汽门开度、机端电压vt ，在此基础上建立了实用的电力系统简化的数学模型，并将扩展的dfl理论应用于此模型系统，结合线性二次型最优控制理论设计出大型汽轮发电机的非线性综合控制器及机端电压最优控制器，通过仿真实验与采用常规的按电压偏差进行调节的比例式励磁控制器+汽门比例控制及采用常规的按电压偏差进行调节的比例式励磁调节器和基于二次型性能指标设计的最优快控汽门(考虑发电机的饱和因素)进行了对比，证实了采用此种控制器可以有效地提高电力系统的暂态稳定性，并且在电力系统遭受小干扰时同样具有良好的调节性能。
Secondly , this paper emphasizes how to apply this new friction model to practical valve controlled cylinder position servo system and realize the dynamic friction compensation . the paper designs the compensation law and uses the matlab / simulink tools to testify the compensation effect 其次，本文重点放在如何将新型摩擦模型应用到实际的电液位置伺服系统中，以实现对阀控液压缸电液位置伺服系统的摩擦力进行动态补偿，并应用matlab的simulink仿真工具进行仿真，通过调节摩擦补偿环节的参数可得到良好的补偿效果。
