These changes violate newton ' s first law , the law of inertia which implies that more energy is needed to change inertia ( to overcome frictional forces and inertia ) than to maintain inertia ( to overcome only frictional forces ) 这些变化违背了牛顿第一定律，也就是惯性定理在不受外力或所受外力为零的状态下，物体总保持匀速运动或静止也就是要改变物体的惯性需要额外的能量（以克服摩擦阻力和惯性）大于保持物体惯性的能量（仅克服摩擦阻力） 。
Chapter two introduces a few extensively used maneuvering models include constant velocity ( cv ) model , constant acceleration ( ca ) model , singer model , “ current ” statistical model and two - stage filter model , and discusses every model ’ s state function and parameters 第二章详细介绍了目前运用最广泛的几种机动运动模型,包括匀速运动( cv )模型、匀加速运动( ca )模型、 singer模型、 “当前”统计模型和二级滤波模型;讨论分析了各种模型的过程方程及各种参数。
According to the structure characteristics and motion rules of the new type nursing robot , the close loop control system of this new type nursing robot is designed and made with the virtual instrument developing software labwindows / cvi , mcu , piezoelectric ultrasonic motor and high precision optical incremental encoder , which can make the robot reset and rotate by the predefined tracks . at the same time , in order to make the nursing robots used more widely where intensity , precision and price are not high , another control system is designed with the step motor , virtual instrument developing software labwindows / cvi , multi - function daq card pci1711 , linear power amplifier . in order to use the nursing robots in acupuncture therapy , a simple finger is designed 在对其结构特点和运动规律分析的基础上,本文以虚拟仪器编程语言labwindows / cvi为软件开发工具,以单片机为控制核心,以超声电机为驱动元件,以高精度光电编码器作为速度和角位移检测装置,实现了机械臂的复位以及预定轨迹的闭环控制系统的开发;同时为适应一些强度不大、精度要求不高的应用场合,也为降低成本,简化控制装置,推动新型护理机械臂短期内应用推广的需要,以目前应用较为广泛、控制技术较为成熟的步进电机为驱动元件,用labwindows / cvi开发环境、 pci1711数据采集卡以及线性功率放大器开发了一套控制系统,实现了手臂的复位、匀速运动以及预定轨迹的控制系统;为推广护理机器人在针灸理疗中应用,设计了简单的手指机构并利用labwindows / cvi开发环境,以及智能材料驱动器? ?层叠式压电驱动器,进行了手指的抓取以及对驱动对象的转动控制。
A programmable dynamic target system is presented in this paper . on basis of analyzing the deficiency of traditional rotary target system , the significance and practicability of programmable dynamic target is proposed . through obtaining the corresponding relationship between target and theodolite , simulation model that aims at founding the laws of the moving target produce influence on theodolite was set up 根据靶标与光电经纬仪之间相对运动关系的数学模型建立了仿真模型，并应用仿真模型进行了大量的仿真试验，对比了靶标做匀速运动和做正弦摆动对被检测的光电经纬仪的跟踪曲线产生的影响，证实了靶标在编程控制下按正弦规律进行摆动可以更好的检测光电经纬仪的跟踪性能。
