外文翻译译文
永磁同步电机高性能速度控制的最优模糊PI控制器
摘要：本文的目的是介绍改进的永磁同步电机（PMSM）工作的控制性能的自适应方法。该方法允许降低速度追踪误差及应对外部干扰。本文提出了详细速度控制的方法，并针对两个控制器进行测试，传统的综合比例（PI）控制器和模糊综合成正比（模糊-PI）控制器。从有着类似动作的实验中，两个控制器都表现出了良好的效果。然而，模糊-PI 在某些方面脱颖而出。本文的主要目的是模糊逻辑算法的扩展，以提高工业应用中的伺服控制性能。
关键词：模糊PI；速度控制；干扰；永磁同步电机
1 引言
用于永磁同步电机（PMSM）的高性能伺服系统在机电一体化，如精密工程，电脑数控机床及各种自动化工业厂房的其他应用领域的许多应用中是必不可少的。由于不确定性因素，例如不可预测的工厂参数变化，负载扰动，以及固有的非线性动态过程，永磁同步电机伺服系统的控制性能受到严重影响。在这种情况下，伺服驱动器可能需要比较快地响应命令的变化，并对于不确定性有足够的鲁棒性。为了满足高速、高精度的直线电机的发展要求，我们希望有一个可以针对操作环境的干扰和不确定性有更高的抗扰动性能的智能控制器。
目前为止，已经有大量的具有不同的复杂性的控制技术（模糊，PI，PID等）被提出。模糊控制在1970年初首次被提出并实施是在一次设计控制器的实验中，那是在结构上很难建模由于自然存在的非线性和其他建模复杂系统。桑特等在永磁同步电机的矢量控制与交换计算功能的基础上，提出了权重混合模糊PI速度控制器。颜善等人提出的直接转矩控制异步电机驱动具有快速跟踪能力，更低的稳态误差，和强大的负载扰动，是一种新的混PI型模糊控制器。总之，当流程过于复杂时，通过常规的定量技术来分析模糊逻辑控制显得非常有用。众所周知，调速技术已能够在伺服系统领域执行越来越复杂的任务。
模糊-PI控制器的性能还取决于选择合适的优化算法。在本文中，提出了一种自适应速度控制器，它以最小化或消除的速度跟踪误差，所设计的混合模糊PI控制器改善了瞬态和稳态系统性能。本文的结构如下：第2节详细描述了永磁同步电机矢量控制和干扰的影响，第3节解释了自适应模糊PI控制器的，第4节列出了实验结果，最后一节得出了结论。
2 永磁同步电机矢量控制
对于永磁同步电机，磁铁建立励磁磁通，随后的磁化电流不从供给获得。这很容易通过迫使定子电流向量的励磁电流分量为零使磁场定向的机制作用。其结果是，电磁转矩通过分别控制电磁转矩，将定子电流向量和扭矩电流分量作用成正比，因此获得更好的动态性能。矢量控制的永磁同步电动机伺服系统的系统结构如图1所示，在矢量控制方案中，扭矩控制可以进行对定子电流向量的适当调节，这意味着精确的速度控制取决于电流矢量的调节。
图1.矢量控制的永磁同步电机的系统配置
永磁同步电机调速系统是多变量、非线性、强耦合的系统，其干扰主要包括负载惯量和负载转矩。在伺服系统的运行，系统的惯性可能会改变。当系统惯量增大，伺服系统的响应会变慢，这很可能会导致系统不稳定。反之，当系统的惯性减小，动态响应将加快、速度超调。同时，伺服系统的主要作用是驱动负载的运行，但在许多行业中，通过伺服系统承载的负荷不是恒定的，变动负载转矩将不会对伺服控制性能显著的影响：在伺服系统中，突然增加或减少负载转矩的运行会导致伺服调速的波动，影响了定位和控制性能的准确性。
3 速度控制器的设计
在本文中，我们提出一种基于模糊逻辑、以改善永磁同步电机控制性能速度控制方案。速度控制器可以使用几种方法，如PI，模糊等。然而，实施速度控制时，应考虑下列情况：
简单：速度控制算法必须是简单且容易计算，以实现快速的伺服适应。
PI型控制：为了实现零稳态误差，应该选择和实施PI型转速控制规律。
实施要求不应该包括明显改变原有的控制系统。
由于目标和系统需求，我们选择两种控制算法——PI和模糊逻辑。当在实际情况中对于PI控制器的选择是由于其良好的性能，而倾向于选择模糊控制器是由于其对于严格的数学系统模型的不作要求。
A.模糊控制架构
模糊逻辑的构想采用更类似人类在计算机编程的思维方式。它在理想的非线性控制系统和模型的复杂系统中歧义很常见。它也可能保持在一个宽范围的操作条件良好的闭环系统的性能。在我们的系统中，速度控制器的输入变量是速度误差和速度误差的变化：
)()()(k k k e f r ωω-= (1)
)1()()(--=k e k e k de
(2)
其中，r ω是速度指令，f ω是实际速度。 B.模糊PI
由传统的PI 控制算法，我们可以得到如下离散方程：
)()()(1k i k i k i q q q ?+=- (3) )()()(k e k k de k k i i p q +=? (4)
如果e 和de 是模糊变量，由（3）和（4）得到一个模糊控制算法。然后，选择区域方式的中心为defuzzify 的输出模糊集合，控制器可得：
∑∑==?=?n
i i
n
i q i q i i i 11)
(ηη (5) 其中i η是隶属函数，在 [0,1]中取值。 C.知识库
模糊逻辑控制器的知识库由两部分组成，即一个数据库和模糊控制规则库。众所周知，PI 模糊规则库是如本文中（表1），规则库中的表面如图2所示，它使快速的工作交替不产生显著波动，防止超调和下冲。
表1.模糊规则库
NL
nl
nl nl
nl nm ns
ze NM nl nl
nm nm ns ze ps NS nm nm nm ns ze ps ps
NZ nm nm ns ze ps
ps pm
PZ nm ns ns ze
ps pm pm
PS
ns ns ze
ps pm pm pm
PM ns
ze
ps pm pm
pl
pl
PL ze ps pm pl pl pl pl
图2 .规则库的表面
D.调整策略
模糊逻辑的设计涉及两个重要阶段：知识库的设计和调整。然而，目前还没有系统的程序来做到这一点。控制规则通常由实际经验提取的，这可能使结果集中在一个特定的应用程序。调谐的目的是选择所有控制参数的适当组合，使所得到的闭环响应最佳地满足所需的设计准则。
为了使伺服系统适应不同的干扰，比例因子应该进行调整。该控制器还应根据不用情况下被控制量的特点进行调整。这些调整可以通过PI控制器的应用进行缩放因子。S.T. Lin等人提出了一种调整，其中的缩放因子是动态的，因此它们是随着任务而调整。在本文中，缩放因子被设置为适当的恒定值，通过反复试验来实现。
4 实验
用于实验的装置包含三个主要部件和一些数据传输总线，如图3所示，这三个主要部分组成是：1）一台PC与采样时间等于1ms的一个PCI; 2）交流伺服系统的驱动器由DSP和FPGA组成，其中DSP TMS320F2812的主要实现位置是速度和转矩控制，FPGA EP2C8Q208C8N负责分析和实现绝对控制以及NCUC总线协议; 3）永磁同步电动机的参数如表2所示，通过PCI控制器，PC机将速度指令和控制参数发送到伺服驱动器，并从伺服驱动器接收期望的转矩电流和反馈速度，用于模型识别。
Power PCI controller
Servo drive
PMSLM
PC
Load motor
图3.实验的装置
表2.电机参数
Motor Rating Torque coefficient
0.75Nm/A Rated speed 1000r/min Rated Torque 4.5Nm Friction coefficient 0.0008Nms/rad
Inertia 0.0028Nms 2/rad
Poles 3
在不施加负载转矩的实验测试中，应用最大速度为1000r/min 的梯形型速度指令。为了评估其控制性能，考察固定PI 控制器。图4是具有PI 控制器的速度响应，它表示加速阶段最大速度误差约为34r/min ，恒速阶段最大速度误差波动为大约7r/min 。模糊PI 控制器的速度响应如图5所示，它具有更好的速度跟踪性能，加速阶段最大速度误差约为15r/min ，恒速阶段最大速度误差的波动是大约3r/min 。
Time (s)
S p e e d R e s p o n s e (r /m i n )
Time (s)
S p e e d e r r o r (r /m i n )
图4.使用PI 控制器的响应速度（空载转矩）
Time (s)
S p e e d R e s p o n s e (r /m i n
)
Time (s)
S p e e d e r r o r (r /m i n )
图5.使用模糊PI 控制器的响应速度（空载转矩）
在实验测试，改变负载转矩，应用最大速度为1000r/min 的斜坡式速度指令。当t=2s 时，所施加的负载转矩为2Nm 。当t=5s 时，所施加的负载转矩突变到8Nm 的。为了评估其控制性能，也要考察固定PI 控制器。图6给出了具有PI 控制器的响应速度。当时，加速阶段的最大速度误差约为95r/min ，恒速阶段速度超调。当时，很显然，
最大速度误差波动约为50r/min 和跟踪响应不符合设计规格。 使用模糊PI 控制器的速度响应如图7所示，当时，加速阶段的最大速度误差仅约48r/min 和恒速阶段不明显的速度超调。当
时，很显然，最大速度误差
波动只有约8r/min 。伺服系统模糊PI 控制器具有更好的速度跟踪性能，并能有效的抑制负载转矩。
Time (s)
S p e e d R e s p o n s e (r /m i n )
Time (s)
S p e e d E r r o r (r /m i n )
图6.与PI 控制器的响应速度
Time (s)
S p e e d R e s p o n s e (r /m i n
)
Time (s)
S p e e d E r r o r (r /m i n )
图7.使用模糊PI 控制器的响应速度
5 结论
本文介绍了永磁同步电机驱动器的自适应模糊PI 速度控制方案。通过实验证明了该方法的有效性，表明混合控制显著提高了伺服性能，使得伺服系统能更人性化，灵活有效的做出决定。实际上，模糊PI 控制器的超调量比PI 控制器的超调量小。此外，在某些情况下，为了快速达到设定点，模糊PI 控制器是一个更好的解决方案。
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国际贸易英文文献
Strategic transformations in Danish and Swedish big business in an era of globalisation, 1973-2008 The Danish and Swedish context In the difficult inter-war period, a state-supported, protected home market orientation had helped stabilise both Denmark’s and Sweden’s economies, but after WorldWar II priorities changed. Gradually and in accordance with the international economic development, restrictions on foreign trade were removed, and Danish and Swedish industry was exposed to international competition. As a consequence, several home market oriented industries –such as the textile and the shoe industry –were more or less outperformed, while in Sweden the engineering industry soon became the dominant leader of Swedish industry, with companies such as V olvo, Ericsson, Electrolux, ASEA and SKF. In the Danish case, the SMEs continued to be dominant but in combination with expanding export oriented industrial manufacturers such as Lego, Danfoss, Carlsberg and the shipping conglomerates ok and A.P. moller-Marsk. In Sweden and Denmark stable economic growth continued into the 1970s, but due to the problems during the oil crises, the economies came into fundamental structural troubles for the first time since World War II. In the beginning this was counteracted by traditional Keynesian policy measures. However, because of large budget deficits, inflation and increasing wages, both the Danish economy from 1974 and the Swedish economy from 1976 encountered severe problems. Towards the late 1970s Denmark’s and Sweden’s economic policies were thus increasingly questioned. It was clear that Keynesian policy could not solve all economic problems. Expansive fiscal policies in terms of continued deficits on the state budget could not compensate for the loss of both national and international markets and step by step the Keynesian economic policy was abandoned. The increased budget deficit also made it difficult for the state to support employment and regional development. These kinds of heavy governmental activities were also hardly acceptable under the more market oriented policy that developed first in Great Britain and the USA, but in the 1980s also in Denmark and Sweden (Iversen & Andersen, 2008, pp. 313–315; Sjo¨ gren, 2008, pp. 46–54). These changes in political priorities were especially noticeable in the financial market. After being the most state regulated and coordinated sector of the economy since the 1950s, then between 1980 and 1985 the Danish and Swedish financial markets underwent an extensive deregulation resulting in increased competition. Lending from banks and other credit institutes was no longer regulated, and neither were interest rates. The bond market was also opened as the issuance of new bond loans was deregulated in Sweden in 1983. When the control of foreign capital flows was liberalised in the late 1980s the last extraordinary restriction was now gone. Together with the establishment of the new money market with options and derivates, this opened up to a much larger credit market and the possibility for companies to finance investments and increase business domestically as well as abroad (Larsson, 1998, pp. 205–207). Another important part of the regulatory changes in the early 1980s were new rules for the Copenhagen and Stockholm stock exchanges. Introduction on the stock exchange was made much
外文翻译---国际贸易单证的作用
附录 F.1英文参考资料及中文翻译 F. 1 .1international trade documents role General international trade documents (international trade documents) is the international trade of use all the documents, documents and certificates collectively. Usually with international trade documents to deal with in and out of delivery of the goods El, transportation, insurance, inspection and quarantine, customs declaration, the settlement of exchange, etc. Special international trade documents usually refers to the settlement documents, especially the l/c under the way of settlement of documents. International trade documents and the use of import and export trade program closely related, the documents in the import and export enterprise work throughout the export, purchase, transportation, the whole process of the proceeds, the effort is big, timeliness strong, is broad, in addition to import and export enterprise internal between various departments the cooperation with the outside, still must and bank, customs, transportation department, insurance companies, the inspection and quarantine agencies and the relevant administrative authorities happen various contact, linked together, mutual influence, also are conditions. International trade documents for the performance of a contract is necessary means International trade is the transnational goods business, due to the particularity of the multinational business, which is the purchase and sale of the different departments are located in different countries, are remote, in most cases, the goods and payment can't perform simple direct exchange, but only as the medium of exchange with documents means. The international trade of the documents that sales of goods through the documents realization sale, the seller should not only will the actual delivery of goods export shipment, and should submit to the buyer include the title to the goods vouchers, complete documents to show real assignment. The seller/p means that the delivery of the goods, and the buyer payment is get to buy goods on behalf of property rights certificate, the deal is no longer with the goods as the core, but with documents as the core. Documents and payment of the convection principle has become the international trade of general principles of the commodity business. As international trade experts "; m Cardiff in the export trade in his book mentioned: "from a business perspective, can say CIF the purpose of the contract is not the buying and selling of goods itself, but the documents relating to the goods business." What say here "documents" is the international trade of documents. International trade documents many kinds, every kind of documents has its
网络安全外文翻译文献
网络安全外文翻译文献 (文档含英文原文和中文翻译) 翻译： 计算机网络安全与防范 1.1引言 计算机技术的飞速发展提供了一定的技术保障，这意味着计算机应用已经渗透到社会的各个领域。在同一时间，巨大的进步和网络技术的普及，社会带来了巨大的经济利润。然而，在破坏和攻击计算机信息系统的方法已经改变了很多的网络环境下，网络安全问题逐渐成为计算机安全的主流。
1.2网络安全 1.2.1计算机网络安全的概念和特点 计算机网络的安全性被认为是一个综合性的课题，由不同的人，包括计算机科学、网络技术、通讯技术、信息安全技术、应用数学、信息理论组成。作为一个系统性的概念，网络的安全性由物理安全、软件安全、信息安全和流通安全组成。从本质上讲，网络安全是指互联网信息安全。一般来说，安全性、集成性、可用性、可控性是关系到网络信息的相关理论和技术，属于计算机网络安全的研究领域。相反，狭隘“网络信息安全”是指网络安全，这是指保护信息秘密和集成，使用窃听、伪装、欺骗和篡夺系统的安全性漏洞等手段，避免非法活动的相关信息的安全性。总之，我们可以保护用户利益和验证用户的隐私。 计算机网络安全有保密性、完整性、真实性、可靠性、可用性、非抵赖性和可控性的特点。 隐私是指网络信息不会被泄露给非授权用户、实体或程序，但是授权的用户除外，例如，电子邮件仅仅是由收件人打开，其他任何人都不允许私自这样做。隐私通过网络信息传输时，需要得到安全保证。积极的解决方案可能会加密管理信息。虽然可以拦截，但它只是没有任何重要意义的乱码。 完整性是指网络信息可以保持不被修改、破坏，并在存储和传输过程中丢失。诚信保证网络的真实性，这意味着如果信息是由第三方或未经授权的人检查，内容仍然是真实的和没有被改变的。因此保持完整性是信息安全的基本要求。 可靠性信息的真实性主要是确认信息所有者和发件人的身份。 可靠性表明该系统能够在规定的时间和条件下完成相关的功能。这是所有的网络信息系统的建立和运作的基本目标。 可用性表明网络信息可被授权实体访问，并根据自己的需求使用。 不可抵赖性要求所有参加者不能否认或推翻成品的操作和在信息传输过程中的承诺。
中国的对外贸易外文翻译及原文
外文翻译 原文 Foreign T rade o f China Material Source:W anfang Database Author:Hitomi Iizaka 1.Introduction On December11,2001,China officially joined the World T rade Organization(WTO)and be c a me its143rd member.China’s presence in the worl d economy will continue to grow and deepen.The foreign trade sector plays an important andmultifaceted role in China’s economic development.At the same time, China’s expanded role in the world economy is beneficial t o all its trading partners. Regions that trade with China benefit from cheaper and mor e varieties of imported consumer goods,raw materials and intermediate products.China is also a large and growing export market.While the entry of any major trading nation in the global trading system can create a process of adjustment,the o u t c o me is fundamentally a win-win situation.In this p aper we would like t o provide a survey of the various institutions,laws and characteristics of China’s trade.Among some of the findings, we can highlight thefollowing: ?In2001,total trade to gross domestic pr oduct(GDP)ratio in China is44% ?In2001,47%of Chinese trade is processed trade1 ?In2001,51%of Chinese trade is conduct ed by foreign firms in China2 ?In2001,36%of Chinese exports originate from Gu an gdon g province ?In2001,39%of China’s exports go through Hong Kong to be re-exported elsewhere 2.Evolution of China’s Trade Regime Equally remarkable are the changes in the commodity composition of China’s exports and imports.Table2a shows China’s annu al export volumes of primary goods and manufactured goods over time.In1980,primary goods accounted for 50.3%of China’s exports and manufactured goods accounted for49.7%.Although the share of primary good declines slightly during the first half of1980’s,it remains at50.6%in1985.Since then,exports of manufactured goods have grown at a much
营销-外文翻译
外文翻译 原文 Marketing Material Source：Marketing Management Author：Philip Kotler Marketing Channels To reach a target market, the marketer uses three kinds of marketing channels. Communication channels deliver messages to and receive messages from target buyers. They include newspapers, magazines, radio, television, mail, telephone, billboards, posters, fliers, CDs, audiotapes, and the Internet. Beyond these, communications are conveyed by facial expressions and clothing, the look of retail stores, and many other media. Marketers are increasingly adding dialogue channels (e-mail and toll-free numbers) to counterbalance the more normal monologue channels (such as ads). The marketer uses distribution channels to display or deliver the physical product or service to the buyer or user. There are physical distribution channels and service distribution channels, which include warehouses, transportation vehicles, and various trade channels such as distributors, wholesalers, and retailers. The marketer also uses selling channels to effect transactions with potential buyers. Selling channels include not only the distributors and retailers but also the banks and insurance companies that facilitate transactions. Marketers clearly face a design problem in choosing the best mix of communication, distribution, and selling channels for their offerings. Supply Chain Whereas marketing channels connect the marketer to the target buyers, the supply chain describes a longer channel stretching from raw materials to components to final products that are carried to final buyers. For example, the supply chain for women’s purses starts with hides, tanning operations, cutting operations, manufacturing, and the marketing channels that bring products to customers. This supply chain represents a value delivery system. Each company captures only a certain percentage of the total value generated by the supply chain. When a company acquires competitors or moves upstream or downstream, its aim is
网络安全中的中英对照
网络安全中的中英对照 Access Control List（ACL）访问控制列表 access token 访问令牌 account lockout 帐号封锁 account policies 记帐策略 accounts 帐号 adapter 适配器 adaptive speed leveling 自适应速率等级调整 Address Resolution Protocol(ARP) 地址解析协议Administrator account 管理员帐号 ARPANET 阿帕网（internet的前身） algorithm 算法 alias 别名 allocation 分配、定位 alias 小应用程序 allocation layer 应用层 API 应用程序编程接口 anlpasswd 一种与Passwd+相似的代理密码检查器 applications 应用程序 ATM 异步传递模式
audio policy 审记策略 auditing 审记、监察 back-end 后端 borde 边界 borde gateway 边界网关 breakabie 可破密的 breach 攻破、违反 cipher 密码 ciphertext 密文 CAlass A domain A类域 CAlass B domain B类域 CAlass C domain C类域 classless addressing 无类地址分配 cleartext 明文 CSNW Netware客户服务 client 客户，客户机 client/server 客户机/服务器 code 代码 COM port COM口（通信端口） CIX 服务提供者 computer name 计算机名