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101.
针对高阶不匹配不确定非线性电液伺服系统,提出一种动态面反演控制策略,以实现对电液伺服系统的位置控制.采用多个非线性干扰观测器观测出电液伺服系统的各阶子系统的不确定项和干扰项,对使用非线性干扰观测器后的系统实行反演控制,使用动态面方法来解决传统反演控制中虚拟控制量随着系统阶数的增加而愈加繁杂的问题.基于Lyapunov方法从理论上证明了所设计的系统控制器能够保证闭环系统有界稳定,系统中所有信号是一致最终有界的,仿真结果验证了反演控制方法的正确性. 相似文献
102.
A disturbance observer based practical coordinated tracking controller for uncertain heterogeneous multi‐agent systems 下载免费PDF全文
This paper presents a coordinated tracking controller for multi‐agent systems. We assume that agents are uncertain, nonidentical, and affected by external disturbances. The information available to the tracking controller is a weighted sum of relative measurements. A coordinated tracking controller based on the disturbance observer, which is known as a robust output feedback controller, is designed so that the disturbances acting on agents are attenuated and at the same time the weighted sum of relative measurements approximately satisfies a differential equation defined by the leader's dynamics, which results in practical coordinated tracking. Systematic design procedures of the controller as well as numerical simulations are provided. Copyright © 2014 John Wiley & Sons, Ltd. 相似文献
103.
Some results on disturbance attenuation for Hamiltonian systems via direct discrete‐time design 下载免费PDF全文
The disturbance attenuation and robust disturbance attenuation problems for Hamiltonian systems in the discrete‐time setting are considered and some new results are presented. The new results are derived utilizing the recently presented dissipativity equality obtained by adding the dissipation rate function to the classical dissipativity inequality. A selection of the dissipation rate function yields new results. These results include a condition on the dissipation structure of the system to achieve the desired disturbance attenuation level and gives direct construction of optimal control laws for any desired disturbance attenuation level. The results remove the need to solve Hamilton–Jacobi–Isaacs inequalities. Copyright © 2014 John Wiley & Sons, Ltd. 相似文献
104.
On ADRC for non-minimum phase systems: canonical form selection and stability conditions 总被引:1,自引:0,他引:1
Active disturbance rejection control (ADRC), as proposed by Prof. Jingqing Han, reduces first the plant dynamics to its canonical form, normally in the form of cascade integrators, for which the standard controller can be employed to meet the design specifications. This paper concerns with the selection of the canonical form for non-minimum phase systems. In particular, it
is shown that, by employing the well known controllable canonical form, the uncertainties of such systems can be divided into two terms in the state space model, one in the control channel and the other in the output channel. The necessary and sufficient condition is obtained for the stability of the closed-loop system with the proposed canonical form and ADRC. Also, by showing
the necessity of the detectability of the extended system as well as certain information of the systemˉs “zeros”, we present the fundamental guidelines of design ADRC for non-minimum phase uncertain systems. 相似文献
105.
With the rapid deployments of the active disturbance rejection control (ADRC) as a bonafide industrial technology in the background, this paper summarizes some recent results in the analysis of linear ADRC and offers explanations in the frequency response language with which practicing engineers are familiar. Critical to this endeavor is the concept of bandwidth, which has been used in a more general sense. It is this concept that can serve as the link between the otherwise opaque state space formulation of the ADRC and the command design considerations and concerns shared by practicing engineers. The remarkable characteristics of a simple linear ADRC was first shown in the frequency domain, followed by the corresponding analysis in time
domain, where the relationship between the tracking error and the ADRC bandwidth is established. It is shown that such insight is only possible by using the method of solving linear differential equations, instead of the more traditional techniques such as the Lyapunov methods, which tend to be more conservative and difficult to grasp by engineers. The insight obtained from such
analysis is further demonstrated in the simulation validation. 相似文献
106.
Global Synchronization of Stochastically Disturbed Memristive Neurodynamics via Discontinuous Control Laws 下载免费PDF全文
This paper presents the theoretical results on the master-slave (or driving-response) synchronization of two memristive neural networks in the presence of additive noise. First, a control law with a linear time-delay feedback term and a discontinuous feedback term is introduced. By utilizing the stability theory of stochastic differential equations, sufficient conditions are derived for ascertaining global synchronization in mean square using this control law. Second, an adaptive control law consisting of a linear feedback term and a discontinuous feedback term is designed to achieve global synchronization in mean square, and it does not need prior information of network parameters or random disturbances. Finally, simulation results are presented to substantiate the theoretical results. 相似文献
107.
State and Output Feedback Certainty Equivalence M‐MRAC for Systems with Unmatched Uncertainties 下载免费PDF全文
The paper presents a certainty equivalence indirect adaptive control design method for parametric strict feedback nonlinear systems of any relative degree with unmatched uncertainties in state and output feedback settings. The approach is based on the parameter identification (estimation) model, which is completely separated from the control design and is capable of producing parameter estimates as fast as the computing power allows. It is shown that the system's input and output tracking errors can be systematically decreased by the proper choice of the design parameters. 相似文献
108.
109.
EXPERIMENTAL STUDY ON SEDIMENT RESUSPENSION IN TAIHU LAKE UNDER DIFFERENT HYDRODYNAMIC DISTURBANCES 总被引:1,自引:0,他引:1
QIAN Jin ZHENG Sha-sha WANG Pei-fang WANG Chao Key Laboratory of Integrated Regulation Resource Department on Shallow Lakes Ministry of Education College of Enviroment Hohai University Nanjing China 《水动力学研究与进展(B辑)》2011,(6):826-833
Contaminants resuspension in sediments induced by wind-wave could influence the water quality in shallow lakes. Resuspension of surface sediments from the Zhushan Bay, Taihu Lake was simulated under different wind forcing by using a pneumatic annular flume in this study. Acoustic Doppler Velocimeter (ADV) was used to measure flow velocity at each wind speed, and the characteristics of sediment resuspension were studied with the layered sampling technology. The experimental results show that the flow velocity increases with wind speed obviously and 6m/s is a critical wind speed which affected hydrodynamic conditions significantly. The distribution of flow velocity and water depth is different from that in ordinary open channel. With the enhanced hydrodynamic factors, the Suspended Solids Concentration (SSC) in water increases accordingly, and the incipient velocity of sediment resuspension is about 0.21 m/s. Based on the analysis of wind speed and average SSC in water column, the quantitative relationship is obtained. The SSC of the bottom layer is higher than the content of surface layer under different hydrodynamic conditions, and there are similar distributions between SSC and flow velocity in different water layers. 相似文献
110.
Second-order terminal sliding mode control for hypersonic vehicle in cruising flight with sliding mode disturbance observer 总被引:1,自引:0,他引:1
This paper focuses on the design of nonlinear robust controller and disturbance observer for the longitudinal dynamics of a hypersonic vehicle (HSV) in the presence of parameter uncertainties and external disturbances. First, by combining terminal sliding mode control (TSMC) and second-order sliding mode control (SOSMC) approach, the secondorder terminal sliding control (2TSMC) is proposed for the velocity and altitude tracking control of the HSV. The 2TSMC possesses the merits of both TSMC and SOSMC, which can provide fast convergence, continuous control law and hightracking precision. Then, in order to increase the robustness of the control system and improve the control performance, the sliding mode disturbance observer (SMDO) is presented. The closed-loop stability is analyzed using the Lyapunov technique. Finally, simulation results illustrate the effectiveness of the proposed method, as well as the improved overall performance over the conventional sliding mode control (SMC). 相似文献