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In this paper we propose a nonlinear control approach for the path‐tracking of an autonomous underactuated airship. A backstepping controller is designed from the airship nonlinear dynamic model including wind disturbances, and further enhanced to consider actuators saturation. Control implementation issues related to airship underactuation are also addressed, namely control allocation and an attitude reference shaping to obtain a faster error correction with smoother input requests. The results obtained demonstrate the capacity of an underactuated unmanned airship to execute a realistic mission including vertical take‐off and landing, stabilization and path‐tracking, in the presence of wind disturbances, with a single robust control law. Copyright © 2008 John Wiley & Sons, Ltd. 相似文献
53.
Fuzzy motion control strategy for cooperation of multiple automated vehicles with passengers comfort
Francesco M. Raimondi Author Vitae Author Vitae 《Automatica》2008,44(11):2804-2816
This paper considers motion control for a cooperative system of automated passenger vehicles. It develops a cooperative scheme based on a decentralized planning algorithm which considers the vehicles in an initial open chain configuration. In this scheme the trajectories are intersections-free, and each trajectory is planned independently of the others. To ensure the stabilization of each vehicle in the planned trajectory, a fuzzy closed loop motion control is presented, where, based on the properties of the Fuzzy maps, the Lyapunov’s stability of the motion errors is demonstrated for all the vehicles. Based on the ISO 2631-1 standard, the saturation property of the Fuzzy maps guarantees low values of longitudinal and lateral accelerations, to ensure comfort of the human body during the motion. The validity of this control algorithm is supported by simulation experiments. 相似文献
54.
Håvard Fjær Grip Author Vitae Lars Imsland Author Vitae Author Vitae Thor I. Fossen Author Vitae Jens C. Kalkkuhl Author Vitae Author Vitae 《Automatica》2008,44(3):611-622
A nonlinear observer for estimation of the longitudinal velocity, lateral velocity, and yaw rate of a vehicle, designed for the purpose of vehicle side-slip estimation, is modified and extended in order to work for different road surface conditions. The observer relies on a road-tire friction model and is therefore sensitive to changes in the adhesion characteristics of the road surface. The friction model is parametrized with a single friction parameter, and an update law is designed. The adaptive observer is proven to be uniformly globally asymptotically stable and uniformly locally exponentially stable under a persistency-of-excitation condition and a set of technical assumptions, using results related to Matrosov's theorem. The observer is tested on recorded data from two test vehicles and shows good results on a range of road surfaces. 相似文献
55.
提出了一种能够兼顾横向控制和纵向控制的可变速自动换道控制方法。首先建立了可变速的车辆运动方程,并采用基于动态目标位置概念的控制机制,以模糊逻辑为控制策略,以T-S模糊模型为控制结构,以自适应神经网络为隶属度函数的参数调整手段,设计出一种兼顾智能车辆横向控制和纵向控制的运动控制器。仿真结果表明,提出的控制方法是可行的、有效的,并且较为理想地模拟实际交通环境中车辆换道的行为特性。 相似文献
56.
未来电动汽车(electric vehicle, EV)以及光伏(photovoltaic, PV)在配电网中的接入比例逐渐增高,这不仅带来了复杂的不确定性问题,而且导致了配电网净负荷时空分布的不均衡,从而产生了弃光、失负荷以及潮流分布不均匀的问题。基于此,考虑电动汽车充电负荷以及光伏的不确定性,提出了一种基于柔性多状态开关(flexible multi-state switch, FMS)和动态重构的含高比例电动汽车-光伏配电网灵活运行方法。首先,基于FMS灵活功率调控和网络动态重构,构建了支撑高比例电动汽车-光伏接入的配电网灵活运行框架。其次,利用蒙特卡洛随机模拟法对各类电动汽车充电负荷以及光伏出力进行不确定性建模,建立了基于场景集以及场景缩减法的随机规划模型。然后,建立了以弃光、失负荷、FMS损耗、网损成本最小和负荷均衡度最优为目标的配电网灵活运行模型。最后,在158节点系统上通过算例验证了所提方法的有效性。 相似文献
57.
Traditional data-driven energy consumption forecasting models, including machine learning and deep learning methods, showed outstanding performance in terms of forecasting accuracy and efficiency. The superior performances are based on enough training data samples. Moreover, the derived forecasting model is only applicable to the training dataset and usually is applied to specific household. In real-world smart city development, a centralized forecasting model is required to model and forecasting energy consumption patterns for multiple households, whereas the traditional data-driven forecasting approaches may become invalid. A consistent model is demanded in this scenario modeling multiple households’ energy consumption patterns. Additionally, privacy issues are also highly concerned in such scenarios. Accurate energy consumption forecasting with privacy preservations becomes a key point for the state-of-art research. In this study, we adopt an innovative privacy-preserving structure that combines deep learning and federated learning. Under the premise of guaranteeing forecasting accuracy and privacy preservation, this structure can achieve the forecasting of various household energy consumption with a consistent model that simultaneously forecast multiple household energy consumption data by transmission control protocol. 相似文献
58.
Jian Huang Tianyi Wang Guan Wang Zhiyi Song Zuosheng Yin 《Asian journal of control》2023,25(5):3792-3804
In this paper, a novel adaptive fault-tolerant control (FTC) scheme is proposed for a class of flexible air-breathing hypersonic vehicles with unknown inertial and aerodynamic parameters and even input constraints. The fault model under consideration covers the case that all actuators suffer from unknown time-varying faults. In the controller design and stability analysis, we introduce new Lyapunov functions, some differentiable auxiliary functions, a bound estimation approach, and a Nussbaum function, which help us successfully circumvent the obstacle caused by the faults, input constraints, and flexible modes. In addition to higher reliability, the proposed scheme is able to ensure that all closed-loop signals are globally uniformly bounded and to steer the tracking errors of altitude and velocity into predefined arbitrarily small residual sets. As a result, the tracking accuracy can be designated in advance. Simulation results illustrate the effectiveness of the proposed scheme. 相似文献
59.
60.
自动泊车作为智能汽车自动驾驶技术的一个关键组成部分,已成为业界关注和研究的热点。现有的自动泊车系统都是基于倒车实现,而大多数新型电动汽车充电口安装在车头,因此设计了车头泊入的泊车新方法。该方法首先对车辆进行运动学建模,然后根据汽车与车库的相对位置基于几何推导进行路径规划,最后利用PID对泊车过程进行跟踪控制。采用PID路径跟踪控制算法与现有泊车跟踪控制算法相比较,有效简化了算法结构,克服了“计算爆炸”的问题,具有较强的鲁棒性,符合现有新型电动汽车车头泊入的需求。使用Matlab和CarSim联合仿真实车参数模型车的运动学模型,完善了传统泊车过程模型的运动仿真分析,仿真结果验证了所设计的跟踪控制方法的有效性。 相似文献