ID	原文	译文
5554	首先,建立无人直升机数学模型。	First of all, unmanned helicopter mathematical model is set up.
5555	其次,设计复合扰动ESO,用来观测未建模动态和外界阵风扰动的影响,并采用前馈补偿的方式来抑制系统不确定性,实现系统对扰动的鲁棒性。	Secondly, the design of composite disturbance ESO, which is used to observation the effects of unmodeled dynamics and external wind disturbance, and USES the feedforward compensation method to suppress the system uncertainty, realize the system robustness to disturbance.
5556	然后,采用内外环形式的分层结构设计轨迹跟踪控制器,采取动态面策略避免反步法"微分爆炸"和控制参数调整不敏感的问题,并采用Lyapunov方法证明了整个系统是一致渐进稳定的。	And then, using the internal and external ring form the hierarchical structure of trajectory tracking controller design, dynamic surface strategies should be taken to prevent the footwork "differential explosion" and adjustment of control parameters, and the whole system is proved by Lyapunov method is uniformly asymptotically stable.
5557	最后,采用课题组在研直升机进行了仿真实验,仿真结果表明该控制器具有较好的轨迹跟踪性能。	Finally, the research in research helicopter is used for the simulation experiment, the result of simulation shows that the controller has better trajectory tracking performance.
5558	太赫兹通信具备高带宽和高衰减特性,特别适合在室内无线通信系统中应用。	Terahertz communication with high bandwidth and high attenuation characteristics, especially suitable for application in indoor wireless communication system.
5559	在太赫兹通信信道下,会产生反射、衍射等现象,目前已有毫米波下的衍射模拟研究,但缺乏在太赫兹波下衍射特性的研究。	Under the terahertz communication channel, will produce the phenomenon such as reflection, diffraction, have now been under the millimeter wave diffraction simulation research, but the lack of research under the THZ wave diffraction characteristics.
5560	应用一致性绕射理论、大气吸收衰减理论,对350GHz频率下典型的楔形几何结构衍射进行了研究,结合射线跟踪法对比了材料、粗糙程度、入射角度对衍射功率的影响。	Application consistency diffraction theory, atmospheric absorption attenuation theory, the typical wedge under the 350 GHZ frequency diffraction geometry structure are studied, combined with ray tracing method to compare the material, the roughness, the influence of the incident Angle of diffraction power.
5561	应用双边缘绕射法,模拟了人在房间内行走时,衍射对太赫兹波室内信道特性的影响。	Application of double edge diffraction method, simulates the people walking in the room is adept, the diffraction effects on indoor THZ wave channel characteristic.
5562	以实现飞行动目标的高效建模技术为目标,并结合仿真计算和微动特征分析的技术要求,给出飞行动目标及其微动电磁散射特征分析的系统方法,实现了多自由度飞行目标的运动建模,形成完整的飞行动目标高效建模技术。	So as to realize the efficient action target modeling technology as the goal, and combined with the simulation calculation and analysis the technical requirement of micro characteristics, action target is given and its characteristic analysis of the micro electromagnetic scattering method, realizes the multi degree of freedom movement model of the flying target, form a complete action target efficient modeling technology.
5563	以直升机飞行为例展示动态建模效果,主旋翼和尾翼转动时,由直升机雷达回波信号时频分析得到的微多普勒结果与理论分析相吻合。	Fly in a helicopter as an example to show the dynamic modeling effect, main rotor and tail turns, by helicopter radar echo signal time-frequency analysis of micro-doppler results coincide with theoretical analysis.