High-Dynamic Four-Quadrant Switched Reluctance
Drive Based on DITC
Nisai H.Fuengwarodsakul,Marcus Menne,Robert B.Inderka,and Rik W.De Doncker,Fellow,IEEE
Abstract—This paper presents the development of a four-quad-rant switched reluctance machine(SRM)drive for high dynamic https://www.doczj.com/doc/532786833.html,prehensive fundamentals and analysis for operating switched reluctance machines in four quadrants are presented.The drive is designed based on a high dynamic control strategy called Direct Instantaneous Torque Control(DITC).The functionality of DITC is discussed in detail for both motoring and generating operation.A methodology to generate switching functions directly by the hysteresis torque controllers for SRMs is proposed.The proposed controller was prototyped and tested on a digital signal processor/?eld-programmable gate array de-velopment platform.High dynamic operation in both motoring and generating mode and the transition between these modes are validated by experimental results presented at the end of this paper.
Index Terms—Four quadrant,switched reluctance machine (SRM),torque controller.
I.I NTRODUCTION
I N recent years,switched reluctance machines(SRMs)have
drawn great attention from industry and researchers as an alternative among other electrical machines.Due to its simple construction without magnet and brushes,the SRM offers low production and operation costs.These advantages have caused interest in SRMs for several decades[1],[2].
For high dynamic applications,the drive is required to op-erate over a wide operating range in the torque–speed diagram. For example,in propulsion drives,the operating point changes dynamically all the time according to the driving situation. Thus,a switched reluctance drive for high dynamic applications is expected to deliver good performance not only at speci?ed operating points but also over a wide operating range.More-over,torque ripple should be minimized to avoid undesired speed?uctuations at low speeds.In addition,since regenerative braking is always advantageous and improves the whole drive ef?ciency,braking with generating operation mode becomes, therefore,one preferred requirement of high dynamic drives. This paper presents the development of a switched reluc-tance drive for high dynamic applications.In order to ful?ll the
Paper IPCSD-05-040,presented at the2004Industry Applications Society Annual Meeting,Seattle,W A,October3–7,and approved for publication in the IEEE T RANSACTIONS ON I NDUSTRY A PPLICATIONS by the Industrial Drives Committee of the IEEE Industry Applications Society.Manuscript submitted for review July1,2004and released for publication May20,2005.
N.H.Fuengwarodsakul and R.W.De Doncker are with the Institute for Power Electronics and Electrical Drives,RWTH-Aachen University,D-52066Aachen, Germany(e-mail:fu@isea.rwth-aachen.de;dd@isea.rwth-aachen.de).
M.Menne and R.B.Inderka are with DaimlerChrysler AG,70546Stuttgart, Germany(e-mail:marcus.menne@https://www.doczj.com/doc/532786833.html,;robert.inderka@https://www.doczj.com/doc/532786833.html,).
Digital Object Identi?er10.1109/TIA.2005.853381above-mentioned requirements a switched reluctance drive is developed based on a high dynamic torque control,i.e.,Direct Instantaneous Torque Control(DITC).
The control concept of DITC introduced in[3]for both mo-toring and generating mode is adopted and used as a basis of the controller.The excitation schemes in four-quadrant opera-tion are different depending on operating mode and rotating di-rection.Hence,an additional control function is necessary to determine the proper excitation scheme corresponding to the current operating https://www.doczj.com/doc/532786833.html,prehensive fundamentals for four-quadrant operation of SRMs are discussed in this paper and a direct torque controller suitable for four-quadrant operation is introduced.
The functionality of the presented controller for both mo-toring mode and generating mode is described.Furthermore, this paper proposes a methodology to develop switching schemes implemented in the torque hysteresis controller of DITC to cope with problems of transitioning between motoring mode and generating mode without additional disturbances. The functionality and performance of the developed SRM drive controller is validated experimentally.
II.C ONVENTIONAL SRM T ORQUE C ONTROLLER
V ERSUS DITC
For regulating torque output of SRMs,three fundamental control variables,i.e.,current,turn-on,and turn-off angle, have to be adjusted.To operate the SRM drive at one speci?c torque–speed operating point,many combinations of these control variables are possible.However,one suitable combi-nation for one speed–torque operating point should be chosen based on the desired optimization goal,e.g.,ef?ciency or low torque ripple.Due to the nonlinear behavior of an SRM,an optimal control variable set cannot be accurately determined by analytical https://www.doczj.com/doc/532786833.html,ing simulations,an optimal set of control variables over the entire operating range can be obtained.Many classical SRM torque controllers use this approach and rely on lookup tables of the control parameters[4]–[6].
Fig.1(a)illustrates a classical torque controller based on lookup tables of the control parameters.One important feature of this classical controller is that the phase current is controlled constantly over the excitation period.This leads to small in-herent torque?uctuations and high torque ripple during phase commutation,as shown in Fig.1(b).Actually,at high speed this torque ripple has a high frequency and is?ltered by the moment of inertia of the drive train.In contrast,at low speeds this torque ripple could cause signi?cant speed?uctuations and oscillations in the drive train.This torque ripple is the
0093-9994/$20.00?2005IEEE
Fig.1.Current-controlled-based torque controller.(a)Block diagram.(b) Current and torque output.
main drawback of torque control based on constant current regulation.
To minimize this torque ripple problem,the phase current or torque should be instantaneously controlled.A conventional method for torque-ripple minimization is known as current pro-?ling,in which the phase current pro?le to generate a smooth torque is pre-calculated and stored in the controller.Optimal current pro?les can be determined by different methods and op-timization strategies[7]–[9].
However,the current pro?ling method still has some draw-backs.It needs a large memory to store the current pro?les. Moreover,the current pro?les are sensitive to the dc-link voltage variation.Different current pro?les for different dc-link voltage levels are necessary in case the dc-link voltage varies strongly, e.g.,in a battery-supplied drive[2].This voltage variation con-siderably complicates the implementation of the controller. Recently,a concept called DITC was developed in order to overcome the mentioned drawbacks of the current-regulated torque controller[3].DITC adopts the philosophy of Direct Torque Control(DTC),which is a well-known concept for controlling torque of induction machines with high dynamics [10],[11].The important feature of DITC is that torque is directly regarded as a control variable and there is no current control loop any more.The electromagnetic torque of the SRM is instantaneously estimated using the machine torque characteristic.Switching signals are directly generated
from Fig.2.DITC.(a)Block diagram.(b)Current and torque output.
the comparison results between the reference torque and the estimated torque by means of a hysteresis torque controller. Fig.2(a)shows the control principle of DITC.
DITC reacts against the torque error instantaneously with high dynamic response by the torque hysteresis control.Since the instantaneous torque is directly controlled,the inherent torque ripple can be signi?cantly minimized,as illustrated in Fig.2(b).In[3],the fundamental functionality of DITC was validated.It also shows that the torque ripple problematic of the SRM can be overcome by using DITC.In comparison to the current pro?ling method,DITC requires only a rel-atively smaller memory for one lookup table in estimating instantaneous torque.In addition,the output accuracy is not as sensitive to variation of other parameters,e.g.,dc-link voltage, turn-on,and turn-off angle.Due to its high dynamic nature and the mentioned advantages,DITC appears to be a promising solution for controlling SRMs in high dynamic applications. In the following,the detailed implementation of DITC for four-quadrant operation is presented.
III.F OUR-Q UADRANT O PERATION OF SRM
Like other electrical machines,an SRM can be operated in both motoring and generating mode.From the simpli?ed SRM torque equation(1)neglecting saturation and mutual coupling effects,it can be noted that produced torque is determined by two quantities,i.e.,phase current and slope of inductance.As
Fig.3.Torque production in
SRMs.
Fig.4.Torque –speed operating diagram.
the phase current is squared,the current sign plays no role in the torque
production
(1)
According to (1),the only possibility to invert the torque di-rection is to excite the machine phase in the negative inductance slope region.
Fig.3illustrates the principle of torque production in SRMs in motoring and generating mode.For four-quadrant operation,not only torque but also rotating direction should be reversible.Fig.4shows the ideal torque –speed operating diagram for electrical machines over four quadrants.In general,the control scheme must be changed as soon as the operating point moves into the other quadrant.There are two issues to be
considered:
Fig.5.Asymmetrical half-bridge converter for SRM (one phase).
TABLE I
E XCITATION S TATES IN M OTORING AND G ENERATING M
ODE
Fig.6.Switching schemes for both operating modes.
?phase excitation determined by operating mode (mo-toring or generating);
?
excitation sequence determined by rotating direction (clockwise or counterclockwise).
A.Phase Excitation
According to the torque equation (1),positive and negative torque can be produced by feeding current in one direction.Therefore,an asymmetrical half-bridge converter,in which phase current is always unipolar,can be used as shown in https://www.doczj.com/doc/532786833.html,ing this converter topology,maximum excitation freedom can be achieved [7].Table I summarizes the possible excitation states for the base speed region,where back electromotive force (EMF)is smaller than the applied dc-link voltage.Phase cur-rents can be controlled in both motoring mode and generating mode by applying proper excitation states.
The function of a hysteresis current control for SRMs in both operations is depicted in Fig.6.
In motoring mode,the machine phase will be mainly excited
with
to increase current or torque,while the freewheeling state is used to decrease current or torque.Demagnetization is
Fig.7.Power ?ow in semigenerating mode.
applied once at the end of the excitation period before entering into the generating region.
In generating mode,the phase will be mainly driven
with and freewheeling states.In contrast to motoring mode,the freewheeling state is used for building the current,i.e.,torque.The only possibility to decrease the current,i.e.,absolute torque
value is by demagnetizing
with
.The
magnetization is applied once at the beginning of the excitation period for initial charging.
It should be pointed out that the sign of the current slope in freewheeling states is decisive for selecting the proper excita-tion scheme.Applying a wrong excitation scheme may lead to damage due to overcurrent.Hence,the current operating mode must be properly detected by the SRM controller in order to de-termine the corresponding excitation scheme.
To determine the correct excitation scheme,one can plot the actual speed and torque command in the torque –speed diagram as shown in Fig.4to determine the current operating quadrant.The quadrant in which the operating point is located indicates the operating mode.This approach is simple and practical.How-ever,one has to cope with the fact that the current slope in free-wheeling states does not change its sign exactly when the oper-ating point crosses the quadrant boundary.
In the low-speed region of the generating modes,the power converted from the mechanical side is still lower than the losses in the drive and the back EMF is not high enough to allow the positive current slope during a freewheeling state.Hence,the dc-link has to feed power into the drive to cover these losses.Therefore,this operation is de ?ned as semigenerating mode.The power ?ow in this semigenerating operation is depicted in Fig.7.
Actually,switching the excitation scheme from motoring mode to generating mode does not refer directly to average power ?ow in the drive but to the instantaneous current slope in the freewheeling states.In the following,the boundary,at which the current slope changes its sign,is determined.
Starting with the voltage equation (2)and neglecting satura-tion effects,the current slope equation (3)is
derived
(2)
Fig.8.Freewheeling
state.
Fig.9.Boundary of current slope change in generating
mode.
(3)
The current slope changes its sign
when
.
(4)
From Fig.8,the phase voltage in freewheeling mode equals the voltage drop across the semiconductor devices
(
and
)modeled by a voltage source and a slope resistance.These parameters can be obtained from the device
datasheets
Substituting and rearranging (4),the equation to deter-mine the boundary of current slope change as a function of torque and current is obtained as (5).The slope of
inductance
is regarded as a
constant
(5)
Combining (5)with the torque equation (1),the boundary in the torque –speed diagram can be calculated from (6).Fig.9shows this boundary of an example SRM
drive
when (6)
Fig.10.Block diagram of a DITC-based four-quadrant SRM drive.
In practice,this current slope boundary cannot be used as a base criterion for changing the switching scheme during oper-ation.It is discussed here in order to point out the boundary at which the machine behavior changes in the generating opera-tion.
In conclusion,the excitation scheme in generating mode should be designed to be capable of handling both cases of current slope.Hence,the operating mode can be simply deter-mined by the signs of torque command and actual speed.It will be shown in the next section how the presented controller deals with this requirement.
B.Excitation Sequences
Not only does the operating mode have to be regarded in four-quadrant operation but also the rotating direction.From Fig.3,it can be seen that if the rotating direction changes,the rotor position axis should be mirrored in order to obtain the proper operating mode,since the rotor angle between0–180 is de?ned as motoring and180–360as generating.Further-more,the excitation sequence should be changed as well.As a summary,if the rotor changes its direction,these following pro-cedures have to be done:
?mirroring the rotor position;
?alternating the excitation sequence.
IV.F OUR-Q UADRANT T ORQUE C ONTROLLER B ASED ON DITC The four-quadrant torque controller proposed in this paper is developed based on the concept of DITC.Fig.10depicts the block diagram of the four-quadrant SRM torque controller.In this diagram,the DITC core can be recognized in the gray back-ground.
From the discussion in the previous section,an operating mode and sequence selector is needed to determine the oper-ating mode and excitation sequence corresponding to the cur-rent operating point de?ned by the actual speed and torque com-mand.The switching signals are generated by a switching logic according to state signals,sequence,and mode
signals.Fig.11.Torque characteristic versus current and rotor position.
The active period of the machine phase is dictated by the turn-on and turn-off angle
(
and)Since DITC is not sen-sitive to changes of these angle parameters,a good control dy-namic can still be maintained over a wide range of turn-on and turn-off angles[3].However,ef?ciency and control dynamic can be improved by optimizing these turn-on and turn-off an-gles.The turn-on and turn-off angle control can be realized by a lookup table calculated from simulation or an online optimiza-tion during operation[3].
In the following,the DITC core will be discussed in de-tail.Furthermore,a systematic approach to derive switching schemes for motoring and generating mode is proposed.The last section discusses the controller behavior at high speed. A.Torque Estimation Unit
In DITC,the instantaneous output torque is considered as a control variable.The instantaneous torque estimated from a static torque machine characteristic is employed as a feedback control value,as shown in Fig.11.This torque characteristic can be obtained from?nite-element(FE)simulations or from exper-iments.It is obvious that calculating the machine characteristic from FE simulation consumes less time and expense than the
Fig.12.Excitation periods.
experimental measurement.On the other hand,imperfections in the machine production can make the real machine slightly different from the ideal machine in the simulation.In this case,experiments are necessary.
The torque characteristic is a function of two variables from the following three variables:current,rotor position,and ?ux linkage.Hence,there are in total three possible combinations to
draw the torque
relationship:
,
and .In this paper,the torque estimation is based on current and rotor
position,
i.e.,
.An example of the machine characteristic is shown in Fig.11.
B.Hysteresis Torque Controller
In a conventional SRM controller,which is based on a current controller either with pulsewidth-modulation (PWM)or hys-teresis control,the torque command has to be translated into a current value ?rst.Next,the switching signals are generated by the current controller to achieve the desired current.In contrast to these conventional controllers,DITC regards torque as a di-rect control variable and switching signals,i.e.,phase voltage,are determined by a comparison between the torque command and the estimated instantaneous torque using a hysteresis torque controller.
Moreover,DITC features a feedback control.This makes DITC stable and more accurate against disturbances,such as dc-link voltage variations.
Since the machine characteristic is strongly nonlinear,switching schemes in the hysteresis torque controller cannot be determined via analytical functions.In the following,a systematic method is proposed as a mathematical tool to design proper switching schemes for both motoring and generating modes.
C.Switching Scheme for Motoring Mode From a State Chart The excitation periods can be generally divided in two cate-gories,i.e.,single active and commutation periods,as illustrated in https://www.doczj.com/doc/532786833.html,ing a state chart,the switching scheme can be de-rived,as shown in Fig.13(a).At ?rst,all possible excitation states have to be drawn in the chart of Fig.13(a).In the single ac-tive period,only one phase will be excited.Thus,there are only
three possible switching states,
i.e.,
,0(freewheeling),
and
,as summarized in Fig.13(a).The positive and negative signs ?lled in the boxes indicate the absolute torque slope obtained from these switching
states.
Fig.13.Switching schemes for motoring mode.(a)Switching scheme when only one phase is activated (single active).(b)Switching scheme during commutation.
In motoring mode,it can be noted that only one state exists to increase torque,i.e.by
applying .Hence,the
state
will be applied if the torque becomes less than the lower limit.
To decrease torque,both 0(freewheeling)
and
can be used.However,when the phase is active,it is preferred to
Fig.14.Switching states in vector representation.
decrease torque slowly using state0(freewheeling),so that the torque remains in the hysteresis as long as possible to avoid high
switching frequencies.Rapid torque decrease
with
is only necessary for deactivating the phase.
In order to determine conditions for changing the switching state,two arrows indicating the state change are drawn in the chart.According to the state order,the torque slope always in-creases when moving to the left state.The state will be changed from state0to state1with the condition“a”when the torque should be increased.In a similar manner,if torque should be de-creased,the switching state will change from the state1to state 0with the condition“b.”Therefore,based on common sense, the level of condition“a”should be a lower limit of the phase torque and the level of condition“b”should be an upper limit, as illustrated in the transfer function diagram below the chart. Consequently,the switching scheme for the single active phase mode is derived.
The switching schemes for outgoing and incoming phases are simultaneously obtained by considering the commutation de-tails.In Fig.13(b),a state chart during commutation comprises nine possible states.In motoring mode,the following conditions have to applied to ensure a smooth torque commutation with low switching frequency.
1)Hard chopping and simultaneous state change of both
phases should be avoided.
2)The incoming phase has the?rst priority to build up torque
and should not be demagnetized(state1).
3)It is preferred to retain the outgoing phase in the free-
wheeling state(0).It will be magnetized(1)or demag-netized(1)if necessary.
According to the condition(1),the route of state change has to follow the soft-switching paths indicated in the vector dia-gram,as shown in Fig.14.Obeying the conditions(2)and(3), some redundant switching states in Fig.13(b)can be eliminated. Then,there are four applicable states left in the chart.
After drawing the arrows indicating the state change between the state block in Fig.13(b),six conditions for state change are obtained.The transfer function of the switching scheme can be derived according to the following rules.
?The vertical arrows“e”and“f”are used to derive the switching scheme for the incoming phase.
?The horizontal arrows“a,”“b,”“c,”and“d”are used to derive the switching scheme for the outgoing phase. The transfer functions of the resulting switching schemes are determined by mapping the condition level into the transfer function diagram,as presented in Fig.13(b).It should be noted that the switching scheme for the incoming phase is identical to the scheme during the single active period.
D.Switching Scheme for Generating Mode From a State Chart Generally,the switching scheme for generating mode is dif-ferent from motoring mode due to the positive current slope,i.e., torque in the freewheeling state.Moreover,in the low-speed re-gion of the generating mode,the current slope,i.e.,torque slope in freewheeling states,still remains negative as discussed in the last section.Therefore,the
state is needed to maintain the current,i.e.,torque,in the given hysteresis.
Using the presented systematic approach,switching schemes for generating mode can also be derived in the same manner [see the charts in Fig.15(a)and(b)].However,there are some different conditions to be considered,as follows:
1)The
state is used for initial charging and when the back EMF is too low to allow positive current slope in the freewheeling state.This will make the switching scheme also applicable for generating at low speeds,where the current slope in freewheeling remains negative.
2)During commutation,the incoming phase has the highest
priority to charge itself.Therefore,the average level of switching conditions of the incoming phase should be slightly lower than that of the outgoing phase to ensure
a suf?cient initial charge.
The chart in Fig.15(b)shows that there are more switching conditions available than in motoring mode.This also leads to more levels in the transfer function of the hysteresis torque con-troller.The obtained switching schemes are shown in Fig.15(b). As a conclusion,there are more possible combinations of the switching scheme for the torque hysteresis controller.The switching scheme may vary from a simple to a very complex one,according to the design goal and applied criteria,e.g.,im-plementation expense,control dynamic,switching frequency, etc.This method is an attempt to make the design of such hys-teresis torque controller more systematic.Furthermore,the state charts mentioned above not only allow a better understanding for the functionality of the torque controller,but also can be em-ployed as a tool for designing and optimizing the torque control schemes.
V.I MPLEMENTATION
The proposed control concept was implemented on a digital-signal-processor/?eld-programmable-gate-array(DSP/FPGA)-based rapid-prototyping platform[14]–[16].This DSP/FPGA feature makes it possible to implement high-level and low-level control functions in a single https://www.doczj.com/doc/532786833.html,plicated and time-consuming high-level functions,such as torque estimation and operation mode and sequence selecting,are implemented in the DSP.Simple and high-speed low-level functions,such as digital hysteresis torque control,are realized in the FPGAs.
The controller was built and tested with two different SRMs. The?rst machine SRM A is a6-kW18/12SRM.The second machine SRM B is a20-kW24/16SRM.Both machines are three-phase SRMs with a maximum speed of6000r/min.Fig.16
Fig.15.Switching schemes for generating mode.(a)Switching scheme when only one phase is activated(single active).(b)Switching scheme during commutation.
shows the developed switched reluctance drive with SRM B on the test bench.An induction motor is used as a load machine.
VI.E XPERIMENTAL V ERIFICATION
Operation tests were carried out to verify functionality and dynamic performance of DITC with the developed
switching Fig.16.Switched reluctance drive on the test bench(SRM B). strategies.The experiments can be divided into two parts: steady-state and transient operation.
A.Steady-State Operation
Fig.17illustrates the experimental results collected from operation tests in steady state with SRM A.In Fig.17(a),the machine is operated in motoring mode and delivers an average torque of50N m.The torque shown is estimated from the machine characteristic and is regarded as torque developed in the air gap.It contains high switching frequency ripple, which comes from the switching action of the torque hysteresis controller.In practice,this high-frequency ripple is?ltered by mechanical parts in the drive train and,therefore,does not cause a signi?cant speed?uctuation and oscillation.The counterpart experiment to Fig.17(a)is presented in Fig.17(b),in which the machine operates in generating mode.The top waveform shows the instantaneous torque which is regulated within the hysteresis bands at a generating torque of50N m.
In generating mode,the back EMF has changed its sign for the freewheeling state.At low-speed operation in Fig.17(b), the slew rate of the phase currents during freewheeling is lower than that in motoring mode.As a consequence,the average switching frequency in generating operation is lower than in mo-toring operation.As a conclusion,the results in Fig.17demon-strate the capability of DITC to deliver smooth torque output in steady-state operation for both operating modes.
B.Transient Operation
To validate the developed four-quadrant DITC under tran-sient operation,a start-up experiment is carried out.At?rst, the expected improved dynamic performance is illustrated by the comparison with the classical current-regulated torque con-trol by the simulation,as shown in Fig.18.A reference torque ramp of about350ms from0to50N m is the test signal for this experiment.This simulation result points out that the pul-sating torque during the ramp-up operation can be eliminated by DITC in comparison to the classical torque control,since the instantaneous torque is always within the reference torque hysteresis bands during the entire acceleration process.The ex-pected dynamic performance is con?rmed by the experiment re-sult in Fig.19(a).
Fig.17.Experimental results in steady-state with SRM A.(a)Motoring operation at50N1m and95r/min,showing total torque(top waveform)and phase currents(bottom waveform).(b)Generating operation at050N1m and 95r/min,showing total torque(top waveform)and phase currents(bottom waveforms).
In Fig.19(b),an operation with a step torque command at a constant speed is tested to evaluate the dynamic response of the DITC.Within8ms,torque is adjusted.The time for torque adjustment solely depends on the dc-link voltage,the machine inductance,and the back EMF.Due to the hysteresis control al-gorithm,the highest possible dynamic is obtained.This high dy-namic of the switched reluctance drive led to speed oscillations in the experiment because the?eld-oriented-controlled induc-tion machine load was not able to maintain constant speed.This speed variation becomes visible by the varying excitation dura-tion of the phases,i.e.,from turn-on until current extinguishes. Nevertheless,even during these speed variations instantaneous torque of the switched reluctance machine is regulated within the hysteresis band.
To investigate the drive behavior by the quadrant change near zero speed,a speed reversal operation is carried out.This op-eration was tested with SRM B.Fig.20illustrates the drive behavior during the speed reversal operation.At the
beginning https://www.doczj.com/doc/532786833.html,parison of startup with torque ramp by simulation,with classical current-regulated torque controller(upper diagram)and with DITC(lower diagram).
of the speed reversal,the machine was running at about400 r/min.During the entire reversal process,a constant torque com-mand of60N m is applied.Since the machine rotates with the negative speed in the opposite direction of the applied torque, the machine will be decelerated to standstill.In this period,gen-erating mode is applied.A remarkable behavior in generating mode at low speeds near the zero crossing discussed before can be observed in Fig.20.The current slope in freewheeling states turns from positive to negative at low speeds in generating mode. Using the designed switching scheme in generating mode,the phase current will be boosted by the bottom hysteresis level to maintain the desired torque.At the zero-speed crossing,the op-eration mode and excitation sequence are switched simultane-ously into the?rst quadrant operation.The drive continues with the motoring mode and the machine is accelerated in a similar manner as the acceleration test.It can be noted that the drive operates without disturbance during the quadrant turnover.
VII.C ONCLUSION
A four-quadrant SRM drive for high dynamic applications was developed.The drive controller was designed based on DITC.Operation in motoring mode and generating mode was analyzed and discussed.The functionality of the controller
Fig.19.Experimental results under dynamic tests SRM A.(a)Startup with torque ramp,from 0to 50N 1m,showing total torque (top waveform)and phase currents (bottom waveforms).(b)Step response with DITC,torque command from generator to motor operation,050N 1m to +50N 1m,load is constant-speed
controlled.
Fig.20.Speed reversal test:n 0400!+400r/min,T =60N 1m,V
300V with SRM B.
was described.A systematical methodology for designing the hysteresis torque controller was proposed.
The presented controller was implemented on a DSP/FPGA rapid-prototyping platform.Functionality and performance of the SRM drive were veri ?ed by experiments.The experimental results have shown that the SRM drive demonstrates a high ac-curacy under steady-state conditions as well as a high dynamic response in dynamic (transitions)operation.
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brushless reluctance motor drive,”in Proc.Third Int.Conf.Power Elec-tronics and Variable-Speed Drives ,London,U.K.,1991,pp.273–276.[13] B.Fahimi and R.B.Sepe,“Development of 4-quadrant sensorless con-trol of SRM drives over the entire speed range,”in Conf.Rec.IEEE-IAS Annu.Meeting ,vol.3,2002,pp.1625–1632.
[14] C.-U.Karipidis,A Versatile DSP/FPGA Structure Optimized for Rapid
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[15]N.H.Fuengwarodsakul,H.Radermacher,and R.W.De Doncker,
“Rapid prototyping tool for switched reluctance drive controls in trac-tion applications,”in Proc.PEDS’03,Singapore,2003,pp.927–931.[16]J.von Bloh.(2004)XCS 1000Manual .AixControl GmbH,Aachen,Ger-many.[Online]Available:
https://www.doczj.com/doc/532786833.html,
Nisai H.Fuengwarodsakul (S ’02)received the Bachelor of Electrical Engineering degree from King Mongkut ’s Institute of Technology,Bangkok,Thailand,in 1998,and the M.S.degree in electrical power engineering from the RWTH-Aachen Univer-sity,Aachen,Germany,in 2001.
Since December 2001,he has been with the Institute for Power Electronics and Electrical Drives,RWTH-Aachen University,as a Research Associate.His research activities are in the area of electrical drives and their controls.
Mr.Fuengwarodsakul is a Member of Gemeinschaft der Aachener Thail ?ndischen Studierenden (GATS)and a Young Member of Thai FC BaWu (Baden-W ürttemberg).He is also a Member of the Informations Vagabundierende Vektoren Bauern-Seilschaft (IVVBS).
Marcus Menne(S’00–M’00)received the Doctor degree in electrical engineering from the RWTH-Aachen University,Aachen,Germany,in 2000
Since January2001,he has been with Daimler-Chrysler AG,Stuttgart,Germany,where he has worked on electrical drives for fuel-cell and hybrid electric vehicles.His current activity is within the
?eld of knowledge
transfer.
Robert B.Inderka(S’00–M’03)received the
Diploma and the Doctor of Electrical Engineering
degree from the RWTH-Aachen University,Aachen,
Germany,in1997and2002,respectively.
In1997,he joined the Institute for Power Elec-
tronics and Electrical Drives,RWTH-Aachen Uni-
versity,as a Research Associate.Since July2003,he
has been with DaimlerChrysler AG,Stuttgart,Ger-
many,where he works on electrical drives for propul-
sion.
Dr.Inderka is a Member of the Informations Vagabundierende Vektoren Bauern-Seilschaft
(IVVBS).
Rik W.De Doncker(M’87–SM’99–F’01)received
the Ph.D.degree(summa cum laude)in electrical en-
gineering from the Katholieke Universiteit Leuven,
Leuven,Belgium in1986.
In1987,he was appointed a Visiting Associate
Professor at the University of Wisconsin,Madison,
where he lectured and conducted research on
?eld-oriented controllers for high-performance
induction motor drives.In1988,he was a General
Electric Company Fellow in the microelectronic
center,IMEC,Leuven,Belgium.In December1988, he joined the General Electric Company Corporate Research and Development Center,Schenectady,NY,where he led research on drives and high-power soft-switching converters,ranging from100kW to4MW,for aerospace, industrial,and traction applications.In1994,he joined Silicon Power Cor-poration(formerly GE-SPCO)as Vice President,Technology.He worked on high-power converter systems and MTO devices and was responsible for the development and production of a15-kV medium-voltage transfer switch. Since October1996,he has been a Professor at the RWTH-Aachen University, Aachen,Germany,where he leads the Institute for Power Electronics and Electrical Drives.He has published over90technical papers and is the holder of18patents,with several pending.
Dr.De Doncker is a Member of the Executive Board of the IEEE Industry Applications Society(IAS)and of the Executive Committee of the IEEE Power Electronics Society(PELS).He is also a Member of the EPE Executive Council. He was founding Chairman of the German IEEE IAS-PELS Joint Chapter.He was also the recipient of three IAS Prize Paper Awards.He is a Member of the VDE and the European Power Electronics Executive Council.
Deems Taylor: The Monster 怪才他身材矮小，头却很大，与他的身材很不相称——是个满脸病容的矮子。他神经兮兮，有皮肤病，贴身穿比丝绸粗糙一点的任何衣服都会使他痛苦不堪。而且他还是个夸大妄想狂。他是个极其自负的怪人。除非事情与自己有关，否则他从来不屑对世界或世人瞧上一眼。对他来说，他不仅是世界上最重要的人物，而且在他眼里，他是惟一活在世界上的人。他认为自己是世界上最伟大的戏剧家之一、最伟大的思想家之一、最伟大的作曲家之一。听听他的谈话，仿佛他就是集莎士比亚、贝多芬、柏拉图三人于一身。想要听到他的高论十分容易，他是世上最能使人筋疲力竭的健谈者之一。同他度过一个夜晚，就是听他一个人滔滔不绝地说上一晚。有时，他才华横溢；有时，他又令人极其厌烦。但无论是妙趣横生还是枯燥无味，他的谈话只有一个主题：他自己，他自己的所思所为。他狂妄地认为自己总是正确的。任何人在最无足轻重的问题上露出丝毫的异议，都会激得他的强烈谴责。他可能会一连好几个小时滔滔不绝，千方百计地证明自己如何如何正确。有了这种使人耗尽心力的雄辩本事，听者最后都被他弄得头昏脑涨，耳朵发聋，为了图个清静，只好同意他的说法。他从来不会觉得，对于跟他接触的人来说，他和他的所作所为并不是使人产生强烈兴趣而为之倾倒的事情。他几乎对世间的任何领域都有自己的理
论，包括素食主义、戏剧、政治以及音乐。为了证实这些理论，他写小册子、写信、写书……文字成千上万，连篇累牍。他不仅写了，还出版了这些东西——所需费用通常由别人支付——而他会坐下来大声读给朋友和家人听，一读就是好几个小时。他写歌剧，但往往是刚有个故事梗概，他就邀请——或者更确切说是召集——一群朋友到家里，高声念给大家听。不是为了获得批评，而是为了获得称赞。整部剧的歌词写好后，朋友们还得再去听他高声朗读全剧。然后他就拿去发表，有时几年后才为歌词谱曲。他也像作曲家一样弹钢琴，但要多糟有多糟。然而，他却要坐在钢琴前，面对包括他那个时代最杰出的钢琴家在内的聚会人群，一小时接一小时地给他们演奏，不用说，都是他自己的作品。他有一副作曲家的嗓子，但他会把著名的歌唱家请到自己家里，为他们演唱自己的作品，还要扮演剧中所有的角色。他的情绪犹如六岁儿童，极易波动。心情不好时，他要么用力跺脚，口出狂言，要么陷入极度的忧郁，阴沉地说要去东方当和尚，了此残生。十分钟后，假如有什么事情使他高兴了，他就会冲出门去，绕着花园跑个不停，或者在沙发上跳上跳下或拿大顶。他会因爱犬死了而极度悲痛，也会残忍无情到使罗马皇帝也不寒而栗。他几乎没有丝毫责任感。他似乎不仅没有养活自己的能力，也从没想到过有这个义务。他深信这个世界应该给他一条活路。为了支持这一信念，他
人教版小学四年级语文下册课文知识要点复习人教版小学语文第八册课文知识要点复习 第一组课文知识要点: 1、在第一组课文中，我们随着作者游览了（敬亭山）、（洞庭湖）、（江南）、（）、（双龙洞）、（天山）等祖国大好河山。我觉得我们的祖国（非常美丽）。我能用（山清水秀、地大物博、瑰丽壮观、巧夺天工等词语赞美它。 2、我会背、默三首古诗词，并能想象诗词所描写的一幅幅画面。（了解意思）还会背诵其他描写山水风光的古诗词，如（白）的《望庐山瀑布》、日照香炉生紫烟，遥看瀑布挂前川。飞流直下三千尺，疑是银河落九天。（轼）的《饮湖上初晴后雨》水光潋滟晴方好，山色空蒙雨亦奇。欲把
西湖比西子，淡妆浓抹总相宜。（写在背面）３、我能背诵《山水》。我知道“山水甲天下”的意思是（的山水是天下第一），“甲”的意思是(第一）。山水给我的感受是“漓江的水（静）、（清）、（绿），的山（奇）、（秀）、（险），的山水就像（一副美丽的画卷）。 ４、我会背诵《记的双龙洞》中的２、６自然段。我能用（缓）、（急）、（宽）、（窄） 形容溪水不同的调子。 ５、我能背诵描写自然景观的千古佳句。（写在背面）知道五岳指（东岳泰山）、（西岳华山）、（南岳衡山）、（北岳恒山）、（中岳嵩山）。五大淡水湖是（洞庭湖）、（鄱阳湖）、（洪泽 湖）、（太湖）、（）。 ６、我了解了用三个或三个以上相同的句式描写
事物的方法叫（排比），这样写（能分几个方面把景物的特点写得清楚明白、具体生动）.我也 能写这样的句子： 天山的野花真多啊，（多得密密麻麻，数也数不 清）， 天山的野花真艳啊，（艳得耀你的眼）， 天山的野花真香啊，（香得让你沉醉）。 （校园真大呀），（）， （真美），（）， （真好），（）。 ７、用数字来说明，句子（更具体，更有说服力）， 我能用这 样的方法写句子。（有一半的人在做小动作，占了50%） 引用古诗，读起来真有味，还让人心服。我也能
人教版四年级语文下册知识点整理(超全) 一、课文理解及原文填空. 1、《独坐敬亭山》（唐李白）——抒发了诗人怀才不遇而产生的孤独寂寞之情. 众鸟高飞尽,孤云独去闲.【群鸟高飞远去直至无影无踪；寂寥长空中最后的一片白云也悠然飘走.】诗句中,尽、孤、独、闲几个字表现了诗人孤独寂寞的心境. 2、《望洞庭》（唐刘禹锡）——表达了诗人热爱和赞美洞庭美景之情. （1）遥望洞庭山水翠,白银盘里一青螺.【远远望去洞庭湖的山山水水一片翠绿,好似白银盘里托着一枚青青的田螺.】这是一个比喻句,白银盘指洞庭湖,青螺指君山.运用比喻的修辞方法突出洞庭山水和谐之美. 3、《忆江南》（唐白居易）————表达了诗人赞美和怀念江南美景之情. 这是一首词,“忆江南”是词牌名. （1）江南好,风景旧曾谙.日出江花红胜火,春来江水绿如蓝.能不忆江南？ “谙”是熟悉的意思,“胜”是超过的意思,“如”是像的意思.“能不忆江南？”采用反问的修辞,很好地表达了诗人对江南美景的怀念之情. （2）能不忆江南？【反问】流露出作者对江南美景强烈的赞叹和眷恋之情. 2、《桂林山水》一文是按总分总的顺序写的. “桂林山水甲天下”的“甲”是居第一位的意思. 大海——波澜壮阔西湖——水平如镜泰山——峰峦雄伟香山——红叶似火 作者用运用了对比的写法突出了桂林山水的特点. 这样的山围绕着这样的水,这样的水倒映着这样的山,再加上空中云雾迷蒙,山间绿树红花,江上竹筏小舟,让你像是走进了连绵不断的画卷,真是“舟行碧波上,人在画中游”. 舟行碧波上,人在画中游.【既画龙点睛概括全文,又与首句“桂林山水甲天下”遥相呼应.】这样的山指奇、秀、险的山,这样的水指静、清、绿的水. 3、《记金华的双龙洞》本文是叶圣陶先生写的一篇游记,课文按照游览的先后顺序记叙了游双龙洞的过程.游览路线是：路上见闻——洞口——外洞——孔隙（由外洞入内洞）——内洞—— 出洞.本文有两条线索,一是作者的游览顺序,二是以水（溪流）为线索. 作者看到的景物的特点：洞口：像桥洞、很宽；外洞：宽敞；孔隙：窄小；内洞：漆黑、宽广、奇特. 4、《中彩那天》主要内容：父亲中彩得到汽车,但彩票是给库伯先生捎的,最后父亲把车还给了不知道自己中彩的库伯.父亲面临的道德难题是（中彩的是库伯的彩票,是否把车还给库伯）,父亲的决定是（把车还给库伯）.父亲是一个（诚实、守信）的人.这一课告诉我们：一个人只要活得诚
Frankenstein's Monster Part 1 The story of Frankenstein Frankenstein is a young scientist/ from Geneva, in Switzerland. While studying at university, he discovers the secret of how to give life/ to lifeless matter. Using bones from dead bodies, he creates a creature/ that resembles a human being/ and gives it life. The creature, which is unusually large/ and strong, is extremely ugly, and terrifies all those/ who see it. However, the monster, who has learnt to speak, is intelligent/ and has human emotions. Lonely and unhappy, he begins to hate his creator, Frankenstein. When Frankenstein refuses to create a wife/ for him, the monster murders Frankenstein's brother, his best friend Clerval, and finally, Frankenstein's wife Elizabeth. The scientist chases the creature/ to the Arctic/ in order to destroy him, but he dies there. At the end of the story, the monster disappears into the ice/ and snow/ to end his own life. Part 2 Extract from Frankenstein It was on a cold November night/ that I saw my creation/ for the first time. Feeling very anxious, I prepared the equipment/ that would give life/ to the thing/ that lay at my feet. It was already one/ in the morning/ and the rain/ fell against the window. My candle was almost burnt out when, by its tiny light，I saw the yellow eye of the creature open. It breathed hard, and moved its arms and legs. How can I describe my emotions/ when I saw this happen? How can I describe the monster who I had worked/ so hard/ to create? I had tried to make him beautiful. Beautiful! He was the ugliest thing/ I had ever seen! You could see the veins/ beneath his yellow skin. His hair was black/ and his teeth were white. But these things contrasted horribly with his yellow eyes, his wrinkled yellow skin and black lips. I had worked/ for nearly two years/ with one aim only, to give life to a lifeless body. For this/ I had not slept, I had destroyed my health. I had wanted it more than anything/ in the world. But now/ I had finished, the beauty of the dream vanished, and horror and disgust/ filled my heart. Now/ my only thoughts were, "I wish I had not created this creature, I wish I was on the other side of the world, I wish I could disappear!” When he turned to look at me, I felt unable to stay in the same room as him. I rushed out, and /for a long time/ I walked up and down my bedroom. At last/ I threw myself on the bed/ in my clothes, trying to find a few moments of sleep. But although I slept, I had terrible dreams. I dreamt I saw my fiancée/ walking in the streets of our town. She looked well/ and happy/ but as I kissed her lips，they became pale, as if she were dead. Her face changed and I thought/ I held the body of my dead mother/ in my arms. I woke, shaking with fear. At that same moment，I saw the creature/ that I had created. He was standing/by my bed/ and watching me. His
《小蓝裙的故事》 四字词语：焕然一新杂草丛生整齐清洁 成语模仿: 焕然一新一丝不苟奄奄一息一心一意一手遮天 词语巧搭配：（干净）的衬衫（屋里）的环境（整齐清洁）的街道 关联词：（但）穿起来以后，（却）怎么看怎么不对劲儿。 名言警句：人们的欢乐在于生活，而生活在于劳动。----列夫.托尔斯泰 《渡河少年》 四字词语：浪花丛中落满彩霞游来游去 成语模仿: 浪花丛中花前月下花花世界花天酒地 词语巧搭配：（清澈）的小河（岸边）的渡船（黝黑）的脸蛋（落满彩霞）的河水（五彩）的锦缎（花瓣中）的花蕊 （浪花丛中）的奇葩（河边）的沙滩 关联词：有趣的是，以后我每次过河，（只要）赶上学生上学放学，（总会）看到那个圆脸少年在河里游来游去。 名言警句：要记住：越严重，越困难，就越需要坚定，积累果断，而消极无为就越有害。----列夫.托尔斯泰 反义词：黝黑---白嫩清澈---浑浊倔强---驯服延长---缩短
《一千根弦》 四字词语：尽心尽意有生之年急不可待潸然泪下 成语模仿: 尽心尽意无情无义无声无息无缘无敌无穷无尽 词语巧搭配：（清双目失明）的小徒弟（怀里）的药方 （故事）的真相（尽情）地弹唱 关联词：（但）是遍访名医，(都)说没有办法。 名言警句：最最要紧的是坚定。不要让痛苦使你背离你开始的，值得赞美的事业，谁只要能坚持到底，他便是有福的。----格里 美尔斯豪森 反义词：潸然泪下---喜笑颜开急不可待---慢条斯理坚持---放弃郑重---轻率 作文-----表达：不拘形式地说写见闻 《汉字家园》1 （鸽子）酷爱和平(喜鹊)传递佳音(鹦鹉)人云亦云(孔雀)举止高雅 （雄鹰）英勇无畏(大雁)纪律严明(企鹅)憨厚可爱(燕子)报春使者
Unit 7 The Monster Deems Taylor 1He was an undersized little man, with a head too big for his body ― a sickly little man. His nerves were bad. He had skin trouble. It was agony for him to wear anything next to his skin coarser than silk. And he had delusions of grandeur. 2He was a monster of conceit. Never for one minute did he look at the world or at people, except in relation to himself. He believed himself to be one of the greatest dramatists in the world, one of the greatest thinkers, and one of the greatest composers. To hear him talk, he was Shakespeare, and Beethoven, and Plato, rolled into one. He was one of the most exhausting conversationalists that ever lived. Sometimes he was brilliant; sometimes he was maddeningly tiresome. But whether he was being brilliant or dull, he had one sole topic of conversation: himself. What he thought and what he did. 3He had a mania for being in the right. The slightest hint of disagreement, from anyone, on the most trivial point, was enough to set him off on a harangue that might last for hours, in which he proved himself right in so many ways, and with such exhausting volubility, that in the end his hearer, stunned and deafened, would agree with him, for the sake of peace. 4It never occurred to him that he and his doing were not of the most intense and fascinating interest to anyone with whom he came in contact. He had theories about almost any subject under the sun, including vegetarianism, the drama, politics, and music; and in support of these theories he wrote pamphlets, letters, books ... thousands upon thousands of words, hundreds and hundreds of pages. He not only wrote these things, and published them ― usually at somebody else’s expense ― but he would sit and read them aloud, for hours, to his friends, and his family. 5He had the emotional stability of a six-year-old child. When he felt out of sorts, he would rave and stamp, or sink into suicidal gloom and talk darkly of going to the East to end his days as a Buddhist monk. Ten minutes later, when something pleased him he would rush out of doors and run around the garden, or jump up and down off the sofa, or stand on his head. He could be grief-stricken over the death of a pet dog, and could be callous and heartless to a degree that would have made a Roman emperor shudder. 6He was almost innocent of any sense of responsibility. He was convinced that
四年级下册语文知识点复习整理 一、作者作品等文学常识。 1、《记金华的双龙洞》是著名作家叶圣陶先生写的，上个学期我们还学过他的作品《爬山虎的脚》。 2、《万年牢》作者是新凤霞；《小英雄雨来》的作者是管桦；《生命生命》的作者是杏林子；《花儿的勇气》是著名作家冯骥才写的。 3、海伦·凯勒是一位盲人作家，她的作品是《假如给我三天光明》。 4、这个学期我们认识了很多古希腊神话中的神，有众神之王宙斯，太阳神阿波罗，海神波塞冬，智慧女神雅典娜等，关于他们的传说很多，如：金羊毛的故事，特洛亚战争的故事。 5、我国古代也有许多神话故事，如：女娲补天、精卫填海、夸父追日。 6、《渔夫的故事》选自古代阿拉伯著名的民间故事《一千零一夜》，这本书又叫《天方夜谭》，被誉为世界民间文学创作中的“最壮丽的一座纪念碑”。著名的《阿里巴巴和四十大盗》、《阿拉丁和神灯的故事》、《三个苹果的故事》都出自这本书。 二、课文理解及原文填空。 1、《桂林山水》一文是按总分总的顺序写的。 “桂林山水甲天下”的“甲”是居第一位的意思。 大海——波澜壮阔西湖——水平如镜泰山——峰峦雄伟香山——红叶似火 作者用运用了对比的写法突出了桂林山水的特点。 这样的山围绕着这样的水，这样的水倒映着这样的山，再加上空中云雾迷蒙，山间绿树红花，江上竹筏小舟，让你像是走进了连绵不断的画卷，真是“舟行碧波上，人在画中游”。 这样的山指奇、秀、险的山，这样的水指静、清、绿的水。 2、《记金华的双龙洞》是按游览的顺序写的。 随着山势，溪流时而宽，时而窄，时而缓，时而急，溪声也时时变换调子。 3、《中彩那天》告诉我们：一个人只要活得诚实，有信用，就等于有了一大笔财富。 4、做人要做万年牢就是告诉我们要做个可靠的人，实实在在的人，无论做什么事，都要讲究认真，讲究实在。 5、《尊严》一课使我明白：做人要做一个有尊严的人。 6、如果我们在生活中能将心比心，就会对老人生出一份尊重，对孩子增加一份关爱，就会使人与人之间多一些宽容和理解。
一、风景特点篇 1、桂林山水——奇秀险、静清绿 2、双龙洞——雄伟、惊险、神奇 3、七月的天山——奇妙无比、引人入胜 4、大海——波澜壮阔 5、西湖——水平如镜 6、泰山——峰峦雄伟 7、香山——红叶似火 8、荷兰——水之国，花之国，牧场之国 9、乡村生活——自然和谐、充满诗意、无拘无束 10、乡下风景——独特迷人、优美恬静 11、桂林山水甲天下——桂林的山水天下第一甲：第一 12、、舟行碧波上，人在画中游——小船在碧波荡漾的湖面上行驶, 人好像在画卷中游览观赏一样。 二、人物特点篇 1、父亲（中彩那天）——诚实，讲信用 2、父亲（万年牢）——认真、实在、正直 3、哈默——自爱自尊自强、有骨气 4、小夜莺——机智勇敢、热爱祖国 5、雨来——机智勇敢、热爱祖国、游泳本领高 6、一个中国孩子——热爱和平、憎恨战争 7、盲童安静——热爱生活、珍惜生命 8、琳达一家——一心为他人着想，乐于助人 9、乡下人家——热爱生活，勤劳朴实 10、伽利略——执着追求真理，相信科学、不迷信权威 11、罗丹——做事全神贯注、一丝不苟、执著追求 12、聋哑青年——做事勤奋专注、画技高超 13、父亲（父亲的菜园）——勤劳执著、认准目标、坚持不懈 14、纪昌——虚心好学、勤学苦练 15、飞卫——堪称名师 16、扁鹊——医术高超 17、蔡桓公——固执己见、自以为是、讳疾忌医 18、文成公主——聪明又漂亮 19、普罗米修斯——不畏强权，为民造福、不惜牺牲自己的生命 20、宙斯——心狠手辣、冷酷无情 21、渔夫——从容、镇定、聪明22、魔鬼——凶狠狡猾而又愚蠢 第23课的古诗分析总汇 1、古诗——《乡村四月》（宋翁卷）————表现了诗人对乡村风光的热爱与赞美，也表现出他对劳动人民、劳动生活的赞美之情。 ①诗句：绿遍山原白满川，子规声里雨如烟。乡村四月闲人少，才了蚕桑又插田。 ②诗意：山坡原野草木茂盛，一片葱茏，而稻田里的水色与天光相辉映，满目亮白，杜鹃声声啼叫，天空中烟雨蒙蒙。四月到了，农民都开始忙农活，没有人闲着，刚结束了蚕桑的事又要插秧了。 2.古诗——《四时田园杂兴》（宋范成大）————诗人描写了乡村农人耕织以及儿童学大人样子劳动的情景，赞颂了农村劳动人民的勤劳，表达作者对天真、可爱的劳动人民的喜爱。 ①诗句：昼出耘田夜绩麻，村庄儿女各当家。童孙未解供耕织，也傍桑阴学种瓜。 ②诗意：白天锄地，夜晚搓麻，农家男女各自忙着自己的事情，各有自己拿手的本事。小孩子哪里懂得耕织之事，也模仿大人的样子，在靠近桑树的下面学着种瓜。 3.词——《渔歌子》（唐张志和）————表现了渔夫悠闲自得的生活情趣。 ①诗句：西塞山前白鹭飞，桃花流水鳜鱼肥。青箬笠，绿蓑衣，斜风细雨不须归。 ②诗意：：西塞山附近，白鹭展翅飞，桃花夹岸的溪水中，鳜鱼肥美。头戴青斗笠，身披绿蓑衣，斜风细雨中垂钓的人儿不想回家。 文学常识、要点 1、独坐敬亭山──唐李白字太白，后人称为诗仙，是唐代伟大的浪漫主义诗人。 2、望洞庭──唐刘禹锡字梦得，唐代文学家、哲学家。与白居易并称“刘白”。 3、忆江南──唐白居易是一首词，“忆江南”是词牌名。 4、乡村四月——宋翁卷表现了诗人对乡村风光的热爱与赞美，也表现出他对劳动人民、劳动生活的赞美之情。 5、四时田园杂兴——宋范成大赞颂了农村劳动人民的勤劳，表达作者对天真、可爱的儿童的喜爱。 6、渔歌子——唐张志和意境优美，表现了渔夫悠闲自在的情趣。 走进课文 5、学习了第5单元，我体会到了我们要热爱生活，珍惜生命，让有限的生命体现出无限的价值。 6、学习了第6单元，我体会到了乡村的风光是如此的独特迷人、自然和谐啊! 7、学习了第7单元，我体会到了无论学习或是做事，都应该认准目标，执著追求。 8、学习了第8单元，我从这些故事当中体会到了做事、做人的道理，领略故事是多么
Unit 5 THE MONSTER He was an undersized little man, with a head too big for his body -- a sickly little man. His nerves were had. He had skin trouble. It was agony for him to wear anything next to his skin coarser than silk. And he had seclusions of grandeur. He was a monster of conceit.Never for one minute did he look at the world or at people, except in relation to himself. He was not only the most important person in the world,to himself;in his own eyes he was the only person who existed. He believed himself to be one of the greatest dramatists in the world, one of the greatest thinkers, and one of the greatest composers. To hear him talk, he was Shakespeare, and Beethoven, and Plato, rolled into one. And you would have had no difficulty in hearing him talk. He was one of the most exhausting conversationalists that ever lived. An evening with him was an evening spent in listening to a monologue. Sometimes he was brilliant; sometimes he was maddeningly tiresome. But whether he was being brilliant or dull, he had one sole topic of conversation: himself. What he thought and what he did. He had a mania for being in the right.The slightest hint of disagreement,from anyone, on the most trivial point, was enough to set him off on a harangue that might last for house, in which he proved himself right in so many ways, and with such exhausting volubility, that in the end his hearer, stunned and deafened, would agree with him, for the sake of peace. It never occurred to him that he and his doing were not of the most intense and fascinating interest to anyone with whom he came in contact.He had theories about almost any subject under the sun, including vegetarianism, the drama, politics, and music; and in support of these theories he wrote pamphlets,le tters, books? thousands upon thousands of words, hundreds and hundreds of pages. He not only wrote these things, and published them -- usually at somebody else's expense-- but he would sit and read them aloud, for hours, to his friends and his family. He wrote operas,and no sooner did he have the synopsis of a story, but he would invite -- or rather summon -- a crowed of his friends to his house, and read it aloud to them. Not for criticism. For applause. When the complete poem was written, the friends had to come again,and hear that read aloud.Then he would publish the poem, sometimes years before the music that went with it was written. He played the piano like a composer, in the worst sense of what that implies, and he would sit down at the piano before parties that included some of the finest pianists of his time, and play for them, by the hour, his own music, needless to say. He had a composer's voice. And he would invite eminent vocalists to his house and sing them his operas, taking all the parts.
第一单元知识点梳理 课文1 古诗词三首 一、多音字。 宿：sù宿舍xiǔ一宿xiù星宿 剥：bō剥削bāo剥皮 二、古诗内容 宿新市徐公店 [宋] 杨万里 篱落/疏疏/一径深， 树头/新绿/未成阴。 儿童/急走/追黄蝶， 飞入/菜花/无处寻。 作者介绍： 杨万里，字廷秀，号诚斋。南宋著名文学家、诗人。与陆游、尤袤、范成大并称“南宋四大家”。 注释： ①新市：地名，在今湖南攸县北。 ②疏疏（shū）：稀疏。 ③阴：树荫。 ④走：这里是跑的意思。 译文： 在稀稀落落的篱笆旁，有一条小路伸向远方，小路旁边的树上新叶刚刚长出，还未形成树荫。儿童们飞快地奔跑着追逐黄色的蝴蝶，追寻翩翩飞舞的黄色蝴蝶。可是黄色蝴蝶飞入一片金灿灿的黄色菜花中，再也找不到了。 主题： 《宿新市徐公店》描写了清新美丽田园春光和儿童在菜花地边追逐黄蝶的生动画面。诗篇洋溢着浓烈的乡村生活情趣，表达了诗人对美丽田园春色的赞美和对乡村儿童的喜爱以脏话对乡村生活的向往之情。 四时田园杂兴（其二十五） [宋] 范成大 梅子/金黄/杏子肥， 麦花/雪白/菜花稀。 日长/篱落/无人过， 惟有/蜻蜓/蛱蝶飞。 作者介绍： 范成大，字至能，号称石湖居士。南宋诗人。诗题材广泛，以反映农村社会生活内容的作品成就最高。他与杨万里、陆游、尤袤合称南宋“中兴四大诗人”。 注释： ①杂（zá）兴：随兴而写的诗，“兴”这里读xìng。 ②肥：诗中指杏花落后，杏儿越来越大，越来越肥。 ③蛱（jiá）蝶：蝴蝶的一种。 译文： 一树树梅子变得金黄，杏子也越长越大了；荞麦花一片雪白，油菜花倒显得稀稀落落。
白天长了，篱笆的影子随着太阳的升高变得越来越短，没有人经过；只有蜻蜓和蝴蝶绕着篱笆飞来飞去。 主题： 《四时田园杂兴（其二十五）》这首诗用梅子黄杏子肥麦花白菜花稀等描写初夏农村的自然景色及农人紧张的劳动气氛，表现了诗人对田园风光的热爱之情。 清平乐·村居 [宋]辛弃疾 茅檐/低小，溪上/青青/草。醉里/吴音/相/媚好，白发/谁家/翁媪？ 大儿/锄豆/溪东，中儿/正织/鸡笼。最喜/小儿/亡赖，溪头/卧剥/莲蓬。 作者介绍： 辛弃疾，原字坦夫，后改字幼安，号稼轩，南宋豪放派词人、将领，有“词中之龙”之称。与苏轼合称“苏辛”，与李清照并称“济南二安”。 注释： ①清平乐：词牌名，“乐”这里读yuè。 ②吴音：这首词是辛弃疾在江西饶州闲居时写的。饶州，古代属于吴地，所以称当地的方言为“吴音”。 ③相媚好：这里指相互逗趣、取乐。 ④翁媪（ǎo）：老翁、老妇。 ⑤亡赖：同“无赖日”，这里指顽皮、淘气，“亡”这里读wú。 译文： 草屋的茅檐又低又小，溪边长满了碧绿的小草。含有醉意的吴地方言，听起来温柔又美好，那满头白发的老人是谁家的呀？大儿子在溪东边的豆田锄草，二儿子正忙于编织鸡笼。最令人喜爱的是小儿子，他正横卧在溪头草丛，剥着刚摘下的莲蓬。 主题： 《清平乐·村居》这首小令描绘了农村一个五口之家的生活画面，词人把这家老小的不同的面貌和情态描写的惟妙惟肖、活灵活现，具有浓厚的生活气息，表现人情之美和生活之趣，表达出作者对农村宁静安逸生活的喜爱之情。 课文2 乡下人家 一、多音字。 结：jiē开花结果jié结论 场：chǎng广场cháng打场 冠：guān桂冠guàn冠军 踏：tà脚踏实地tā踏实 二、近义词。 装饰—装扮朴素—朴实独特—特别鲜嫩—新鲜 照例—按例率领—带领倘若—倘使和谐—祥和 三、反义词。 朴素—华丽独特—普通照例—破例附近—遥远 四、理解词语。 时令：季节。 朴素：（颜色、式样等）不浓艳，不华丽。 华丽：美丽而有光彩。 鲜嫩：新鲜而嫩。
超高分辨率显微镜技术 为了更好地理解生命过程和疾病发生机理，生物学研究需要观察细胞内器官等细微结构的精确定位和分布，阐明蛋白等生物大分子如何组成细胞的基本结构，重要的活性因子如何调节细胞的主要生命活动等，而这些体系尺度都在纳米量级，远远超出了常规的光学显微镜（激光共聚焦显微镜等）的分辨极限。为了解决生命科学研究面临的这一难题，超高分辨率显微技术应时而生，并且一经问世就得到了广泛的响应，2008年Nature Methods将这一技术列为年度之最。 为了达到纳米量级的分辨率和极快速的成像，超高分辨率显微镜引入了许多突破时代的创新技术，了解这些技术将带领我们走入超高分辨率显微镜的奇妙世界。 3D-SIM(结构照明技术): 荧光样品通过不同方向和相位的光源照射，并且在成像后利用特点的运算方法重构，产生突破光学极限的超高分辨率图像。 ●完全兼容现有荧光分子和荧光染料、不改变任何实验流程 ●轴向分辨率提高到80-120nm，空间分辨率提高到激光共聚焦显微镜观察极限的8 倍。 搭载3D-SIM技术的DeltaVision OMX超高分辨率显微镜已经成功运用到了很多样品，比如微生物、脊椎动物细胞、组织切片甚至整个胚胎等。大大提高的分辨率在鉴定和研究亚细胞结构中成效显著，比如对微管和肌动蛋白的观察中可以解析到单根微管纤维。 Monet (单分子成像与定位技术): 通过在极短时间内对单个或几个荧光分子的激发和获取发射光信号，上千次获取后重构图像，从而获得突破百纳米极限的超高分辨率图像。这种技术需要使用独特的光敏蛋白来做荧光染料，通过独特的算法可以分辨衍射极限上重叠的荧光团位置。 ●搭载PALM的DeltaVision OMX可在极短时间内完成图像获取和重构 ●能够处理极大密度的图像，使高浓度标记的和更高激活能量的样品的成像变成 可能。 超高速成像： 研究者对于成像速度进入“亚秒时代”的需求已经十分的迫切。以往的速度瓶颈主要在曝光时间以及CCD成像速度，利用高效光路和改进的新型照相机，大大提高了成像速度。
最新资料欢迎阅读 Unit 7 The Monster课文翻译综合教程四 Unit 7 The Monster Deems Taylor 1 He was an undersized little man, with a head too big for his body ― a sickly little man. His nerves were bad. He had skin trouble. It was agony for him to wear anything next to his skin coarser than silk. And he had delusions of grandeur. 2 He was a monster of conceit. Never for one minute did he look at the world or at people, except in relation to himself. He believed himself to be one of the greatest dramatists in the world, one of the greatest thinkers, and one of the greatest composers. To hear him talk, he was Shakespeare, and Beethoven, and Plato, rolled into one. He was one of the most exhausting conversationalists that ever lived. Sometimes he was brilliant;sometimes he was maddeningly tiresome. But whether he was being brilliant or dull, he had one sole topic of conversation: himself. What he thought and what he did. 3 He had a mania for being in the right. The slightest hint of disagreement, from anyone, on the most trivial point, was enough to set him off on a harangue that might last for hours, in which he proved himself right in so many ways, and with such exhausting volubility, that in the end his hearer, stunned and deafened, would agree with him,for the sake of peace. 4 It never occurred to him that he and his doing were not of the most intense and fascinating interest to anyone with whomhe came in contact. He had theories about almost any subject under the sun,including vegetarianism, the drama, politics, and music; and in support of these theories he wrote pamphlets, letters,books ... thousands upon thousands