基于ENC424J600的以太网与串行接口转换技术

论述了在STM32系列的MCU上移植TCP/IP协议栈LwIP,并利用新型以太网控制器ENC424J600实现网络数据传输功能。该系统主要完成的功能是接收上位机发送的数据,并将这些数据转换成通用串行接口输出。ENC424J600是Microchip新推出的一款以太网控制器,其速度优于ENC28J60,同时为用户提供两种接口模式。本文介绍了其基于SPI接口模式下的实现过程,详细描述了该网卡驱动的硬件电路和软件流程。     

以ARM为核心的嵌入式体感遥控器设计

介绍一种以ARM为核心的嵌入式服务机器人体感遥控器的设计。硬件上,本遥控器采用具有ARM Cortex—M3内核的STM32F103C8T6作为核心处理器,选用ST公司的iNEMO惯性导航模块进行手部姿态的识别,同时还具有LCD显示模块、无线收发模块和电源模块;软件上,采用嵌入式操作系统μC／OS—Ⅱ实现多任务的调度和外围设备的管理。经实验验证,本遥控器具有高稳定性、高实时性、高可靠性、低误码率等优点。     

Improved results on frequency‐weighted balanced truncation and error bounds

In this paper, we present some new results on frequency‐weighted balanced truncation which is a significant improvement on Lin and Chiu's frequency‐weighted balanced truncation technique. The reduced‐order models, which are guaranteed to be stable in the case of double‐sided weighting, are obtained by direct truncation. Two sets of simple, elegant and easily calculatable a priori error bounds are also derived. Numerical examples and comparison with other well‐known techniques show the effectiveness of the proposed technique. Copyright © 2011 John Wiley & Sons, Ltd.     

Some investigations on fuzzy P + fuzzy I + fuzzy D controller for non-stationary process

The paper addresses the adaptive behaviour of parallel fuzzy proportional plus fuzzy integral plus fuzzy derivative (FP+FI+FD) controller. The parallel FP+FI+FD controller is actually a non-linear adaptive controller whose gain changes continuously with output of the process under control. Two non-stationary processes, whose characteristics change with time, are considered for simulation study. Simulation is performed using software LabVIEW TM . The set-point tracking response of parallel FP+FI+FD is compared with conventional parallel proportional plus integral plus derivative (PID) controller, tuned with the Ziegler-Nichols (Z-N) tuning technique. Simulation results show that conventional PID controller fails to track the set-point and becomes unstable as the process changes its characteristic with time. But the parallel FP+FI+FD controller shows considerably much better set-point tracking response and does not deviate from steady state. Also, a huge spike is observed in the output of PID controller as the reference set-point and process parameters are changed, while the FP+FI+FD controller gives spike free control signal.     

A new anti‐windup strategy for PID controllers with derivative filters

This paper presents a new strategy for suppressing the windup effect caused by actuator saturation in proportional–integral–derivative (PID) controlled systems. In the proposed approach, the windup effect is modeled as an external disturbance imported to the PID controller and an observer‐based auxiliary controller is designed to minimize the difference between the controller output signal and the system input signal in accordance with an H‐infinite optimization criterion. It is shown that the proposed anti‐windup (AW) scheme renders the performance of the controlled system more robust toward the effects of windup than conventional PID AW schemes and provides a better noise rejection capability. In addition, the proposed PID AW scheme is system independent and is an explicit function of the parameters of the original PID controller. As a result, the controller is easily implemented using either digital or analog circuits and facilitates a rapid, on‐line tuning of the controller parameters as required in order to prevent the windup effect. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Hysteresis Compensation and Adaptive Controller Design for a Piezoceramic Actuator System in Atomic Force Microscopy

This paper presents an indirect adaptive controller combined with hysteresis compensation to achieve high accuracy positioning control of piezoceramic actuators and illustrates the results with an atomic force microscope (AFM) application. A dynamic model of a piezoceramic actuator system in AFM is derived and analyzed. A feedforward controller based on the Preisach model is proposed to compensate for the nonlinear hysteresis effects. Then an indirect adaptive controller is designed to achieve desired tracking performance as well as deal with the uncompensated nonlinearity from hysteresis and the system parameter variation due to creep. Experimental results indicate that the proposed controller can significantly improve the positioning control accuracy of the piezoceramic actuator as well as achieve high image quality of the AFM system. The maximum scanning error was reduced from 2µm to 0.3µm in comparison with a proportional‐integral‐derivative (PID) controller. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

An on-line learning neural controller for helicopters performing highly nonlinear maneuvers

This paper presents an on-line learning adaptive neural control scheme for helicopters performing highly nonlinear maneuvers. The online learning adaptive neural controller compensates the nonlinearities in the system and uncertainties in the modeling of the dynamics to provide the desired performance. The control strategy uses a neural controller aiding an existing conventional controller. The neural controller is based on a online learning dynamic radial basis function network, which uses a Lyapunov based on-line parameter update rule integrated with a neuron growth and pruning criteria. The online learning dynamic radial basis function network does not require a priori training and also it develops a compact network for implementation. The proposed adaptive law provides necessary global stability and better tracking performance. Simulation studies have been carried-out using a nonlinear (desktop) simulation model similar to that of a BO105 helicopter. The performances of the proposed adaptive controller clearly shows that it is very effective when the helicopter is performing highly nonlinear maneuvers. Finally, the robustness of the controller has been evaluated using the attitude quickness parameters (handling quality index) at different speed and flight conditions. The results indicate that the proposed online learning neural controller adapts faster and provides the necessary tracking performance for the helicopter executing highly nonlinear maneuvers.     

基于PR控制器的直接转矩控制策略研究

针对传统直接转矩控制中采用开关表控制造成转矩和电流脉动,以及传统调节器不能实现对交流输入信号的无静差控制等问题,基于电机空间电压矢量的转矩和磁链2个分量解耦的控制方式和PR控制器能够在静止坐标系下实现对交流输入信号的无静差控制,将PR控制器用于永磁同步电机的直接转矩控制中,并由此设计出磁链和转矩的双PR控制器。同时,在定子磁链的观测中,采用基于转子位置和定子电流的新型定子磁链估计方法。试验结果证明,将PR控制器对交流输入信号的无静差跟踪特性应用于基于空间电压矢量调制的直接转矩控制中,系统能获得优良的动态和静态响应,取得了显著的应用成效,由此验证了所提方法的正确性和可行性。     

基于西门子S7-300 PLC装卸机械自控系统设计

主要介绍了装卸机械控制系统的构成、系统在运行过程中的控制要求、以及如何实现机械自动操作的功能,利用S7-300PLC的功能模块化程序设计思想,设计出手动控制逻辑功能和自动控制逻辑功能及组织块程序,大大提高了工作效率和生产安全性。     

燃煤锅炉供热系统的模糊控制

介绍燃煤锅炉供热系统的自动化节能模糊控制方案,燃煤锅炉供热系统是一个大惯性的滞后系统,传统的单纯PID控制效果不理想,而基于工人熟练的经验和专家知识的模糊控制能够达到比较好的效果。系统中对控制参考量水温和炉膛负压这两个输入量模糊化处理,由控制规则推出输出模糊子集,再应用模糊推理合成规则得出PID的系数,PID控制器根据输出量来控制鼓风机、引风机、炉排电机和水泵的变频器。