基于AutoCAD2002的数控切割系统

本文介绍了运动控制卡MPC02的功能结构和主要特性,提出了采用MPC02开发基于AutoCAD2002的数控火焰、等离子两用切割控制系统.该系统不仅实现了加工中暂停、继续、沿原轨迹返回、调速等功能,而且充分利用AutoCAD2002强大的绘图能力和开放性,开发出良好的人机界面,切割过程无需编程,操作方便,真正实现了CAD/CAM一体化.     

网络时代的多媒体电脑

多媒体电脑早已不是什么新鲜的概念了,对电脑有所了解的人,大概无人没听说过。一般人们所理解的多媒体电脑(MPC),是普通的个人电脑(PC)系统加上多媒体功能,即高质量的图形功能、立体声音响和动画功能,这种理解基本上是正确的。由Microsoft联合主要个人电脑厂商组成的MPC市场委员会(Multimedia PC Marketing Council)分别在1990年、1993年和1995年制定了MPC的标准(MPC 1,MPC 2,MPC 3)。按照MPC联盟的标准,多媒体电脑包含5个基本单元:个人电脑、CD-ROM驱动器、音效卡、Microsoft Windows 3.1操作系统及一     

一种嵌入式视频服务器的硬件系统设计和实现

一种基于MPC860T的嵌入式视频服务器的硬件系统设计及其实现方法。利用CPLD对MPC860T的中断逻辑进行了优化,实现了MPC860T和多个DSP之间数据包的高效传送。     

一种最小化安全多方计算任务的方法

安全多方计算（Secure multi-party computation：MPC）允许在不公开各参与方私有数据的情况下完成联合计算。然而,现有的计算任务往往涉及到多方海量数据集的分析与处理,使得MPC的实际可用性显著降低。提高MPC数据处理体量,是目前研究的主要方向之一。为提高MPC处理大规模数据的能力,将MPC算法与数据并行分析框架相结合,基于最小化多方计算任务的思想,提出安全多方计算效率优化技术。创建算法的有向无环图,标注MPC节点及非MPC节点,采用静态分析、查询重写转换和分区启发式等技术,最小化MPC计算量,提高计算的并发程度。以多方线性回归为例,讨论适应大数据分析的安全多方计算技术。实验结果表明提出的安全多方计算优化技术在确保计算精度的条件下能够显著降低计算耗时。算法提高了系统的效率,增强了MPC的实用能力。     

基于MPC5200的视频处理系统设计

介绍了以Motorola公司的高性能嵌入式芯片MPC5200为处理器的视频处理系统的整体结构、主要功能和系统的硬件设计,设计了外部存储器、通信接口部分、显示控制部分等,并对系统进行了配置。MPC5200集成有高性能的MPC603e内核和丰富的外设接口,提高了MPC5200的处理能力,可为大多数视频处理算法提供足够的支持。最后对系统进行了验证,系统很好的满足了视频信号处理的要求。     

Motorola32位嵌入式微处理器MPC860的开发应用

分析了MotorolaMPC860嵌入式微处理器的性能和特征,描述了MPC860在ADM系统中的应用,突出了MPC860嵌入式微处理器的通信处理能力。     

基于MPC监控和稳态优化的流化床干燥器性能研究

本文以单级流化床干燥器为例,由于PID控制器难以对其实现有效的控制,故对它的自动化系统采用MPC进行扩展监控。介绍了单级流化床干燥器工艺过程、MPC控制理论、稳态优化,并且分别利用PID控制和MPC扩展监控流化床干燥器进行各项性能基准测试。结果表明,MPC对单级流化床干燥器监控并进行稳态优化,有效解决了常规PID控制器控制所带来的响应慢、水分含量低和波动、工作点转换与组合带来的负面影响。     

基于模型预测控制的电动车辆队列控制研究

针对车辆队列建模时参数不确定导致控制存在误差的问题,以及队列中跟随车辆稳定性问题,分析车辆纵向动力学,设计一个鲁棒MPC控制器和滑移率控制器来提高队列车辆的控制精度和稳定性.首先对纵向MPC控制器进行改进,提高车辆队列控制精度；同时为防止跟随车辆的轮胎打滑,设计一个MPC滑移率控制器对跟随车辆的轮胎滑移率进行控制约束,保证了跟随车辆的纵向稳定性.最后,进行仿真实验验证其有效性.仿真实验结果表明,与传统的LQR、MPC控制器相比,改进的鲁棒MPC纵向控制器控制精度更高,同时MPC滑移率控制器可防止跟随车辆的轮胎打滑,保证了跟随车辆的纵向稳定性.     

基于MPC8260处理器的PPMC系统

介绍了MPC8260处理器(PowerPC系列)的基本特点,以及一种基于MPC8260、具备高可扩展性的PPMC硬件实现和软件标准初始化流程。     

基于MPC7448的高端PowerPC常见问题解决方法

简单介绍了MPC7448微处理器的分类及应用.以本公司某型号为例,阐述了以MPC7448处理器为核心的最小系统原理、架构,着重介绍了该产品在调试和维修过程中可能遇到的问题及解决方法,希望在对以MPC7448为处理器的主控板产品的调试和维修有借鉴作用.     

An integrated robust probing motion planning and control scheme: A tube-based MPC approach

‘This paper introduces the integration of a probing scheme into a robust MPC-based robot motion planning and control algorithm. The proposed solution tackles the output-feedback tube-based MPC problem using the partially-closed loop strategy to incorporate future measurements in a computationally efficient manner. This combination will provide not only a robust controller but also avoids overly conservative planning which is a drawback of the original implementation of the output-feedback tube-based MPC. The proposed solution is composed of two controllers: (i) a nominal MPC controller with probing feature to plan a globally convergent trajectory in conjunction with active localization, and (ii) an ancillary MPC controller to stabilize the robot motion around the planned trajectory. The performance and real-time implementation of the proposed planning and control algorithms have been verified through both extensive numerical simulations and experiments with a mobile robot.     

基于TRIO运动控制器的瓦楞纸板横切机控制系统设计

本论文在分析瓦楞纸板横切机生产工艺的基础上,提出了以TRIO运动控制器＋欧姆龙伺服驱动器＋触摸屏的交流伺服控制方案。根据切刀的运动规律,研究其轨迹跟踪控制算法,利用TRIO运动控制器的电子凸轮功能,实现了横切机速度同步跟踪和定长剪切功能。实验表明,此控制系统能有效提高横切机的响应速度、剪切精度,并可适用于更高速的瓦楞纸板生产线。     

Adaptive receding horizon predictive control for constrained discrete-time linear systems with parameter uncertainties

This paper proposes a discrete-time model predictive control (MPC) scheme combined with an adaptive mechanism. To this end, first, an adaptive parameter estimation algorithm suitable for MPC is proposed, which uses the available input and output signals to estimate the unknown system parameters. It enables the prediction of a monotonically decreasing worst-case estimation error bound over the prediction horizon of MPC. These distinctive features allow for future model improvement to be explicitly considered in MPC. Thus, a less conservative adaptive-type MPC controller can be developed based on the proposed estimation method. Second, we show how the discrete-time adaptive-type state-feedback MPC controller is constructed by combining the on-line parameter estimation scheme with a modified robust MPC method based on the comparison model. The developed MPC controller guarantees feasibility and stability of the closed-loop system theoretically in the presence of input and state constraints. A numerical example is given to demonstrate its effectiveness.     

A GESO based MPC approach to contour error control of networked motion control system

This paper presents a generalised extended state observer (GESO) based model predictive control (MPC) approach to contour error control for networked multi-axis motion system (NMAMS) with network-induced delays. First, the uncertainties induced by the network-induced delays are modelled as an additive bounded disturbance, and a novel model predictive controller based on the GESO is designed for the uniaxial trajectory tracking control system. The GESO is used to estimate the system state and the disturbance simultaneously, and the effects of the uncertainties induced by the delays are eliminated by the proposed GESO based controller. Then the contour error estimation method is adopted, and a PID controller is designed to compensate the contour error. Finally, experiments are carried out to demonstrate the effectiveness of the proposed method.     

变截面纵剪机组中的运动控制应用

为实现变截面纵剪机组的高精度控制,本文设计了采用NI运动控制器的剪刀盘控制系统,即以PXI控制器为硬件平台,以运动控制器为核心控制部件,利用多功能采集卡采集传感器信号,在软件平台LabVIEW上实现了对剪刀盘的运动控制。实验结果表明:该运动控制系统运行稳定,抗干扰能力强,对控制策略适应性强,具有易扩展、易维护等特点,适合广泛应用在运动控制领域中。     

Comparison of PI and MPC for control of a gas recovery unit

This study compares PI and MPC controls via a computer simulation for a gas recovery unit (GRU), which consists of three distillation columns operated in series: a de-ethanizer, a depropanizer and a debutanizer. In addition, the de-ethanizer feed is preheated by the bottoms product from the de-ethanizer, which causes additional process coupling. Rigorous models are developed for the columns including column pressure dynamics and heat transfer dynamics. The process is a highly coupled system and has interactive constraints that determine the feasible operating regions. A decentralized PI control system with override controls for the constraints was designed and implemented on the GRU simulator and was compared with an industrial MPC controller. The MPC controller was observed to outperform the decentralized control system due to its multivariable constraint control capability. Since the simulator is available to other university researchers, it can serve as a challenge problem for multivariable control and identification. Three MPC controllers with different strategies for controlling the bottom level of the first column were implemented on the GRU process. The first MPC controller does not directly control the level, the second one moves the setpoint to the PI level controller, and the third one controls the level directly by manipulating the flow. The results show that including level into the MPC controller improves composition control for cases in which the manipulated variable for the level control has a significant impact on compositions.     

在线优化线性反馈增益的非线性鲁棒预测控制方法

以鲁棒控制不变集作为预测控制的终端约束集,设计了一种新的鲁棒预测控制算法.将预测控制在不同采样点的待优化控制律考虑为线性反馈控制律,并通过在线优化求解线性反馈增益.从理论上证明了若采用所设计的鲁棒预测控制器,则系统是输入状态稳定的.最后通过计算机仿真验证了所提出设计方法的可行性.     

一类输入受限不确定时滞系统的准Min-Max模型预测控制

针对一类输入受限离散不确定时滞系统,提出一种基于准Ｍｉｎ-Ｍａｘ的模型预测控制器设计方法．定义了时滞系统的鲁棒性能指标,给出了系统稳定的充分条件,通过求解ＬＭＩ凸优化获得控制器．准Ｍｉｎ-Ｍａｘ预测控制将当前控制量作为独立优化变量,与其他作为反馈控制的时域控制序列分开处理,有效地降低了算法的保守性,提高了可行性．仿真算例验证了所提出控制方法的有效性．     

MPC-based compensation control system for the yaw stability of distributed drive electric vehicle

Conventional yaw stability strategy of distributed drive electric vehicle (DDEV) is usually realised by torque distribution strategy. However, the instantaneous variations of four independent tyres slip ratio and the effect of disturbance have not been considered sufficiently. Therefore, it is difficult to realise the robustness of yaw stability for DDEV under various operating conditions. To solve this problem, a novel model predictive controller-based compensation control system (MPC-CCS) is proposed in this paper. The proposed MPC-CCS consists of two parts, an MPC based-feedback controller and a Kalman filter based-feedforward controller. In the feedback controller, a dual torque distribution scheme is adopted to obtain optimal torque values derived from the real-time signals of four independent tyres slip ratio, an MPC is designed to realise optimal torque values for vehicle yaw motion. In the feedforward controller, a Kalman filter is employed to attenuate the effect of the disturbance on yaw performance. In this way, the robustness of yaw stability for DDEV can be guaranteed by the proposed MPC-CCS. The proposed MPC-CCS is evaluated on eight degrees of freedom simulation platform and simulation results of different conditions show the effectiveness of the MPC-CCS.     

基于MPC8260嵌入式系统的测试

本文以高性能通信处理器—MPC8260的处理卡的测试为基础。给出了在没有嵌入式操作系统的环境下,如何实现了MPC8260嵌入式处理卡内存、串行通信控制器和快速通信控制器测试的过程。最后给出了嵌入式系统软件测试的一般方法和流程。