单片机在捻度测量中的应用

阐述了以AT89C52单片机为核心的捻度测量的硬件组成和软件设计，详细介绍了PWM技术在直流电机速度测控中的实现及应用。     

用8031单片机构成的智能位置控制器

重点介绍用8031单片机构成的智能位置控制器的接口电路设计的特点以及单片机资源的利用。系统采用光电编码器作为速度、位置反馈测量元件;用单片机作为数字控制器;在减小跟随误差上引入微分前馈项,以补偿滞后误差;加入加速度积分功能减小了加减速动态误差。     

采用AT89C52的振弦式血压测量仪设计

基于柯氏声法测量血压的工作原理,采用AT89C52单片机作为核心控制器,设计了一种新型的振弦式人体血压测量仪。测量部件为振弦式压力传感器,将其对压力的频率测量输出通过频率-电压转换电路后输出,送往单片机进行测量和处理,获得人体的收缩压和舒张压、平均压及心跳频率等数据。     

用C51实现模糊PID控制器的软件设计

介绍了用89C52单片机实现对纳米测量系统中测量部分的控制以及测量数据的采集过程的硬件实现，详细介绍了模糊PID控制器的参数设计、测量程序的控制流程、测量控制程序参数的设定以及用C51实现增量式算法的模糊PID控制器的软件设计过程。     

基于C8051F310的温度测量设计

文章设计了一个以C8051F310单片机作为主控制器,利用单片机自身所带的功能,以及温度传感器和其它外围电路结合软件编程构成了一个温度测量系统。采用单片机内部集成部件,降低了系统成本。     

嵌入式多参数微小型水质监测系统的设计

结合嵌入式技术和GPRS无线网络技术,提出一种新型多参数微小型水质监测系统.采用ARM9处理器S3C2440A作为主控制器,控制单片机工作、采集光谱数据和GPRS数据传输.单片机作为辅助控制器,对7种水质参数指标实时测量.采用触摸屏作为人机交互工具.     

无线人体健康监控系统设计

本设计以STM32F103单片机为主控制器,选用基于ADS1292的心电模块测量心电信号,温度传感器LMT70采集测量使用者的体表温度,重力加速度传感器测量记录运动步数和运动距离,MAX30102模块测量血氧,将采集到的数据通过IIC,SPI和串口通信传送给单片机,单片机对信号进行处理运算,通过无线模块传输到自制的移动...     

基于ATT7022E的无功补偿控制器电参数测量模块设计

给出了一种了采用ATT7022E三相计量芯片作为电网参数测量,C8051F580单片机为核心的无功补偿控制器的电参数测量模块设计,详细描述了控制器电参数模块的硬件电路和软件流程的设计,通过实验对芯片进行软件校表,实现了电能计量芯片ATT7022E与单片机C8051F的通信。设计的电参数测量模块可以实时精准的测量电网的电流、电压、有功功率、无功功率、功率因数等参数以及和上位机通讯的功能。该方法具有电路简单,软件易于实现,满足电网无功补偿的快速性和控制精度要求等优点。     

开关磁阻电机及其在料位探测中的应用

介绍开关磁阻电机在料位探测中的应用，探测仪的控制器由MCS—8098单片机构成，可以对料位高度进行自动定时测量和手动随时测量。本装置操作方便，可靠性强、准确度高。     

开关磁阻电机及其在料位探测中的应用

介绍开关磁阻电机在料位探测中的应用，探测仪的控制器由ＭＣＳ－８０９８单片机构成，可以对料位高度进行自动定时测量和手动随时测量。本装置操作方便，可靠性强、准确度高。     

基于Backstepping设计的不确定非线性系统的预测控制

本文的目的是针对一类带有不确定性的单输入单输出的仿射非线性系统,设计一种非线性预测控制器.用反步设计思想获得具有待定参数的控制器表达式,然后用预测控制在线优化获得控制器的参数.用这种方法设计的控制器更易使闭环系统稳定,且闭环系统具有良好的动态特性.连续发酵过程的仿真结果也验证了控制器是有效的.     

Stability analysis and implementation of chopper fed DC series motor with hybrid PID-ANN controller

The attempt is made to enhance the performance of a closed loop control of DC series motor fed by DC chopper (DC-DC buck converter) by hybridization of PID controller with an intelligent control using ANN (Artificial Neural Network) controller. This system consists of inner current controller loop and outer PID-ANN based speed controller loop. The current controller allows the PWM (Pulse Width Modulation) signal when the motor current is less than set value. The PID-ANN speed controller controls the motor voltage by controlling the duty cycle of the chopper thereby the motor speed is regulated. The PID-ANN controller performances are analyzed in both steady state and dynamic operating condition with various set speed and various load torque. The rise time, maximum over shoot, settling time, steady state error and speed drops are taken for comparison with conventional PID controller and existing work. The steady state stability analysis of the system also is made by using the transfer function model with MATLAB. The training data for PID-ANN controller is taken from conventional PID controller. The Hybrid PID-ANN controller with DC chopper has better control over the conventional PID controller and the reported existing work. This system is simulated using MATLAB/Simulink and also it is implemented with a NXP 80C51 family Microcontroller (P89V51RD2 BN) based Embedded System.     

Study of Learning Fuzzy Controllers

This paper compares two types of learning fuzzy controllers, the self-organizing fuzzy (SOF) controller and the hybrid self-organizing fuzzy proportional–integral–derivative (SOF-PID) controller. The SOF is an extension of the rule-based fuzzy controller, with additional rule creation and rule modification mechanisms. The hybrid SOF-PID comprises the SOF as a learning supervisory controller readjusting the proportional gain of the PID controller at the actuator section, when the system is on line. The structures of the SOF controller and the hybrid SOF-PID controller are studied. The performances of the SOF controller and the hybrid SOF-PID controller are compared by applying them to a two-link non-linear revolute-joint robot arm. For the path tracking experiments, the hybrid SOF-PID controller followed the required path more closely and smoothly than the SOF controller. The results of the experiments for the SOF controller and the hybrid SOF-PID controller are also compared with those obtained with a conventional PID controller, using the same values supplied at the setpoint.     

热工控制对象的不同控制方案的鲁棒性分析

针对热工控制对象模型的复杂性和参数不确定性,首先运用二步线性最小二乘法进行模型降阶,将对象模型降为二阶,然后对二阶模型设计定值控制器并进行控制器参数优化,包括:PID控制、鲁棒控制、内模控制和模糊控制的控制方法进行鲁棒稳定性分析、比较,得出分析结果.这一研究意义就在于,在理论分析及仿真试验的基础上找出最为适合热工控制对象参数时变这一特性的具有较强鲁棒性的控制器设计方案,对实际的工程应用进行指导.     

Adaptive sliding mode dynamic controller with integrator in the loop for nonholonomic wheeled mobile robot trajectory tracking

In this paper, novel adaptive sliding mode dynamic controller with integrator in the loop is proposed for nonholonomic wheeled mobile robot (WMR). The modified kinematics controller is used to generate kinematics velocities of WMR which are subsequently used as the input to adaptive dynamic controller. Actuator dynamics are also derived to generate actuator voltage of WMR through torque and velocity vectors. Stability of both kinematics and dynamic controller is presented using Lyapunov stability analysis. The proposed scheme is verified and validated using computer simulations for tracking the desired trajectory of WMR. The performance of proposed scheme is compared with standard backstepping kinematics controller and classical sliding mode control. In addition, the performance is further compared with standard backstepping kinematics controller with adaptive sliding mode controller without integrator. It is shown that the proposed scheme exhibits zero steady state error, fast error convergence and robustness in the presence of continuous disturbances and uncertainties.     

Position Control of a Flexible Manipulator Using a New Nonlinear Self-Tuning PID Controller

In this paper, a new nonlinear self-tuning PID controller(NSPIDC) is proposed to control the joint position and link deflection of a flexible-link manipulator(FLM) while it is subjected to carry different payloads. Since, payload is a critical parameter of the FLM whose variation greatly influences the controller performance. The proposed controller guarantees stability under change in payload by attenuating the non-modeled higher order dynamics using a new nonlinear autoregressive moving average with exogenous-input(NARMAX) model of the FLM. The parameters of the FLM are identified on-line using recursive least square(RLS) algorithm and using minimum variance control(MVC) laws the control parameters are updated in real-time. This proposed NSPID controller has been implemented in real-time on an experimental set-up. The joint tracking and link deflection performances of the proposed adaptive controller are compared with that of a popular direct adaptive controller(DAC). From the obtained results, it is confirmed that the proposed controller exhibits improved performance over the DAC both in terms of accurate position tracking and quick damping of link deflections when subjected to variable payloads.     

Robust sliding mode controllers design techniques for stabilization of multivariable time-delay systems with parameter perturbations and external disturbances

In this paper, robust delay-independent stabilization of multivariable single state-delayed systems with mismatching parameter uncertainties and matching/mismatching external disturbances are considered. To achieve this goal, two types of robust sliding mode controllers design techniques are advanced. The first is an integral sliding mode controller design modification to Shyu and Yan type controller design. The mismatching sliding conditions are parametrically obtained by using the Lyapunov-Razumikhin-Hale method and formulated in terms of some matrix norm inequalities. In the second contribution, a new combined sliding mode controller design technique for the stabilization of multivariable single state-delayed systems with mismatching parameter perturbations is advanced by using the Lyapunov-Krasovskii V-functional method. The sliding, global stability and delay-dependent β-stability conditions are parametrically obtained and formulated in terms of matrix inequalities. A sliding mode controller design example for AV-8A Harrier VTOL aircraft with lateral unstable dynamic model parameters is considered to illustrate the controller design method. Design procedures and simulation results show that our advanced method is useful, and unstable lateral dynamics is successfully stabilized by using the combined controller.     

Adaptive variable structure controller of redundant robots with mobile/fixed obstacles avoidance

In this paper, a variable structure adaptive controller is proposed for redundant robot manipulators constrained by moving obstacles. The main objective of the controller is to force the model states of the robot to track those of a chosen reference model. In addition, the controller is designed directly in Cartesian space and no knowledge on the dynamic model is needed, except its structure. The parameters of the controller are adapted using adaptive laws obtained via Lyapunov stability analysis of the closed loop. The performances of the proposed controller are evaluated using a 3 DOF robot manipulator evolving in a vertical plane constrained by a mobile obstacle. The obtained results show its effectiveness compared to other tested variable structure controllers.     

Multiobjective optimization–based fault‐tolerant flight control system design

The loss of measurements used for controller scheduling or envelope protection in modern flight control systems due to sensor failures leads to a challenging fault‐tolerant control law design problem. In this article, an approach to design such a robust fault‐tolerant control system, including full envelope protections using multiobjective optimization techniques, is proposed. The generic controller design and controller verification problems are derived and solved using novel multiobjective hybrid genetic optimization algorithms. These algorithms combine the multiobjective genetic search strategy with local, single‐objective optimization to improve convergence speed. The proposed strategies are applied to the design of a fault‐tolerant flight control system for a modern civil aircraft. The results of an industrial controller verification and validation campaign using an industrial benchmark simulator are reported.     

机器人通用数字控制器

本文介绍以Intel 8098单片微型计算机为核心的机器人数字控制器。该数字控制器具有性能价格比高、运算速度快、体积小、操作方便、控制规律可变、控制参数调试方便等优点,可以应用于所有以IBM-PC机为主机的两级结构的机器人系统中。