实时控制任务的模糊反馈调度系统研究

分析了实时控制任务的控制性能在不同控制阶段与处理器利用率需求间的关系,提出一种实时控制任务的模糊反馈调度系统.模糊控制器通过监测实时控制任务的误差及其变化率,查询模糊决策表,动态决定任务的优先级,反馈调度器根据优先级分配任务的利用率.仿真结果表明，在计算资源有限时，该方法能有效改善实时控制任务的控制性能.     

基于嵌入式Linux的绣花机实时控制软件设计

介绍了基于ARM9处理器S3C2440和嵌入式Linux操作系统的绣花机电控系统实时控制软件的设计,详细论述了在非实时操作系统下软件如何实现实时控制,并对驱动程序设计做了说明.     

基于CAN总线的可多级扩展视频切换器的设计

针对不同场合对视频切换器信号输入通道路数的需求,设计了一种可级联的视频切换器。采用ST公司的STM32增强型系列处理器,基于CAN总线通信,PC机能方便的控制各信号通道的切换。为了实现对通道的实时控制,提出了一种地址命名规则以及数据处理方法,使得PC机通过串口发给某一个切换器的信息能以广播的形式传给其他切换器,并响应相关指令。     

IEC 61131-3标准与ARM嵌入式控制系统

介绍IEC 611313国际标准、ARM微处理器和嵌入式系统;研究基于AT91 M55800A微处理器和IEC 61131—3标准的嵌入式实时控制系统的设计与实现技术,并给出详细的串口通信程序。     

嵌入式处理器中降低Cache缺失代价设计方法研究

以龙芯1号处理器为研究对象，探讨了嵌入式处理器中降低Cache缺失代价的设计方法．通过分析处理器的结构特征，本文实现了在关键字优先基础上一次缺失下命中的非阻塞数据Cache，可以将处理器平均性能提高3．9％,同时利用局部性原理，在关键字优先非阻塞数据Cache的基础上，本文提出了一种类非阻塞的指令Cache设计方法，可以降低指令Cache的缺失代价，以较小的实现代价进一步将处理器平均性能提高7．7％．通过本文的工作，可以同时降低指令Cache和数据Cache的缺失代价，处理器的平均性能提高了11．6％．     

TI Piccolo USB工具助力跨越式启动32位实时控制开发工作

德州仪器（TI）推出两款适用于Piccolo 32位TMS320F2802x微处理器（MCU）的全新USB工具,使设计人员能够为成本敏感型应用带来32位实时控制功能。新型评估与开发工具使设计人员得以更轻松地评估Piccolo MCU,并开发出更节能的实时控制应用,如微型太阳能逆变器、LED照明、白色家电以及混合动力汽车电池等（更多详情,,     

同步电机矢量控制系统的设计与开发

对交流伺服电机的控制需要较大的实时计算量和较多硬件外设的支持,为满足对交流电机进行实时控制和简化控制系统结构的要求,以电机的矢量控制理论为基础,设计了一种基于TMS320F2812的永磁同步电机数字控制系统,充分利用数字处理器的高速数据运算能力和丰富的片上外设资源,实现系统的数字化实时控制,使系统具有良好的动态品质和稳态性能。     

一种可重构计算系统设计与实现

可重构计算系统是一种新的实现计算系统的方法,它补充了原有通用处理器和专用硬件计算系统的不足,既具有在制造后的可编程性,又能提供较高的计算性能和计算密度。在简单介绍可重构计算系统体系结构的基础上,通过一个嵌入式实时控制系统实例,给出了可重构计算系统的一种实现方法。     

基于实时控制分配策略的航天器姿态跟踪

针对含有冗余执行器的航天器姿态跟踪控制系统,首先将故障观测器得到的执行器部分失效因子估计矩阵的逆作为权值矩阵,改进了开环伪逆控制技术,并进一步考虑执行器饱和以及响应速率约束,设计了基于向量二次最优规划的开环动态控制分配方案。考虑到执行器安装矩阵偏差会导致开环实时控制分配策略方案产生的执行器实际力矩与控制器期望力矩误差,设计了实时控制分配策略的系统结构,并给出了实时控制分配策略系统稳定的一个充分条件。最后,通过MATLAB仿真实验,从结果中看出在保证实时控制分配策略系统角速度误差和姿态四元数误差快速收敛的同时,各执行器的输出力矩均能满足输入饱和受限及响应速率约束,验证了本文设计的实时控制分配策略方案的有效性和可靠性。     

嵌入式宽带可视电话系统设计及实现

设计及实现了一款基于美国德州仪器公司（TI）TMS320DM6446平台的嵌入式宽带可视电话系统。该嵌入式宽带可视电话系统以TMS320DM6446处理器为核心,提高了可扩展性和平台独立性,通过MSP430子系统等解决了处理器I／O资源有限和降低了对外围低速模块实时控制的复杂度,通过myOPAL的实现提高了本系统的性能和并发处理能力,降低了延时等,实现了视音频双向实时通信。     

Control of the INFANTE AUV using gain scheduled static output feedback

The paper describes the design and experimental testing of a control system for the INFANTE AUV in the horizontal plane. The methodology adopted for controller design is nonlinear gain scheduling control, whereby a set of linear finite static output feedback controllers are designed using linear matrix inequality (LMI)-based techniques and scheduled on the vehicle's forward speed. The paper summarizes the basic controller design steps, describes a technique for practical implementation of the nonlinear control system derived, and presents experimental results obtained with the AUV during tests at sea.     

SLIDING MODE OUTPUT TRACKING WITH APPLICATION TO A MULTIVARIABLE HIGH TEMPERATURE FURNACE PROBLEM

The paper describes a theoretical framework for the design of a robust multivariable output tracking controller using sliding mode concepts. The approach assumes that only measured outputs are available and uses a sliding mode observer to reconstruct estimates of the internal system states for use in a full information sliding mode control law. This scheme is applied to a control problem associated with high temperature furnaces. The paper describes the synthesis of the proposed control scheme from design through to implementation on an industrial test facility. © 1997 by John Wiley & Sons, Ltd.     

Controllability of buildings: A multi-input multi-output stability assessment method for buildings with slow acting heating systems

The paper describes a methodology to assess the controllability of a building and its servicing systems, such as heating, lighting and ventilation. The knowledge for these methods has been transferred from design processes and methods used in the design of aircraft flight control systems to establish a modelling and design process for assessing the controllability of buildings. The paper describes a holistic approach to the modelling of the nonlinear and linear dynamics of the integrated building and its systems. This model is used to analyse the controllability of the building using Nonlinear Inverse Dynamics controller design methods used in the aerospace and robotics industry. The results show that this design approach can help the architects in their decisions on which building design and services to use. Furthermore, the results demonstrate how the same method can assist the control systems designer in developing complex control systems especially for buildings designed with a climate adaptive building (CAB) philosophy.     

智能微波治疗仪及其控制系统设计

本文主要阐述了医用微波治疗仪的智能系统的设计。简要介绍了微波治疗仪的组成原理及其功能,并详细描述了该微波治疗仪智能化自动控制系统的软硬件设计内容,同时对微波治疗仪的一些组成部件进行了相应的介绍。通过PID调节和分段拟合对微波治疗仪的智能化控制,使得此微波治疗仪工作运行比没有利用此控制方案的情况更加稳定可靠,测试结果也表明该设计是切实可行。同时开发了上位机软件,为复诊以及治疗效果的统计分析提供了一个平台。     

An object-oriented simulation framework for real-time control of automated flexible manufacturing systems

This paper describes an object-oriented simulation approach for the design of a flexible manufacturing system that allows the implementation of control logic during the system design phase. The object-oriented design approach is built around the formal theory of supervisory control based on Finite Automata. The formalism is used to capture inter-object relationships that are difficult to identify in the object-oriented design approach. The system resources are modeled as object classes based on the events that have to be monitored for real-time control. Real-time control issues including deadlock resolution, resource failures in various modes of operation and recovery from failures while sustaining desirable logical system properties are integrated into the logical design for simulating the supervisory controller.     

基于PLC的简易车辆清洗机控制

本文利用CPlH可编程控制器,设计了一款简易车辆清洗机控制系统,文中详细说明了控制系统的工作过程,并进行了硬件设计和软件设计,本系统编程、设计简单,可靠性高.     

全数字晶闸管功率控制器的设计

本文介绍了利用RISC结构的单片机作控制核心，设计多功能晶闸管功率控制器的基本思路。描述了功率控制器的硬件模块设计，控制器的各种控制特性分析，同时也介绍了软件的设计要点。实践表明，所介绍的设计方案和使用效果达到了国外同等产品的性能，具有极大的推广和使用价值。     

An affordable modular mobile robotic platform with fuzzy logic control and evolutionary artificial neural networks

Autonomous robotics projects encompass the rich nature of integrated systems that includes mechanical, electrical, and computational software components. The availability of smaller and cheaper hardware components has helped make possible a new dimension in operational autonomy. This paper describes a mobile robotic platform consisting of several integrated modules including a laptop computer that serves as the main control module, microcontroller‐based motion control module, a vision processing module, a sensor interface module, and a navigation module. The laptop computer module contains the main software development environment with a user interface to access and control all other modules. Programming language independence is achieved by using standard input/output computer interfaces including RS‐232 serial port, USB, networking, audio input and output, and parallel port devices. However, with the same hardware technology available to all, the distinguishing factor in most cases for intelligent systems becomes the software design. The software for autonomous robots must intelligently control the hardware so that it functions in unstructured, dynamic, and uncertain environments while maintaining an autonomous adaptability. This paper describes how we introduced fuzzy logic control to one robot platform in order to solve the 2003 Intelligent Ground Vehicle Competition (IGVC) Autonomous Challenge problem. This paper also describes the introduction of hybrid software design that utilizes Fuzzy Evolutionary Artificial Neural Network techniques. In this design, rather than using a control program that is directly coded, the robot's artificial neural net is first trained with a training data set using evolutionary optimization techniques to adjust weight values between neurons. The trained neural network with a weight average defuzzification method was able to make correct decisions to unseen vision patterns for the IGVC Autonomous Challenge. A comparison of the Lawrence Technological University robot designs and the design of the other competing schools shows that our platforms were the most affordable robot systems to use as tools for computer science and engineering education. © 2004 Wiley Periodicals, Inc.     

基于ARM的uCLinux网络控制系统的设计与实现

介绍了ARM7TDMI为内核的微处理器S3C44B0X在嵌入式网络控制系统中的应用,并对基于ARM和uCLinux的嵌入式系统开发进行了探讨。