工业平缝机伺服控制系统研究
|
摘要
永磁交流伺服系统广泛应用于消费品市场和工业现场中,而对于如家电、工业缝纫机等成本要求较高的产品,迫切需要开发高性能价格比的伺服系统。
论文针对小惯量永磁同步电机,利用简易低分辨率光电编码器,提出一种无电流传感器空间电压矢量控制,即直接利用电压矢量进行控制,并对电压矢量进行角度补偿。由于省略了电流环,使整个控制系统硬软件结构更加简洁,可一定程度上节约材料成本。系统采用PFC-PID串级控制策略,速度环采用PID控制以提高抗干扰性,而位置环则采用预测函数控制来获得良好的跟踪性能和强鲁棒性。同时,对单变量预测函数控制进行了结构分析和稳定性分析,并进一步分析了多变量受约束预测函数控制的稳定性问题。
为增强伺服系统的适用性,设计了一个简单的实时操作系统MotionOS,将速度和位置伺服功能整合其中,采用抢占式静态任务调度方式,可广泛应用到各种缝制设备和纺织机械中,大为提高开发效率。
针对高速工业平缝机,基于MotionOS设计了一套工业平缝机伺服控制系统,具有快速响应、定位精确的特点,可实现自动上下停针位、自动切线、自动倒缝、自动定针缝等功能,并提供针迹补偿等几十个可调参数以提高控制器的性能和灵活性。同时设计脚踏板调速器实现调速功能,并设计基于磁性传感器的机头定位器实现上下停针功能。缝制花样和参数由操作面板进行设置,并通过串行通信接口下载到主控板上。控制系统预留CAN网络接口以实现远程网络控制。
控制系统选用TI公司的TMS320F2407A DSP作为主控芯片,三菱PM20CSJ060 IPM作为功率驱动模块,硬件设计精密灵活,电路具备很强的抗干扰能力,并采用多种隔离和屏蔽措施以提高EMC性能。系统测试和服装厂小批量试用结果表明整套控制系统完全满足工业平缝机的缝制需要,有较高的性能价格比,具备良好的市场前景。
Ac servo drives employing permanent magnet synchronous motors are being used for various purposes in consumer products and industry applications. Although their technical advantages are generally acknowledged, researchers are becoming aware of their cost and are exploring the possibility of cost reduction. Especially for industrial sewing machines, a servo control system with low cost but high performance is needed.A current sensorless space voltage vector control algorithm is presented to the control of permanent magnet synchronous motors using simple low-resolution photoelectric encoder. This method directly control voltage vector and compensate the difference between voltage vector and current vector. The hardware and software are simplified without current sensors and cost is reduced.A cascaded control structure is presented for the sevo control system. PID controller is used to control the motor speed to improve interference immunity. Predictive functional control (PFC) is use to control the position to obtain good tracking performance and high robustness. Stability analysis of univariable and multivariable constrained PFC is fulfilled.A simple real-time operation system - MotionOS is designed to improve adaptablity of the servo control system. Speed and postion servo functions are integrated into it and preemptive static task schedule is used. MotionOS can be applied to many applications such as sewing and textile machinery to improve development effiency.Servo control system for industrial lockstitch sewing machine is developed based on MotionOS. It provides fast response and sufficient precision control of speed and position. Automatic functions such as needle positioning, automatic trimmer and wiper, backtacking, constant-stitch sewing are fulfilled. Dozens of tunable parameters are provided to improve flexibility. Pedal sensor is designed for speed adjustment and synchronizer using magnetic sensors is designed for needle positioning. An operatation panel is also designed to set sewing pattern and these sewing parameters are downloaded to master control board. And CAN interface is preserved for remote network control.TMS320F2407A digital signal processor (DSP) is selected as the CPU of the whole system and PM20CS060 intelligent power module (IPM) is selected for power drive. Hardware design is precise and flexible. Circuits have strong ability of noise resistance. Some isolation and shield methods are used to improve performance of electro magnetic compatibility (EMC). Results of system test and plant probation show that the whole control system has good performance with lower cost and has
bright market prospect.
论文针对小惯量永磁同步电机,利用简易低分辨率光电编码器,提出一种无电流传感器空间电压矢量控制,即直接利用电压矢量进行控制,并对电压矢量进行角度补偿。由于省略了电流环,使整个控制系统硬软件结构更加简洁,可一定程度上节约材料成本。系统采用PFC-PID串级控制策略,速度环采用PID控制以提高抗干扰性,而位置环则采用预测函数控制来获得良好的跟踪性能和强鲁棒性。同时,对单变量预测函数控制进行了结构分析和稳定性分析,并进一步分析了多变量受约束预测函数控制的稳定性问题。
为增强伺服系统的适用性,设计了一个简单的实时操作系统MotionOS,将速度和位置伺服功能整合其中,采用抢占式静态任务调度方式,可广泛应用到各种缝制设备和纺织机械中,大为提高开发效率。
针对高速工业平缝机,基于MotionOS设计了一套工业平缝机伺服控制系统,具有快速响应、定位精确的特点,可实现自动上下停针位、自动切线、自动倒缝、自动定针缝等功能,并提供针迹补偿等几十个可调参数以提高控制器的性能和灵活性。同时设计脚踏板调速器实现调速功能,并设计基于磁性传感器的机头定位器实现上下停针功能。缝制花样和参数由操作面板进行设置,并通过串行通信接口下载到主控板上。控制系统预留CAN网络接口以实现远程网络控制。
控制系统选用TI公司的TMS320F2407A DSP作为主控芯片,三菱PM20CSJ060 IPM作为功率驱动模块,硬件设计精密灵活,电路具备很强的抗干扰能力,并采用多种隔离和屏蔽措施以提高EMC性能。系统测试和服装厂小批量试用结果表明整套控制系统完全满足工业平缝机的缝制需要,有较高的性能价格比,具备良好的市场前景。
Ac servo drives employing permanent magnet synchronous motors are being used for various purposes in consumer products and industry applications. Although their technical advantages are generally acknowledged, researchers are becoming aware of their cost and are exploring the possibility of cost reduction. Especially for industrial sewing machines, a servo control system with low cost but high performance is needed.A current sensorless space voltage vector control algorithm is presented to the control of permanent magnet synchronous motors using simple low-resolution photoelectric encoder. This method directly control voltage vector and compensate the difference between voltage vector and current vector. The hardware and software are simplified without current sensors and cost is reduced.A cascaded control structure is presented for the sevo control system. PID controller is used to control the motor speed to improve interference immunity. Predictive functional control (PFC) is use to control the position to obtain good tracking performance and high robustness. Stability analysis of univariable and multivariable constrained PFC is fulfilled.A simple real-time operation system - MotionOS is designed to improve adaptablity of the servo control system. Speed and postion servo functions are integrated into it and preemptive static task schedule is used. MotionOS can be applied to many applications such as sewing and textile machinery to improve development effiency.Servo control system for industrial lockstitch sewing machine is developed based on MotionOS. It provides fast response and sufficient precision control of speed and position. Automatic functions such as needle positioning, automatic trimmer and wiper, backtacking, constant-stitch sewing are fulfilled. Dozens of tunable parameters are provided to improve flexibility. Pedal sensor is designed for speed adjustment and synchronizer using magnetic sensors is designed for needle positioning. An operatation panel is also designed to set sewing pattern and these sewing parameters are downloaded to master control board. And CAN interface is preserved for remote network control.TMS320F2407A digital signal processor (DSP) is selected as the CPU of the whole system and PM20CS060 intelligent power module (IPM) is selected for power drive. Hardware design is precise and flexible. Circuits have strong ability of noise resistance. Some isolation and shield methods are used to improve performance of electro magnetic compatibility (EMC). Results of system test and plant probation show that the whole control system has good performance with lower cost and has
bright market prospect.
引文
1.杨明才等.工业缝纫设备手册.江苏科学技术出版社,2004
2. http://www.texnet.com.cn/
3. http://www.sewwold.com/
4. http://www.sewinginfo.com/
5.JK-8900D高速单针平缝自动切线缝纫机使用说明书.上海杰克缝纫机有限公司,2004
6.贺欣HVP-60 AC伺服马达使用说明书.贺欣机械厂股份有限公司,2004
7.HVP-60 Parameter Description.贺欣机械厂股份有限公司,2004
8. http://www.hohsing.com/
9. http://www.juki.com/
10.DDL-5570/5580型高速单针自动剪线平缝机.中外缝制设备,2001(4)
11. http://www.powermaxtech.com/
12. http://china.stmstar.co.kr/
13. AC Servo Motor & Controller User Guide. Unicorn Industrial Sewing Machine Corp, 2004
14. SV-806 Macro Servo Motor Operation Manual Version 1.20. Houng Hu Scientific Co. Ltd, 2004
15.JK-8568—04高速裤带环绷缝机使用说明书.上海杰克缝纫机有限公司,2004
16.JK798-5200/3126超高速包缝机使用说明书.上海杰克缝纫机有限公司,2004
17.S7200-A电脑直接驱动式自动切线平缝机使用手册.兄弟工业株式会社,2004
18.直接驱动高速电子平缝曲折缝缝纫机LZ-2290A/IP-100/SC915使用说明书.Tokyo, Juki Corporation, 2004
19. Single Needle Zigzag LockStitcher ZM-8500 Catalog. http://www.brother.com, 2004
20.高速电子加固缝缝纫机LK-1900A使用说明书.Tokyo,Juki Corporation,2004
21.JK5482D-3双针平缝机使用说明书.上海杰克缝纫机有限公司,2004
22.潘月斗.全数字交流永磁同步电动机伺服系统及其控制策略的研究.天津:天津大学博士学位论文,2001
23.秦忆等.现代交流伺服系统.武汉,华中理工出版社,1995
24.陈伯时.电力拖动自动控制系统.北京,机械工业出版社,1992
25.陈伯时.交流调速系统.北京,机械工业出版社,2000
26.唐任远.现代永磁电机理论与设计.北京,机械工业出版社,1997
27.李宗明等.稀土永磁电机.北京,国防工业出版社,1999
28. B. K. Bose. Modem Power Electronics and AC Drives. Prentice Hall PTR, 2000
29. J. P. Agrawai. Power Electronic Systems-Theory and Design. Prentice Hall, Inc. 2001
30. Using Intelligent Power Modules. Mitsubishi Electric, 1998
31.DIP-IPM Version 3应用技术资料DPH-2588-B.三菱电机株式会社功率半导体事业统括部,2003
32.IPM(智能功率模块)应用手册.三菱电机集团上海摄阳国际贸易有限公司,2003
33. 6MBI20GS-060 IGBT Modules Datasheet. Fuji Electric, 2002
34. TMS320LF/LC240xA DSP Controllers Reference Guide-System and Peripherals. SPRU357b. Texas Instruments, 2001
35.韩安太,刘峙飞,黄海.DSP控制器原理及其在运动控制中的应用.北京,清华大学出版社,2004
36.李志民,张遇杰.同步电动机调速系统.北京,机械工业出版社,1996
37. E. Simon. Implementation of a Speed Field Oriented Control of 3-phase PMSM Motor using TMS320F240. SPRA588, Texas Instruments, 1999
38.尔桂花,窦曰轩.运动控制系统.北京,清华大学出版社,2002
39.李夙.异步电动机直接转矩控制.北京,机械工业出版社,1994
40. B. K. Bose. Expert System, Fuzz, Logic and Neural Network Applications in Power Electronics and Motion Control. Proc. IEEE, Vol.82:1303-1323, Aug. 1994
41.李艳,邵日祥等.模糊控制在电气传动中的运用状况及前景.电气传动,1997(2):3-9
42. F. J. Lin, S. L. Chiu. Adaptive Fuzzy Sliding-mode Control for PM Synchronous Servo Motor Drive. IEE on Control Theory Appl., 1998, 145(1)
43. V. Petrovic et al. Design and Implementation of an Adaptive Controller for Torque Ripple Minimization in PM Synchronous Motors. IEEE Trans. on PE, 2000,15(5): 871-880
44. C. Y Won, D. H. Kin, B. K. Bose. An Induction Motor Servo System with Improved Sliding Mode Control. IECON'92: 60-66, 1992
45. Y. F, A. Kawamura, Robust Servo System based on Two-degree of Freedom control with sliding mode, IEEE Trans. Ind. Electron. 1995,42(3):272-280
46. H. Suginoto, S. Tamai, Secondary Resistance Identification of an Induction Motor Applied Model Reference Adaptive System and its Characteristics. IEEE Transactions on Industry Applications,1987,23(2).296-303
47. J. Riehalet, et al. Model Predictive Heuristic Control: Application to Induatrial Processes. Automatica, 1978, 14(5): 413-428
48. C. R. Cutler, B. L. Ramaker, Dynamic Matrix Control-A Computer Control Algorithm. Proc. of JACC, San Francisco, 1980
49. D. W. Clarke, C. Mohtadi, P. S. Tuffs, Generalized Predictive Control-Part 1. The Basic Algorithm. Automatica, 1987, 23(2): 137-148
50.舒迪前.预测控制系统及其应用.北京,机械工业出版社,1995
51.葛宝明,蒋静坪.永磁同步电动机传动系统的模型算法控制.中国电机工程学报,1999,19(10):27-31
52.葛宝明.模型算法控制的交流位置伺服系统.电气传动,2001(4):
53.苏义鑫.位置跟踪系统的预测研究.中国机械工程,2001,12(12):1356-1358
54. J. Richalet, H. Kuntze. Predictive Functional Control: Application to Fast and Accurate Robots. IFAC 10th World Congress, Munich, 1987: 251-258
55. H. B. Kuntze, A. Jacubasch, J. Richaet and C. Arber. On the Predictive Functional Control of an Elastic Industrial Robot. Proc. 25th CDC, Athens, Greece, 1986: 1877-1881
56. J. M. Compas, P. Decarreau, G. Lanquetin, et. al,. Industrial Applications of Predictive Functional Control to Rolling Mill, Fast Robot, River Dam. Proc. 3th IEEE Conference on Control Applications. Glasgow, UK, 1994, 3:1643-1655
57. D. Cuadrado, P. Deearreau and A. Coic.. Application of Global Identification and Predictive Functional Control to a Tracking Turret. ECC91 European Control Control Conference, Grenoble, France, 1991 (7): 2-5
58. D. Cuadrado, P. Decarreau and S. Abu. Computer Aided Design of Weapon System Guidance and Control with Predictive Funcitional Control Technique. Proc. Conference of Software for Guidance and Control(AGARD-CP-503), 1991(5)
59. J. L. Estival, A. Huguel. Predictive Thicknes Control for Aluminium Cold Rolling Mills, Revue Generale de l'Electricite 1993(5):32-29
60. S. A. AtaDoss, P. Fiani and J. Richalet. Handling Input and State Constraints in Predictive Functional Control. Proc. 30th CDC, Brighton, UK, 1991 (12):985-990
61. J. Richalet, J. L. Estival and P. Fiani. Industrial Applications of Predictive Functional Control to Metallurgical Industries. Proc. 4th IEEE, Confrernce on control Applictions, Piscataway, NJ, USA,1995,4:934-942
62. J. Richalet. Parametric Predictive Control of Enthalpic Processes. ADERSA, 1996
63.金晓明.模糊控制、预测控制与工业过程中的先进控制.杭州:浙江大学博士学位论文,1998
64. D. Dumur, P. Boucher, T. Kolb. Application of Cascaded Constrained Receding Horizon Predictive Control to an Induction Machine. Proc. IEEE Conference on Control Applications, Dearborn, MI, USA, 1996: 883-893
65. E Boueher, D. Dumur, D. Giaffreda. Delta Constrained Receding Horizon Predictive Control. Proc. IEEE Conference on Control Applications, Hartford, CT, USA, 1997:247-249
66.谢剑英,席裕庚,季雪伟.预测-PID串级控制及其应用,控制理论与应用,1991,8(2):196-200
67.陈增强,车海平,袁著祉,崔保民.预测-PID串级控制及其在锅炉液位系统中的应用,控制与决策,1994,9(5):379-382
68.赵昀.预测函数控制及其在芳烃精熘先进控制中的应用.杭州:浙江大学硕士学位论文,1999(1)
69.张泉灵,预测函数控制及应用研究.浙江大学博士学位论文,1999(12)
70. C. M. Krishna, K. G. Shin, Real Time System. McGraw Hill, Inc. 1997
71. P. A. Laplante. Real Time System Design and Analysis, third edition. A John Wiley & Sons, Inc., 2004
72. M. Joseph. Real-time Systems Specification Verification and Analysis. Prentice Hall International, 1996
73. J. F. Ready. VRTX: A Real Time Operating System for Embedded Microprocessors Applications. IEEE MICRO, 1996(8): 5-11
74. H. Monden. Introduction to ITRON the Industry-oriented Operating System. IEEE MICRO, 1987(4): 45-52
75. B. K. Seljak. Task Scheduling Policies for Real-time Systems. Microprocessors and Microsystems, 1994, 18(9): 501-504
76. Labrosse, J. Jean, μC/OS-Ⅱ: The Real-Time Kernel. Lawrence, Kansas R&D Publications, 1992
77. R. Bert. Introduction to Real-time Operation Systems. Department of Electrical and Computer Engineering, University of Newcastle, Australia, 2001
78.孔祥营等.嵌入式实时操作系统VxWorks及其开发环境Tornado.北京,中国电力出版社,2001
79.张琛.直流无刷电动机原理及应用.北京.机械工业出版社.2001
80. P. Pillay, R. Krishnan. Modeling, Simulation, and Analysis of Permanent-Magnet Motor Drives, Part Ⅰ: The Permanent-Magnet Synchronous Motor Drive. IEEE Transactions on Industry Applications, 1989, 25(2): 165-273
81. P. Pillay, R. Krishnan. Modeling, Simulation, and Analysis of Permanent Magnet Motor Drives, Part Ⅱ: The Brushless DC Motor Drive. IEEE Transactions on Industry Applications, 1989, 25(2): 274-279
82. T. Jahns. Torque Production in Permanent Magnet Synchronous Motor Drives with Rectangular Current Excitation. IEEE Trans. Ind. Applicat., 1984, 20(4): 803-813
83. P. Pillay, R. Krishnan. Application Characteristics of Permanent Magnet Synchronous and Brushless DC Motors for Servo Drives. IEEE Transactions On Industry Applications, 1991, 27(5): 986-996
84.王萍等.无刷直流电机中霍尔元件的空间配置.微电机,2003,36(6):16-18
85.周春晖.化工过程控制原理(第二版).化学工业出版社,1998
86. J. O'Neil. Motion Control Handbook. Micro Mo Electronics, Inc., 1998
87.程金林,周学才.国产MCT8000运动控制器的轨迹规划系统.深圳摩信科技有限公司,2001
88. D. Hrovat, B. Bodenheimer. Robust Automotive Idle Speed Control Design Based on μ Synthesis. Proceedings of American Control Conf., San Francisco, 1993: 361-367
89. D. Mayne, J. Rawlings, et al. Constrained Model Predictive Control: Stability and Optimality. Automatica, 2000, 36(6): 789-814
90. O. Kaynak, Melancon P., Rajagopalan V. Model Predictive Heuristic Control of a Position Servo System in Robotics Application. IEEE Journal of Robotics and automation, 1987, RA-3(5): 481-485
91. K. Brian, D. M. Ritchie. The C Progranuning Language, 2nd edition. Prentice Hall, 1988
92.直射式红外光电传感器NT140 Datasheet.南旭科技,2004
93.AH3144 Datasheet.南京艾驰电子科技有限公司,2004
94. TOPSwitch Flyback Design Methodology. POWER INTEGRATIONS, 1994
95. Flyback Transformer Design For TOPSwitch Power Supplies. POWER INTEGRATIONS, 1994
96.王英剑,何希才等.新型开关电源实用技术.电子工业出版社,1999
97. PM20CSJ060 Datasheet. Mitsubishi Electric, 2000
98. High CMR, High Speed Optocouplers Technical Data. HP Inc., 2002
99. AT89S52 Datasheet. Atmel Inc., 2001
100. X5043/X5045 Datasheet. Xicor Inc., 2001
101. 74HC/HCT541 Datasheet. Philips Inc., 1990
102. M75176 Datasheet. Mitsubishi Inc., 2000
103. M. Kudo, Y. Nasu, K.Mitobe, B. Borovac. Multi-arm Robot Control System for Manipulation of Flexible Materials in Sewing Operation. Mechatronics, 10(2000): 371-402
2. http://www.texnet.com.cn/
3. http://www.sewwold.com/
4. http://www.sewinginfo.com/
5.JK-8900D高速单针平缝自动切线缝纫机使用说明书.上海杰克缝纫机有限公司,2004
6.贺欣HVP-60 AC伺服马达使用说明书.贺欣机械厂股份有限公司,2004
7.HVP-60 Parameter Description.贺欣机械厂股份有限公司,2004
8. http://www.hohsing.com/
9. http://www.juki.com/
10.DDL-5570/5580型高速单针自动剪线平缝机.中外缝制设备,2001(4)
11. http://www.powermaxtech.com/
12. http://china.stmstar.co.kr/
13. AC Servo Motor & Controller User Guide. Unicorn Industrial Sewing Machine Corp, 2004
14. SV-806 Macro Servo Motor Operation Manual Version 1.20. Houng Hu Scientific Co. Ltd, 2004
15.JK-8568—04高速裤带环绷缝机使用说明书.上海杰克缝纫机有限公司,2004
16.JK798-5200/3126超高速包缝机使用说明书.上海杰克缝纫机有限公司,2004
17.S7200-A电脑直接驱动式自动切线平缝机使用手册.兄弟工业株式会社,2004
18.直接驱动高速电子平缝曲折缝缝纫机LZ-2290A/IP-100/SC915使用说明书.Tokyo, Juki Corporation, 2004
19. Single Needle Zigzag LockStitcher ZM-8500 Catalog. http://www.brother.com, 2004
20.高速电子加固缝缝纫机LK-1900A使用说明书.Tokyo,Juki Corporation,2004
21.JK5482D-3双针平缝机使用说明书.上海杰克缝纫机有限公司,2004
22.潘月斗.全数字交流永磁同步电动机伺服系统及其控制策略的研究.天津:天津大学博士学位论文,2001
23.秦忆等.现代交流伺服系统.武汉,华中理工出版社,1995
24.陈伯时.电力拖动自动控制系统.北京,机械工业出版社,1992
25.陈伯时.交流调速系统.北京,机械工业出版社,2000
26.唐任远.现代永磁电机理论与设计.北京,机械工业出版社,1997
27.李宗明等.稀土永磁电机.北京,国防工业出版社,1999
28. B. K. Bose. Modem Power Electronics and AC Drives. Prentice Hall PTR, 2000
29. J. P. Agrawai. Power Electronic Systems-Theory and Design. Prentice Hall, Inc. 2001
30. Using Intelligent Power Modules. Mitsubishi Electric, 1998
31.DIP-IPM Version 3应用技术资料DPH-2588-B.三菱电机株式会社功率半导体事业统括部,2003
32.IPM(智能功率模块)应用手册.三菱电机集团上海摄阳国际贸易有限公司,2003
33. 6MBI20GS-060 IGBT Modules Datasheet. Fuji Electric, 2002
34. TMS320LF/LC240xA DSP Controllers Reference Guide-System and Peripherals. SPRU357b. Texas Instruments, 2001
35.韩安太,刘峙飞,黄海.DSP控制器原理及其在运动控制中的应用.北京,清华大学出版社,2004
36.李志民,张遇杰.同步电动机调速系统.北京,机械工业出版社,1996
37. E. Simon. Implementation of a Speed Field Oriented Control of 3-phase PMSM Motor using TMS320F240. SPRA588, Texas Instruments, 1999
38.尔桂花,窦曰轩.运动控制系统.北京,清华大学出版社,2002
39.李夙.异步电动机直接转矩控制.北京,机械工业出版社,1994
40. B. K. Bose. Expert System, Fuzz, Logic and Neural Network Applications in Power Electronics and Motion Control. Proc. IEEE, Vol.82:1303-1323, Aug. 1994
41.李艳,邵日祥等.模糊控制在电气传动中的运用状况及前景.电气传动,1997(2):3-9
42. F. J. Lin, S. L. Chiu. Adaptive Fuzzy Sliding-mode Control for PM Synchronous Servo Motor Drive. IEE on Control Theory Appl., 1998, 145(1)
43. V. Petrovic et al. Design and Implementation of an Adaptive Controller for Torque Ripple Minimization in PM Synchronous Motors. IEEE Trans. on PE, 2000,15(5): 871-880
44. C. Y Won, D. H. Kin, B. K. Bose. An Induction Motor Servo System with Improved Sliding Mode Control. IECON'92: 60-66, 1992
45. Y. F, A. Kawamura, Robust Servo System based on Two-degree of Freedom control with sliding mode, IEEE Trans. Ind. Electron. 1995,42(3):272-280
46. H. Suginoto, S. Tamai, Secondary Resistance Identification of an Induction Motor Applied Model Reference Adaptive System and its Characteristics. IEEE Transactions on Industry Applications,1987,23(2).296-303
47. J. Riehalet, et al. Model Predictive Heuristic Control: Application to Induatrial Processes. Automatica, 1978, 14(5): 413-428
48. C. R. Cutler, B. L. Ramaker, Dynamic Matrix Control-A Computer Control Algorithm. Proc. of JACC, San Francisco, 1980
49. D. W. Clarke, C. Mohtadi, P. S. Tuffs, Generalized Predictive Control-Part 1. The Basic Algorithm. Automatica, 1987, 23(2): 137-148
50.舒迪前.预测控制系统及其应用.北京,机械工业出版社,1995
51.葛宝明,蒋静坪.永磁同步电动机传动系统的模型算法控制.中国电机工程学报,1999,19(10):27-31
52.葛宝明.模型算法控制的交流位置伺服系统.电气传动,2001(4):
53.苏义鑫.位置跟踪系统的预测研究.中国机械工程,2001,12(12):1356-1358
54. J. Richalet, H. Kuntze. Predictive Functional Control: Application to Fast and Accurate Robots. IFAC 10th World Congress, Munich, 1987: 251-258
55. H. B. Kuntze, A. Jacubasch, J. Richaet and C. Arber. On the Predictive Functional Control of an Elastic Industrial Robot. Proc. 25th CDC, Athens, Greece, 1986: 1877-1881
56. J. M. Compas, P. Decarreau, G. Lanquetin, et. al,. Industrial Applications of Predictive Functional Control to Rolling Mill, Fast Robot, River Dam. Proc. 3th IEEE Conference on Control Applications. Glasgow, UK, 1994, 3:1643-1655
57. D. Cuadrado, P. Deearreau and A. Coic.. Application of Global Identification and Predictive Functional Control to a Tracking Turret. ECC91 European Control Control Conference, Grenoble, France, 1991 (7): 2-5
58. D. Cuadrado, P. Decarreau and S. Abu. Computer Aided Design of Weapon System Guidance and Control with Predictive Funcitional Control Technique. Proc. Conference of Software for Guidance and Control(AGARD-CP-503), 1991(5)
59. J. L. Estival, A. Huguel. Predictive Thicknes Control for Aluminium Cold Rolling Mills, Revue Generale de l'Electricite 1993(5):32-29
60. S. A. AtaDoss, P. Fiani and J. Richalet. Handling Input and State Constraints in Predictive Functional Control. Proc. 30th CDC, Brighton, UK, 1991 (12):985-990
61. J. Richalet, J. L. Estival and P. Fiani. Industrial Applications of Predictive Functional Control to Metallurgical Industries. Proc. 4th IEEE, Confrernce on control Applictions, Piscataway, NJ, USA,1995,4:934-942
62. J. Richalet. Parametric Predictive Control of Enthalpic Processes. ADERSA, 1996
63.金晓明.模糊控制、预测控制与工业过程中的先进控制.杭州:浙江大学博士学位论文,1998
64. D. Dumur, P. Boucher, T. Kolb. Application of Cascaded Constrained Receding Horizon Predictive Control to an Induction Machine. Proc. IEEE Conference on Control Applications, Dearborn, MI, USA, 1996: 883-893
65. E Boueher, D. Dumur, D. Giaffreda. Delta Constrained Receding Horizon Predictive Control. Proc. IEEE Conference on Control Applications, Hartford, CT, USA, 1997:247-249
66.谢剑英,席裕庚,季雪伟.预测-PID串级控制及其应用,控制理论与应用,1991,8(2):196-200
67.陈增强,车海平,袁著祉,崔保民.预测-PID串级控制及其在锅炉液位系统中的应用,控制与决策,1994,9(5):379-382
68.赵昀.预测函数控制及其在芳烃精熘先进控制中的应用.杭州:浙江大学硕士学位论文,1999(1)
69.张泉灵,预测函数控制及应用研究.浙江大学博士学位论文,1999(12)
70. C. M. Krishna, K. G. Shin, Real Time System. McGraw Hill, Inc. 1997
71. P. A. Laplante. Real Time System Design and Analysis, third edition. A John Wiley & Sons, Inc., 2004
72. M. Joseph. Real-time Systems Specification Verification and Analysis. Prentice Hall International, 1996
73. J. F. Ready. VRTX: A Real Time Operating System for Embedded Microprocessors Applications. IEEE MICRO, 1996(8): 5-11
74. H. Monden. Introduction to ITRON the Industry-oriented Operating System. IEEE MICRO, 1987(4): 45-52
75. B. K. Seljak. Task Scheduling Policies for Real-time Systems. Microprocessors and Microsystems, 1994, 18(9): 501-504
76. Labrosse, J. Jean, μC/OS-Ⅱ: The Real-Time Kernel. Lawrence, Kansas R&D Publications, 1992
77. R. Bert. Introduction to Real-time Operation Systems. Department of Electrical and Computer Engineering, University of Newcastle, Australia, 2001
78.孔祥营等.嵌入式实时操作系统VxWorks及其开发环境Tornado.北京,中国电力出版社,2001
79.张琛.直流无刷电动机原理及应用.北京.机械工业出版社.2001
80. P. Pillay, R. Krishnan. Modeling, Simulation, and Analysis of Permanent-Magnet Motor Drives, Part Ⅰ: The Permanent-Magnet Synchronous Motor Drive. IEEE Transactions on Industry Applications, 1989, 25(2): 165-273
81. P. Pillay, R. Krishnan. Modeling, Simulation, and Analysis of Permanent Magnet Motor Drives, Part Ⅱ: The Brushless DC Motor Drive. IEEE Transactions on Industry Applications, 1989, 25(2): 274-279
82. T. Jahns. Torque Production in Permanent Magnet Synchronous Motor Drives with Rectangular Current Excitation. IEEE Trans. Ind. Applicat., 1984, 20(4): 803-813
83. P. Pillay, R. Krishnan. Application Characteristics of Permanent Magnet Synchronous and Brushless DC Motors for Servo Drives. IEEE Transactions On Industry Applications, 1991, 27(5): 986-996
84.王萍等.无刷直流电机中霍尔元件的空间配置.微电机,2003,36(6):16-18
85.周春晖.化工过程控制原理(第二版).化学工业出版社,1998
86. J. O'Neil. Motion Control Handbook. Micro Mo Electronics, Inc., 1998
87.程金林,周学才.国产MCT8000运动控制器的轨迹规划系统.深圳摩信科技有限公司,2001
88. D. Hrovat, B. Bodenheimer. Robust Automotive Idle Speed Control Design Based on μ Synthesis. Proceedings of American Control Conf., San Francisco, 1993: 361-367
89. D. Mayne, J. Rawlings, et al. Constrained Model Predictive Control: Stability and Optimality. Automatica, 2000, 36(6): 789-814
90. O. Kaynak, Melancon P., Rajagopalan V. Model Predictive Heuristic Control of a Position Servo System in Robotics Application. IEEE Journal of Robotics and automation, 1987, RA-3(5): 481-485
91. K. Brian, D. M. Ritchie. The C Progranuning Language, 2nd edition. Prentice Hall, 1988
92.直射式红外光电传感器NT140 Datasheet.南旭科技,2004
93.AH3144 Datasheet.南京艾驰电子科技有限公司,2004
94. TOPSwitch Flyback Design Methodology. POWER INTEGRATIONS, 1994
95. Flyback Transformer Design For TOPSwitch Power Supplies. POWER INTEGRATIONS, 1994
96.王英剑,何希才等.新型开关电源实用技术.电子工业出版社,1999
97. PM20CSJ060 Datasheet. Mitsubishi Electric, 2000
98. High CMR, High Speed Optocouplers Technical Data. HP Inc., 2002
99. AT89S52 Datasheet. Atmel Inc., 2001
100. X5043/X5045 Datasheet. Xicor Inc., 2001
101. 74HC/HCT541 Datasheet. Philips Inc., 1990
102. M75176 Datasheet. Mitsubishi Inc., 2000
103. M. Kudo, Y. Nasu, K.Mitobe, B. Borovac. Multi-arm Robot Control System for Manipulation of Flexible Materials in Sewing Operation. Mechatronics, 10(2000): 371-402