基于DSP的多相永磁同步电机矢量控制系统
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摘要
矢量控制使交流调速系统的性能产生了质的飞跃，多相永磁同步电机矢量控制系统更是提高了系统性能，增强了系统可靠性。本文以双Y移30°六相永磁同步电机为例，在简要介绍三相永磁同步电机矢量控制的基础上，通过坐标变换建立了多相永磁同步电机矢量控制的数学模型。同时，利用多相电机的相冗余特点，对定子侧绕组开路或逆变器桥臂故障时不对称多相永磁同步电机的补偿控制进行了重点阐述，提出了两种补偿控制方法，即基于故障前后定子绕组产生的合成磁动势不变的补偿方法，和采用改进旋转坐标变换实现的新型矢量控制方法。多相永磁同步电机矢量控制系统的数字仿真结果表明，正常时多相永磁同步电机的性能远远优于普通三相永磁同步电机，更为重要的是，故障后形成的不对称多相永磁同步电机采用补偿控制策略时，其性能可与正常时的性能相媲美，从系统级上提高了交流调速系统的可靠性。
针对PI控制器的不足，本文在介绍模糊控制原理的基础上，还为多相永磁同步电机矢量控制系统设计了基于PI+EFLC(增强型模糊逻辑控制器)的双模控制器，并取得了满意的仿真结果。
最后，本文以DSP和CPLD为核心，构造了多相永磁同步电机矢量控制系统的硬件系统，并对其软件设计做了相应介绍。
The performance of AC variable speed drive system has been improved greatly since field-oriented control is applie'd, and the reliability of drive system composed of multiphase Permanent Magnet Synchronous Motor (PMSM) is enhanced. After the field-oriented control of three-phase PMSM drive system is introduced in brief, a mathematical model of multiphase PMSM, taking a six-phase PMSM with a dual-star winding for example, is derived by coordinates transformation. Additionally, taking phase redundancy into account, the compensation control of multiphase PMSM is illustrated emphatically when one (or more than one) leg of the motor or the corresponding inverter is lost, and two compensation schemes are presented. One is based on producing the same magnetic motive force under fault condition as that under normal condition, and the other is novel field-oriented control based on the improved rotary frame transformation adopted. The simulation results of both the multiphase PMSM and three-phase PMSM show that the fo
rmer performance is much better than the later one, and that the multiphase PMSM under fault condition operates as well as under normal condition when compensation control is applied. So the conclusion is drawn that the performance of multiphase PMSM variable speed driver system gains an advantage over the counterpart of three-phase PMSM and the former reliability is much better than the later one.
Moreover, after the principle of fuzzy control is illustrated, a dual-model control scheme based on PI (Proportional Integral)+EFLC (Enhanced Fuzzy Logic Controller) is also brought forward, so that the disadvantage of the PI controller will be avoided. The simulation results show that the scheme is desirable.
A hardware based DSP (Digital Signal Processor) and CPLD (Complex Programmable Logic Device) for multiphase PMSM variable speed drive system is established, and the corresponding software design is also presented in the paper.
针对PI控制器的不足，本文在介绍模糊控制原理的基础上，还为多相永磁同步电机矢量控制系统设计了基于PI+EFLC(增强型模糊逻辑控制器)的双模控制器，并取得了满意的仿真结果。
最后，本文以DSP和CPLD为核心，构造了多相永磁同步电机矢量控制系统的硬件系统，并对其软件设计做了相应介绍。
The performance of AC variable speed drive system has been improved greatly since field-oriented control is applie'd, and the reliability of drive system composed of multiphase Permanent Magnet Synchronous Motor (PMSM) is enhanced. After the field-oriented control of three-phase PMSM drive system is introduced in brief, a mathematical model of multiphase PMSM, taking a six-phase PMSM with a dual-star winding for example, is derived by coordinates transformation. Additionally, taking phase redundancy into account, the compensation control of multiphase PMSM is illustrated emphatically when one (or more than one) leg of the motor or the corresponding inverter is lost, and two compensation schemes are presented. One is based on producing the same magnetic motive force under fault condition as that under normal condition, and the other is novel field-oriented control based on the improved rotary frame transformation adopted. The simulation results of both the multiphase PMSM and three-phase PMSM show that the fo
rmer performance is much better than the later one, and that the multiphase PMSM under fault condition operates as well as under normal condition when compensation control is applied. So the conclusion is drawn that the performance of multiphase PMSM variable speed driver system gains an advantage over the counterpart of three-phase PMSM and the former reliability is much better than the later one.
Moreover, after the principle of fuzzy control is illustrated, a dual-model control scheme based on PI (Proportional Integral)+EFLC (Enhanced Fuzzy Logic Controller) is also brought forward, so that the disadvantage of the PI controller will be avoided. The simulation results show that the scheme is desirable.
A hardware based DSP (Digital Signal Processor) and CPLD (Complex Programmable Logic Device) for multiphase PMSM variable speed drive system is established, and the corresponding software design is also presented in the paper.
引文
[1] 符曦．感应电动机的矢量控制及应用．北京：机械工业出版社，1986，2-50
[2] Bimal K. Bose. Power Electronics and Motion Control-Technology Status and Recent Trends, IEEE. Trans. Ind. App. 1993,25(5):902-908
[3] 唐任远．现代永磁电机理论与设计．北京：机械工业出版社，1997，42-45
[4] 张伟．无转速传感器异步电机矢量控制系统控制方法的研究：[博士学位论文]．杭州：浙江大学，2001，3-10
[5] Bimal K. Bose. Expert System, Fuzzy Logic, and Neural Network Applications in Power Electronics and Motion Control. Proceedings of the IEEE, 1994,82(8):1303-1323
[6] Hung, J.Y., Mo-Yuen Chow. Optimal excitation of a permanent magnet synchronous motor having an open-circuit phase. IEEE 2002 28th Annual Conference, 2002,2:1130-1133
[7] Tong Liu, Husain I., Elbuluk M.. Torque Ripple Minimization with On-line Parameter Estimation Using Neural Networks in Permanent Magnet Synchronous Motors. Ind. App. Conference of IEEE, 1998,1: 35-40
[8] Silva Neto J.L., Le-Huy H.. An improved fuzzy learning algorithm for motion control applications. Proceedings of the 24th Annual Conference of the IEEE, 1998,1:1-5
[9] Wang Chengyuan, Li Haodong, Xia Jiakuan. Study of intelligent vector control system based on TMS320F240. Proceedings of the Fifth International Conference on Electrical Machines and Systems, 2001,1:550-553
[10] De Azevedo H.R., Wong K.P.. A fuzzy logic controller for permanent magnet synchronous machine. APEC'93 Conference Proceedings 1993, March:122-127
[11] Golea N., Golea A., Benmahammed K.. Fuzzy direct adaptive control of permanent magnet synchronous motor drive. 1998 International Conference on Power System Technology, 1998,1:600-604
[12] Sepe R.B., Lang J.H.. Real-time adaptive control of the permanent-
magnet synchronous motor. IEEE Trans. Ind. App., 1991,1:706-714
[13] Guney I., Oguz Y., Serteller F.. Dynamic behaviour model of permanent magnet synchronous motor fed by PWM inverter and fuzzy logic controller for stator phase current, flux and torque control of PMSM. IEEE International Conference on Electric Machines and Drives, 2001:479-485
[14] Teck-Seng Low, Tong-Heng Lee, Kuan-Teck Chang. An optimal speed controller for permanent-magnet synchronous motor drives. Proceedings of the 1992 International Conference on Industrial Electronics, Control, Instrumentation, and Automation, 1992,1: 407-412
[15] Bin Zhang, Yaohua Li, Yansheng Zuo. A DSP-Based Fully Digital PMSM Servo Drive Using On-Line Self-Tuning PI Controller. Power Electronics and Motion Control Conference, 2000,2:1012-1017
[16] Bhim Singh, Putta Swamy C.L., Singh B.P., Chandra A., et al. Performance analysis of fuzzy logic controlled permanent magnet synchronous motor drive. Proceedings of the 1995 IEEE IECON 21st International Conference on Industrial Electronics, Control, and Instrumentation, 1995,1:399-405
[17] 庄朝晖，熊有伦，马挺．多相感应电机变频调速系统——回顾、现状及展望．电气传动，2001，(2)：3-7
[18] 侯立军，苏彦民，陈林等．多相感应电机调速系统的发展现状和应用前景．微电机，2001，34(5)：42-44
[19] 庄朝晖，唐伏良，熊有伦．多相感应电机空间电压矢量控制研究．电气传动，2001，(5)：9-12
[20] H.A. Toliyat, T.A. Lipo. Analysis and Modeling of Five Phase Converters for Adjustable Speed Drive Application. the European Power Electronics Association, 1993:194-199
[21] Hamid A. Toliyat. Analysis and simulation of five-phase variable speed induction motor drives under asymmetrical connections. IEEE Trans on Power Electronics, 1995,13(4):745-756
[22] Y. Zhao and T.A. Lipo. Space Vector PWM Control of Dual Three-Phase Induction Machine Using Vector Space Decomposition. IEEE. Trans. Ind. App., 1995, Vol. 31(5):1100-1109
[23] Beltrao de Rossiter Correa M., Brandao Jacobina C., Cabral da Silva
E.R., et al. An induction motor drive system with improved fault tolerance. IEEE Transactions on Industry Applications, 2001,37(3): 873-879
[24] Zhang R., Boroyevich D., Prasad V.H., et al. A three-phase inverter with a neutral leg with space vector modulation. APEC'97 Conference Proceedings 1997, 1997,2:857-863
[25] Jahns T.M.. Improved reliability in solid-state drives multiple independent phase drive units. IEEE Trans. Ind. App., 1980, 16: 321-331
[26] Toliyat H.A., Shi R., Huangsheng Xu. A DSP-Based Vector Control of Five-Phase Synchronous Reluctance Motor Industry Applications Conference. IEEE. 2000,3:1759-1765
[27] Pavithran K.N., Parimelalagan R., Krishnamurthy M.R.. Studies on inverter-fed five-phase induction motor drive. IEEE Transactions on Power Electronics, 1988,3(2):224-235
[28] Y. Zhao and T.A. Lipo. Modeling and Control of a Multi-Phase Induction Machine with Structural Unbalance, Part Ⅰ: Machine Modeling and Multi-Dimensional Current Regulation. IEEE Transaction on Energy Conversion, 1996,11(3):570-577
[29] Y. Zhao and T.A. Lipo. Modeling and Control of a Multi-Phase Induction Machine with Structural Unbalance, Part Ⅱ: Field-Oriented Control and Experimental Verification. IEEE Transaction on Energy Conversion, 1996,11(3):578-584
[30] Tian-Hua Liu, Jen-Ren Fu, Lipo T.A..A strategy for improving reliability of field-oriented controlled induction motor drives. IEEE Trans. Ind. App., 1993, 29(5):910-918
[31] Jen-Ren Fu, Lipo T.A.. Disturbance-free operation of a multiphase current-regulated motor drive with an opened phase. IEEE Trans. Ind. App., 1994,30(5):1267-1274
[32] 侯立军，苏彦民等．基于DSP的多相感应电机矢量控制系统的设计和实现．电气自动化，2002，(5)：4-7
[33] 冯垛生，曾岳南．无速度传感器矢量控制原理与实践．北京：机械工业出版社，2001，14-29
[34] 陈伯时．电力拖动自动控制系统(第2版)．北京：机械工业出版社，1995，233-255
[35] P.Pillay, R.Krishnan. Modeling, Simulation, and Analysis of Permanent-Magnet Motor Drivers, Part Ⅰ: The Permanent-Magnet Synchronous Motor Driver. IEEE. Trans. Ind. App. 1989, 25:265-273
[36] Mingzhong Qiao, Xiaofeng Zhang, Xiuming Ren. Research of the mathematical model and sudden symmetrical short circuit of the multi-phase permanent-magnet motor. IEEE Proceedings:on Power System Technology, 2002,2:769-773
[37] 李志平，张遇杰．同步电动机调速系统．北京：机械工业出版社，1998，15-53
[38] 汤蕴谬．电机学——机电能量转换．北京：机械工业出版社，1986，140-184
[39] 陈林，熊有伦．多相感应电动机调速系统研究与应用．微特电机，2002，(1)：33-35
[40] 方保镕，李医民．矩阵论基础．南京：河海大学出版社，1999，140-184
[41] J-P. Martin. Multiple-phase Permanent Magnet Synchronous Machine Supplied By VSIs, Working Under Fault Conditions. Conference Record of 2000 IEEE, 2000,3:1710-1717
[42] 陈桂明，张明照等．应用MATLAB建模与仿真．北京：科学出版社，2001，140-184
[43] 杨纶标，高英仪．模糊数学原理及应用(第三版)．广州：华南理工大学出版社，2001，271-284
[44] 李士勇．模糊控制·神经控制和智能控制论．哈尔滨：哈尔滨工业大学出版社，1996，250-282
[45] 王耀南．计算智能信息处理技术及其应用．长沙：湖南大学出版社，1999，140-184
[46] Chuen Chien Lee. Fuzzy Logic in Control Systems: Fuzzy Logic Controller, Part Ⅰ. IEEE. Transactions on Systems, Man and Cybernetics, 1990,20(2):404-418
[47] Chuen Chien Lee. Fuzzy Logic in Control Systems: Fuzzy Logic Controller, Part Ⅱ. IEEE. Transactions on Systems, Man and Cybernetics, 1990,20(2):419-435
[48] 蒙以正．MATLAB 5．X应用与技巧．北京：科学出版社，1999，119-167
[49] Amin A.H., Hew Wooi Ping, Arof H., et al. Fuzzy Logic Control of a Three Phase Induction Motor Using Field Oriented Control Method. Proceedings of the 41st SICE Annual Conference, 2002,1:264-267
[50] H.R. De Azevedo, K.P. Wong. A fuzzy logic controller for permanent magnet synchronous machine. APEC'93, March 1993:122-127
[51] F. Parasiliti, M. Tursini, D.Q. Zhang. An Analytical Approach to the Derivation of Fuzzy PI Scaling Factors. IEEE International Conference on Power Electronics and Drive Systems, 1997,1:280-285
[52] Guney, I., Oguz Y., Serteller F.. Dynamic Behaviour Model of Permanent Magnet Synchronous Motor Fed by PWM Inverter and Fuzzy Logic Controller for Stator Phase Current, Flux and Torque Control of PMSM. IEMDC'2001, 2001:479-485
[53] Li Jianchun, Wang Qiang, Lu Yongping. The Mathematical Model and Field-Oriented Control For 15-Phase Brushless Direct Current Motor With an Opened Phase. Proceedings of the Fifth International Conference on Electrical Machines and Systems, ICEMS 2001, 2001,2:714-717
[54] 宁改娣，杨拴科．DSP控制器原理及应用．北京：科学出版社，2002，14-189
[55] 曾繁泰，陈美金．VHDL程序设计．北京：清华大学出版社，2001，5-78
[56] 宋万杰，罗丰，吴顺君．CPLD技术及其应用．西安：西北电讯工程学院出版社，1999，132-170
[2] Bimal K. Bose. Power Electronics and Motion Control-Technology Status and Recent Trends, IEEE. Trans. Ind. App. 1993,25(5):902-908
[3] 唐任远．现代永磁电机理论与设计．北京：机械工业出版社，1997，42-45
[4] 张伟．无转速传感器异步电机矢量控制系统控制方法的研究：[博士学位论文]．杭州：浙江大学，2001，3-10
[5] Bimal K. Bose. Expert System, Fuzzy Logic, and Neural Network Applications in Power Electronics and Motion Control. Proceedings of the IEEE, 1994,82(8):1303-1323
[6] Hung, J.Y., Mo-Yuen Chow. Optimal excitation of a permanent magnet synchronous motor having an open-circuit phase. IEEE 2002 28th Annual Conference, 2002,2:1130-1133
[7] Tong Liu, Husain I., Elbuluk M.. Torque Ripple Minimization with On-line Parameter Estimation Using Neural Networks in Permanent Magnet Synchronous Motors. Ind. App. Conference of IEEE, 1998,1: 35-40
[8] Silva Neto J.L., Le-Huy H.. An improved fuzzy learning algorithm for motion control applications. Proceedings of the 24th Annual Conference of the IEEE, 1998,1:1-5
[9] Wang Chengyuan, Li Haodong, Xia Jiakuan. Study of intelligent vector control system based on TMS320F240. Proceedings of the Fifth International Conference on Electrical Machines and Systems, 2001,1:550-553
[10] De Azevedo H.R., Wong K.P.. A fuzzy logic controller for permanent magnet synchronous machine. APEC'93 Conference Proceedings 1993, March:122-127
[11] Golea N., Golea A., Benmahammed K.. Fuzzy direct adaptive control of permanent magnet synchronous motor drive. 1998 International Conference on Power System Technology, 1998,1:600-604
[12] Sepe R.B., Lang J.H.. Real-time adaptive control of the permanent-
magnet synchronous motor. IEEE Trans. Ind. App., 1991,1:706-714
[13] Guney I., Oguz Y., Serteller F.. Dynamic behaviour model of permanent magnet synchronous motor fed by PWM inverter and fuzzy logic controller for stator phase current, flux and torque control of PMSM. IEEE International Conference on Electric Machines and Drives, 2001:479-485
[14] Teck-Seng Low, Tong-Heng Lee, Kuan-Teck Chang. An optimal speed controller for permanent-magnet synchronous motor drives. Proceedings of the 1992 International Conference on Industrial Electronics, Control, Instrumentation, and Automation, 1992,1: 407-412
[15] Bin Zhang, Yaohua Li, Yansheng Zuo. A DSP-Based Fully Digital PMSM Servo Drive Using On-Line Self-Tuning PI Controller. Power Electronics and Motion Control Conference, 2000,2:1012-1017
[16] Bhim Singh, Putta Swamy C.L., Singh B.P., Chandra A., et al. Performance analysis of fuzzy logic controlled permanent magnet synchronous motor drive. Proceedings of the 1995 IEEE IECON 21st International Conference on Industrial Electronics, Control, and Instrumentation, 1995,1:399-405
[17] 庄朝晖，熊有伦，马挺．多相感应电机变频调速系统——回顾、现状及展望．电气传动，2001，(2)：3-7
[18] 侯立军，苏彦民，陈林等．多相感应电机调速系统的发展现状和应用前景．微电机，2001，34(5)：42-44
[19] 庄朝晖，唐伏良，熊有伦．多相感应电机空间电压矢量控制研究．电气传动，2001，(5)：9-12
[20] H.A. Toliyat, T.A. Lipo. Analysis and Modeling of Five Phase Converters for Adjustable Speed Drive Application. the European Power Electronics Association, 1993:194-199
[21] Hamid A. Toliyat. Analysis and simulation of five-phase variable speed induction motor drives under asymmetrical connections. IEEE Trans on Power Electronics, 1995,13(4):745-756
[22] Y. Zhao and T.A. Lipo. Space Vector PWM Control of Dual Three-Phase Induction Machine Using Vector Space Decomposition. IEEE. Trans. Ind. App., 1995, Vol. 31(5):1100-1109
[23] Beltrao de Rossiter Correa M., Brandao Jacobina C., Cabral da Silva
E.R., et al. An induction motor drive system with improved fault tolerance. IEEE Transactions on Industry Applications, 2001,37(3): 873-879
[24] Zhang R., Boroyevich D., Prasad V.H., et al. A three-phase inverter with a neutral leg with space vector modulation. APEC'97 Conference Proceedings 1997, 1997,2:857-863
[25] Jahns T.M.. Improved reliability in solid-state drives multiple independent phase drive units. IEEE Trans. Ind. App., 1980, 16: 321-331
[26] Toliyat H.A., Shi R., Huangsheng Xu. A DSP-Based Vector Control of Five-Phase Synchronous Reluctance Motor Industry Applications Conference. IEEE. 2000,3:1759-1765
[27] Pavithran K.N., Parimelalagan R., Krishnamurthy M.R.. Studies on inverter-fed five-phase induction motor drive. IEEE Transactions on Power Electronics, 1988,3(2):224-235
[28] Y. Zhao and T.A. Lipo. Modeling and Control of a Multi-Phase Induction Machine with Structural Unbalance, Part Ⅰ: Machine Modeling and Multi-Dimensional Current Regulation. IEEE Transaction on Energy Conversion, 1996,11(3):570-577
[29] Y. Zhao and T.A. Lipo. Modeling and Control of a Multi-Phase Induction Machine with Structural Unbalance, Part Ⅱ: Field-Oriented Control and Experimental Verification. IEEE Transaction on Energy Conversion, 1996,11(3):578-584
[30] Tian-Hua Liu, Jen-Ren Fu, Lipo T.A..A strategy for improving reliability of field-oriented controlled induction motor drives. IEEE Trans. Ind. App., 1993, 29(5):910-918
[31] Jen-Ren Fu, Lipo T.A.. Disturbance-free operation of a multiphase current-regulated motor drive with an opened phase. IEEE Trans. Ind. App., 1994,30(5):1267-1274
[32] 侯立军，苏彦民等．基于DSP的多相感应电机矢量控制系统的设计和实现．电气自动化，2002，(5)：4-7
[33] 冯垛生，曾岳南．无速度传感器矢量控制原理与实践．北京：机械工业出版社，2001，14-29
[34] 陈伯时．电力拖动自动控制系统(第2版)．北京：机械工业出版社，1995，233-255
[35] P.Pillay, R.Krishnan. Modeling, Simulation, and Analysis of Permanent-Magnet Motor Drivers, Part Ⅰ: The Permanent-Magnet Synchronous Motor Driver. IEEE. Trans. Ind. App. 1989, 25:265-273
[36] Mingzhong Qiao, Xiaofeng Zhang, Xiuming Ren. Research of the mathematical model and sudden symmetrical short circuit of the multi-phase permanent-magnet motor. IEEE Proceedings:on Power System Technology, 2002,2:769-773
[37] 李志平，张遇杰．同步电动机调速系统．北京：机械工业出版社，1998，15-53
[38] 汤蕴谬．电机学——机电能量转换．北京：机械工业出版社，1986，140-184
[39] 陈林，熊有伦．多相感应电动机调速系统研究与应用．微特电机，2002，(1)：33-35
[40] 方保镕，李医民．矩阵论基础．南京：河海大学出版社，1999，140-184
[41] J-P. Martin. Multiple-phase Permanent Magnet Synchronous Machine Supplied By VSIs, Working Under Fault Conditions. Conference Record of 2000 IEEE, 2000,3:1710-1717
[42] 陈桂明，张明照等．应用MATLAB建模与仿真．北京：科学出版社，2001，140-184
[43] 杨纶标，高英仪．模糊数学原理及应用(第三版)．广州：华南理工大学出版社，2001，271-284
[44] 李士勇．模糊控制·神经控制和智能控制论．哈尔滨：哈尔滨工业大学出版社，1996，250-282
[45] 王耀南．计算智能信息处理技术及其应用．长沙：湖南大学出版社，1999，140-184
[46] Chuen Chien Lee. Fuzzy Logic in Control Systems: Fuzzy Logic Controller, Part Ⅰ. IEEE. Transactions on Systems, Man and Cybernetics, 1990,20(2):404-418
[47] Chuen Chien Lee. Fuzzy Logic in Control Systems: Fuzzy Logic Controller, Part Ⅱ. IEEE. Transactions on Systems, Man and Cybernetics, 1990,20(2):419-435
[48] 蒙以正．MATLAB 5．X应用与技巧．北京：科学出版社，1999，119-167
[49] Amin A.H., Hew Wooi Ping, Arof H., et al. Fuzzy Logic Control of a Three Phase Induction Motor Using Field Oriented Control Method. Proceedings of the 41st SICE Annual Conference, 2002,1:264-267
[50] H.R. De Azevedo, K.P. Wong. A fuzzy logic controller for permanent magnet synchronous machine. APEC'93, March 1993:122-127
[51] F. Parasiliti, M. Tursini, D.Q. Zhang. An Analytical Approach to the Derivation of Fuzzy PI Scaling Factors. IEEE International Conference on Power Electronics and Drive Systems, 1997,1:280-285
[52] Guney, I., Oguz Y., Serteller F.. Dynamic Behaviour Model of Permanent Magnet Synchronous Motor Fed by PWM Inverter and Fuzzy Logic Controller for Stator Phase Current, Flux and Torque Control of PMSM. IEMDC'2001, 2001:479-485
[53] Li Jianchun, Wang Qiang, Lu Yongping. The Mathematical Model and Field-Oriented Control For 15-Phase Brushless Direct Current Motor With an Opened Phase. Proceedings of the Fifth International Conference on Electrical Machines and Systems, ICEMS 2001, 2001,2:714-717
[54] 宁改娣，杨拴科．DSP控制器原理及应用．北京：科学出版社，2002，14-189
[55] 曾繁泰，陈美金．VHDL程序设计．北京：清华大学出版社，2001，5-78
[56] 宋万杰，罗丰，吴顺君．CPLD技术及其应用．西安：西北电讯工程学院出版社，1999，132-170