Computer Controlled Systems 1
第4章_顺序控制与数字程序控制-
常用的二次曲线有圆弧、抛物线和双曲线等
9/20/2019
第4章 顺序控制与数字程序控制
11
1、数字程序控制原理
把插补运算过程中定出的各中间点，以脉冲形式去控制x、 y方向上的步进电机（绘图笔、或加工刀具），从而绘出图形 或加工出所要求的轮廓。
每一个脉冲信号步进电机走一步，即绘图笔或刀具在 x 或 y 方向移动一步。
插补器实际上是一个函数发生器，能按给定的基本数据 产生一定的函数曲线，并以增量形式向各坐标连续输出，以 控制机床刀具按给定的图形运动。
9/20/2019
第4章 顺序控制与数字程序控制
9
1、数字程序控制原理 基点
基点
图中abcd为绘图仪绘图 曲线或零件的加工曲线。
Y 基点 c
将图中的曲线分成若干
d
段：
即 ymxexmye0
定义直线插补的偏差判别式为： Fmymxexmye
9/20/2019
第4章 顺序控制与数字程序控制
17
（1）逐点比较直线插补
Fmymxexmye
Y
* 若Fm＝0，点m在OA上； * 若Fm > 0，点m在OA上方，ym
即为点m’；
* 若Fm< 0，点m在OA下方， 即为点m’’。
所谓数字程序控制，就是计算机根据输入的指令和数据， 控制生产机械按规定的工作顺序、运动轨迹、运动距离和运 动速度等规律自动地完成工作的自动控制。
9/20/2019
第4章 顺序控制与数字程序控制
8
二、数字程序控制基础
数字程序控制系统一般由输入装置、输出装置、控制器 和插补器四部分组成。
控制器和插补器的功能及部分输入输出接口由计算机实 现。
定义偏差判别式： FmRm 2R2
计控(一)
计控技术的发展
微型计算机时期 (1972—现在)
在控制结构上，对于简 单生产过程或装置，采 用单台微型机独立控制； 对复杂生产过程或装置 将计算机分散到生产装置中去，采用多级分布式结构， 从下而上分为过程控制级、控制管理级、生产管理级 和经营管理级，进行分散控制、集中操作、分级管理、 统一协调的工作，既能使危险分散，又能实现整体的 协调和优化，大大提高了系统的安全可靠性和通用灵 活性。
TangNan
工业控制计算机
（IPC：Industrial Personal Computer ）
专门为工业现场而设计的计算机
工控机主机箱与普通计算机相比必须具有以下特点： 1） 机箱采用钢结构，有较高的防磁、防尘、防冲击 的能力。 2） 机箱内有专用底板，底板上有PCI和ISA插槽。 3） 机箱内有专门电源，电源有较强的抗干扰能力。 4） 要求具有连续长时间工作能力。
一个实时控制系统必定是一个在线系统。
※一个计算机控制系统必定是一个闭环系统。
一个计算机控制系统必定是一个数字系统。
※一个数字控制系统必定是计算机控制系统。 ※控制系统只能用计算机实现控制。
TangNan
思考题（2）
下列各项中哪一个是c. 集散控制系统
b. 直接数字控制系统
d. 现场总线控制系统
TangNan
思考题（2）
下列各项中哪一个是DDC系统的正确解释？
a. 操作指导系统
c. 集散控制系统
b. 直接数字控制系统
d. 现场总线控制系统
答：b
TangNan
小结
• 了解计算机控制系统的原理及其组成
• 理解计算机控制系统的基本工作原理
• 了解常见计算机工业控制系统的分类
控制系统的分类
控制系统的分类控制系统的分类有三种方法：以自动控制方式分类、以参于控制方式分类、以调节规律分类。
一、以自动控制方式分类1、开环控制系统若计算机开环控制系统的输出对生产过程能行使控制，但控制结果---生产过程的状态没有影响计算机控制的系统，计算机\控制器'生产过程等环节没有构成闭合环路，则称之为计算机开环控制系统.生产过程的状态没有反馈给计算机，而是由操作人员监视生产过程的状态，决定控制方案，并告诉控制计算机使其行使控制作用。
2、闭环控制系统计算机对生产对象或过程进行控制时，生产过程状态能直接影响计算机控制的系统，称之为计算机闭环控制系统。
控制计算机在操作人员监视下，自动接受生产过程状态检测结果，计算并确定控制方案，直接指挥控制部件(器)的动作，行使控制生产过程作用。
在这样的系统中，控制部件按控制机发来的控制信息对运行设备进行控制，另一方面运行设备的运行状态作为输出，由检测部件测出后，作为输入反馈给控制计算机；从而使控制计算机'控制部件' 生产过程\检测部件构成一个闭环回路。
我们将这种控制形式称之为控制计算机闭环控制。
计算机闭环控制系统，利用数学模型设置生产过程最佳值与检测结果反馈值之间的偏差，控制达到生产过程运行在最佳状态。
3、在线控制系统只要计算机对受控对象或受控生产过程，能够行使直接控制，不需要人工干预的都称之为控制计算机在线控制或称联机控制系统。
4、离线控制系统控制计算机没有直接参于控制对象或受控生产过程。
它只完成受控对象或受控过程的状态检测，并对检测的数据进行处理；而后制定出控制方案，输出控制指示，操作人员参考控制指示，人工手动操作使控制部件对受控对象或受控过程进行控制。
这种控制形式称之为计算机离线控制系统。
5、实时控制系统控制计算机实时控制系统是指受控制的对象或受控过程，每当请求处理或请求控制时，控制机能及时处理并进行控制的系统，常用在生产过程是间断进行的场合。
计算机控制技术--课程分析
Automation
国家级精品资源共享课 国家级精品课
“计算机控制技术”课程分析
负责人：于海生
课程组：潘松峰、丁军航、吴贺荣、于金鹏、原明亭、 高军伟、叶志明、姜安宝、闫海涛
2015年11月
明德博学，守正出奇
青岛大学 自动化专业
Automation
分析内容
一、课程性质、定位与教学目标 二、课程内容与重点、难点 三、学情分析与教学设计 四、教学方法与手段 五、教学评价与考核方式 六、教学反馈与教学效果 七、课程特色
明德博学，守正出奇
青岛大学 自动化专业
Automation
一、课程性质、定位与教学目标
明德博学，守正出奇
青岛大学 自动化专业
一、课程性质、定位与教学目标 Automation
课程性质
《计算机控制技术》课程是国家级精品资源共享课 (2014年)、国家级精品课程(2009年)、首批山东省省级精 品课程（ 2004年）。
难点：模拟量输入输出通道；基于串行总线的计算机控制系统硬件技术； 硬件抗干扰技术。
（2）数字控制技术
重点：数字程序控制基础；逐点比较法差补原理；步进电机控制技术与 伺服电机控制技术。
难点：逐点比较法差补原理；步进电机控制技术
（3）常规及复杂控制技术
重点：数字控制器的连续化设计技术、离散化设计技术；纯滞后控制技 术、串级控制技术、前馈-反馈控制技术；解耦控制技术。
理论教学
Automation
5）随着课程进展，适时下发各种补充阅读材料，如先进的分布式控制 系统（DCS）、设计案例、工业控制组态软件资料等，对课堂讲授形成有 益补充。
6）推荐合适的参考书、辅导书，并及时编写出版与改革后课程内容相 配套的新教材，便于学生课前预习和课后复习。
动态定位英语作文模板
动态定位英语作文模板英文回答：Dynamic positioning (DP) is a computer-controlled system that uses thrusters to maintain a vessel's position and heading in the water. DP systems are used on a variety of vessels, including drilling rigs, pipelaying vessels, and offshore construction vessels.DP systems work by using a variety of sensors to track the vessel's position and heading. These sensors include GPS, inertial navigation systems, and acoustic positioning systems. The DP system then uses this information to calculate the necessary thruster inputs to maintain the desired position and heading.DP systems are very accurate and can maintain avessel's position within a few meters. This accuracy is essential for a variety of operations, including drilling, pipelaying, and offshore construction.DP systems are also very versatile and can be used in a variety of conditions. They can be used in open water, in shallow water, and in currents and waves. This versatility makes DP systems ideal for a variety of offshore operations.中文回答：动态定位（DP）是一种计算机控制系统，利用推进器维持船舶在水中的位置和航向。
国外大学教材
F23 FH81 2001
Cost accounting :a managerial emphasis/10th ed./成本会计:管理的着重点
Tsinghua University Press/ c2001
清华会计学系列英文版教材。本书是由美国斯坦福大学Charles T. Horngren教授担纲编写的成本会计教材。Horngren教授著述丰厚，在美国全国性会计职业和学术组织中身兼数职，几乎获得过美国会计界所有最高奖项。
中国人民大学出版社/ c2001
民商法精要系列之一,是为配合法学院和商学院开设的国际商事交易法课程而编写。自1981年至1996年，已经出了五版。
F036.3 FS33 2001
Consumer behavior/7th ed./消费者行为学
Tsinghua University Press /c2001
Tsinghua University Press /c2001
清华管理学系列英文版教材，可用作高年级本科生和研究生，以及MBA学生的教材，
F713.1 FM346
Marketing channels/6th ed./市场营销渠道
Tsinghua University Press /c2001
清华营销学系列英文版教材。本书的内容和程度不仅适合作为高校相关课程的教材，而且适合作为企业经理的培训教材。
C936 FR63o
Organizational behavior/9th ed./组织行为学
Tsinghua University Press/ c2001
清华MBA核心课程英文版教材。这是一本不可多得的优秀教材，其内容不仅适合于我国的工商管理专业学生，也适合广大的管理工作者。
《计算机控制系统》课程简介
《计算机控制系统》课程简介
二、课程内容与教学目标
本课程是热能动力工程专业（四年制本科）的专业必修课，是一门综合性较强的课程，涉及工程数学、电子技术基础、自动控制原理、微机原理及系统、操作系统、数据结构、数据库技术、计算机网络及通信技术、热工自动控制系统、生产过程设备及系统等方面的知识，通过本课程的学习使学生掌握计算机控制的基本概念和常规计算机控制技术，了解分散控制系统的总体结构和组成系统的硬件与软件，对典型分散控制系统的结构、特点和功能及在火电厂热工自动控制中的应用等有一个较为全面的认识，为学生将来使用和操作计算机控制系统控制生产过程奠定必要的理论基础。
三、对教学方式、实践环节、学生自主学习的基本要求
本课程采用板书与多媒体课件结合的方式进行课堂教学，学生应能独立完成教学大纲规定的课程设计（一周），学生可以在课下通过《计算机控制系统》课件进行复习或预习。
四、考核方式与学习效果评价的结构比例
本课程为考试课程，期末考试为闭卷笔试。
学生的课程总评成绩由平时成绩（占30%）和期末考试成绩两部分构成，平时成绩包括、作业、课堂测验、出勤、学习主动性等。
五、对先修课的要求、课程班规模要求、实践类课程方案
本课程的先修课程为高等数学、工程数学、电子技术基础、微机原理、自动控制原理、
电厂热力设备与系统、热工自动控制系统，可合班授课，实践环节为课程设计。
The Self Triggered Task Model for Real-Time Control Systems
The Self Triggered Task Model for Real-Time Control Systems
Manel Velasco, Pau Martí and Josep M. Fuertes
Dept. of Automatic Control and Computer Engineering Technical University of Catalonia Pau Gargallo 5, 08028 Barcelona, Spain {manel.velasco , pau.marti, josep.m.fuertes}@.upc.es
过程通道
Computer Controlled Systems
P(t)
（ｅ） 采样描述
X(t)
调制器
X*(t)
x*(t)=p(t)x(t)
因 τ0＜＜T ，所以分析时可近似认为τ０为０，以单位脉冲序列δＴ（ｔ） 代替ｐ（ｔ）。
4.1 过程参数采样原理
单位脉冲序列：
Computer Controlled Systems
k 0 *
4.1 过程参数采样原理
Computer Controlled Systems
二、采样定理
对于角频率范围为（ max , max ）的连续信号进 行采样，当采样频率
s 2 max
时，采样器的输出信号
ｘ＊（ｔ）才能充分表征连续输入信号ｘ（ｔ），换言之，为使 采样信号ｘ＊（ｔ）的频谱能无失真地恢复连续输入信号 ｘ（ｔ）的频谱，采样周期Ｔ必须小于等于输入信号中变化 最小周期 Tmin 的１／２，即：
第二节 开关量输入通道（DI）
输入调理电路 输入调理电路有多种，通过调理电路可以将一个开关与计 算机的一位数字量对应起来。
+5V
R R R
Computer Controlled Systems
E
光电隔离转换 “断开” →逻辑电平“0” “闭合” →逻辑电平“1”
继电器隔离转换 “断开” →逻辑电平“0” “闭合” →逻辑电平“1”
1、影响采样周期选择的因素 （1）系统受扰动情况（扰动和噪声比有效信号的频率高） 若扰动和噪声都较小，采样周期T应选大些； 对于扰动频繁和噪声大的系统，采样周期T应选小些；
Computer Controlled Systems
（2）被控系统动态特性（慢对象：汽温，信号变化慢；快对象:水位） 滞后时间大的系统，采样周期T应选大些； 对于快速系统，采样周期T应选小些； （3）控制品质指标要求（控制品质反映了系统的动作快慢） 若超调量为主要指标，采样周期T应选大些； 若希望过渡过程时间短些，采样周期T应选小些； （一般而言，过渡过程时间长，超调则小，被调量是慢变的）
Introduction-Computer Controlled Systems 电脑控制系统
2006/3/14
13
GM Sequel
2006/3/14
14
7
2006/3/14
15
Chapter 2 Discrete Time Systems
• In this chapter we discuss the following issues:
– Derive mathematical models for computer-controlled systems. – Considering the signal behavior only at the sampling instants, a continuous time system can be easily transformed into a discrete time system. – State-space model of a discrete-time system – The shift-operation and the z-transform – Discrete-time transfer function – Poles & zeros of the discrete-time system
Computer Controlled Systems 電腦控制系統
元智大學機械工程研究所 陳傳生 博士 February 21, 2006
ME558A Computer Controlled Systems
• 數位控制系統 電腦控制系統 • 大學部自動控制系統的進階
– 電腦控制系統vs.類比控制系統
電腦控制理論的演進(續2)
• State space theory 1950s
– Kalman: state-space approach to control theory
计算机控制系统介绍
• 多级控制系统（MCS）
在现代生产企业中，不仅需要解决生产过程的在线控 制问题，而且还要求解决生产管理问题，每日生产品种、 数量的计划调度以及月季计划安排，制定长远规划、预 报销售前景等，于是出现了多级控制系统。 DDC级主要用于直接控制生产过程，进行PID或前馈 等控制；SCC级主要用于进行最佳控制或自适应控制或 自学习控制计算，并指挥DDC级控制同时向MIS（管理 信息系统）级汇报情况。DDC级通常用微型计算机， SCC和MIS级一般用小型计算机或高档微型计算机。
计算机控制系统
课程安排：
学习方式：课堂学习、课堂讨论、课程实验； 学习内容：课堂知识（课件，网络学堂下载）、
文献调研、习题、实验；
课后习题要求：每章课程学习完成后的下一周，
提交该章的习题作业，要求作业采用手写纸稿；
考试形式：考查，包括参加课堂学习和讨论、课
程实验，提交实验报告。
2
参考书籍
27
DCS在热电厂的应用
电厂管理计算机
厂级
1号机组计算机
2号机组计算机
3号机组计算机
单元 机组级
锅炉 控制
汽轮机 控制
局部 控制
程序 控制
制粉 控制
水处理 功能群 控级 控制
驱动器、 控制器群
执行级
被控过程
28
• 现场总线网络控制系统（FCS, fieldbus control system）
FCS为新型网络集成式全分布控制系统，它 将操作站、现场智能仪表以及其它信息资源作为网 络中的节点，将原来封闭、专用的系统变成开放、 标准的系统，从过程控制走向了过程管理。现场总 线是连接智能现场设备和自动化系统的数字式双向 传输、多分支结构的通信网络。 现场总线系统具有以下技术特点：①系统开 放；②标准统一，互可操作性与可用性；③全数 字，现场设备的智能化与功能自治性；④系统结 构的高度分散；⑤对现场环境的适应性。
自动化专业英语原文和翻译
自动化专业英语原文和翻译Automation in the field of engineering has revolutionized various industries, making processes more efficient and reducing human error. As a result, there is a growing demand for professionals who are well-versed in automation technologies and can communicate effectively in English. In this text, we will provide a standard format for an original English text and its translation in the field of automation.Original English Text:Title: Automation in Manufacturing ProcessesIntroduction:Automation has become an integral part of manufacturing processes, with the aim of improving productivity, reducing costs, and ensuring consistent quality. This article explores the various aspects of automation in manufacturing and its impact on the industry.1. Definition of Automation:Automation refers to the use of technology and control systems to operate and control machinery and processes without human intervention. It involves the use of sensors, actuators, and computer systems to perform tasks that were previously carried out by humans.2. Benefits of Automation in Manufacturing:- Increased productivity: Automation allows for faster and more efficient production processes, leading to higher output and reduced lead times.- Cost reduction: By automating repetitive tasks, companies can reduce labor costs and minimize the risk of human error.- Improved quality control: Automation ensures consistent product quality by eliminating variations caused by human factors.- Enhanced safety: Dangerous tasks can be automated, reducing the risk of accidents and injuries in the workplace.3. Types of Automation in Manufacturing:a. Fixed Automation:Fixed automation involves the use of specialized machinery designed for a specific task or product. It is suitable for high-volume production with little or no variation in product design.b. Programmable Automation:Programmable automation utilizes computer-controlled systems that can be easily reprogrammed to perform different tasks or produce various products. It is suitable for medium-volume production with some level of product variation.c. Flexible Automation:Flexible automation combines the advantages of fixed and programmable automation. It involves the use of computer-controlled systems that can be reprogrammed to handle a wide range of products and tasks. It is suitable for low-volume production with high product variation.4. Challenges in Implementing Automation:While automation offers numerous benefits, its implementation can pose challenges. Some common challenges include:- High initial investment: Automation systems can be expensive to implement, requiring significant capital investment.- Workforce transition: Automation may lead to job displacement, requiring companies to provide retraining opportunities for affected employees.- Technical complexity: Implementing automation systems requires specialized knowledge and expertise, which may not be readily available.- Integration with existing systems: Integrating automation systems with existing machinery and processes can be complex and time-consuming.Conclusion:Automation has transformed manufacturing processes, offering increased productivity, cost reduction, improved quality control, and enhanced safety. Understanding the different types of automation and the challenges involved in its implementation is crucial for professionals in the field. As the demand for automation specialists continues to grow, proficiency in English communication is essential for effective collaboration and knowledge sharing in the global industry.Translation (Chinese):标题：制造过程中的自动化介绍：自动化已成为制造过程的重要组成部分，旨在提高生产效率，降低成本，并确保一致的质量。
控制系统工程(双语)教案chapter1
Time-domain analysis techniques
State Space analysis techniques
Frequency-domain analysis techniques
Discrete time analysis techniques ???
Control System
Basic Info.
Course units: 3
Course hours:
51 hrs = 45 hrs lectures + 6 hrs labs Grading: homework - 15% lab - 15% attendance - 10%, final - 60%
Plant
controlled such as a mechanical device, a heating furnace, a chemical reactor or a spacecraft.
Controlled variable
2.Controlled variable: the variable
A brief history of control
Fly-ball governor (James Watt,1789)
A brief history of control
Birth of mathematical control theory
G. B. Airy (1840) the first one to discuss instability in a feedback control system the first to analyze such a system using differential equations J. C. Maxwell (1868) the first systematic study of the stability of feedback control E. J. Routh (1877) deriving stability criterion for linear systems A. M. Lyapunov (1892) deriving stability criterion that can be applied to both linear and nonlinear differential equations results not introduced in control literature until about 1958
控制系统的介绍英文翻译
Introduction to Control System1.1 HISTORICAL PERSPECTIVEThe desire to control the forces of nature has been with man since early civilizations. Although many examples of control systems existed in early times, it was not until the mid-eighteenth century that several steam engine, and perhaps the most noteworthy invention was the speed control flyball governor invented by James Watt.The period biginnign about twenty-five years before World War Two saw rapid advances in electronics and especially in circuit theory, aided by the now classical work of Nyquist in the area of stability theory, The requirements of sophisticated weapon systems, submarines, aircraft and the like gave new impetus to the work in control systems before and after the war The advent of the analog computer coupled with advances in electronics saw the beginning of the establishment of control systems as a science. By The mid-fifties, the progress in digital computers had given the engineers a new tool that greatly enhanced their capability to study large and complex systems. The availability of computers also opened the era of data-logging, computer control, and the state space of modern method of analysis.The sputnik began the space race and large governmental expenditures in the space as well as military effort. During this time. circuits became miniaturized and large sophisticated systems could be put together very compactly thereby allowing a computational and control advantage coupled with systems of small physical dimensions. We were now capable of designing and flying minicomputers and landing men on the moon. The post sputnik age saw much effort in system optimization and adaptive systems.Finally, the refinement of the chip and related computer development has created an explosion in computational capability and computer-controlled devices. This has led to many innovative methods in manufacturing methods. such as computer-aided design and manufacturing, and the possibility of unprecedented increases inindustrial productivity via the use of computer-controlled machinery, manipulators and robotics.Today control systems is a science with the art still playing an important role. Much mathematical sophistication has been achieved with considerable interest in optimal control system. The modern approach, having been established as a science, is being applied not only to the traditional control systems, but to newer problems like urban analysis, econometrics, transportation, biomedical problems, energy analysis, and a host of similar problems that affect modern man.1.2BIASIC CONCEPTSControl system analysis is concerned with the study of the behavior of dynamic systems. The analysis relies upon the fundamentals of system theory where the governing differential equations assume a cause-effect relationship. A physical system may be represented as shown in Fig. where the excitation or input is x(t) and the response or output is y(t) . A simple control system is shown in Fig. Here the output is compared to the input signal, and the difference of these two signals becomes the excitation to the physical system, and we speak of the control system , such as described in Fig . involves the obtaining of y(t) given the input and output are specified and we wish to design the system characteristics, then this is known as synthesis.1.3SYSTEMS DESCRIPTIONBecause control systems occur so frequently in our lives, their study is quite important. Generally, a control system is composed of several subsystems connected in such a way as to yield the proper cause-effect relationship. Since the various subsystems can be electrical, mechanical, pneumatic, biological, etc., the complete description of the entire system requires the understanding of fundamental relationships in many different disciplines. Fortunately, the similarity in the dynamic behavior of different physical systems makes this task easier and more interesting.As an example of a control system consider the simplified version of the attitude control of a spacecraft illustrated in Fig.1-4. We wish the satellite to have some specific attitude relative to an inertial coordinatesystem. The actual attitude is measured by an attitude sensor on board the satellite. If the desired and actual attitudes are not the same, then the comparator sends a signal to the valves which open and cause gas jet firings. These jet firings give the necessary corrective signal to the satellite dynamics thereby it under control .A control system represented this way is said to be represented by block diagrams. Such a representation is helpful in the partitioning of a large system into subsystems and thereby allowing the study of one subsystem at a time.If we have many inputs and outputs that are monitored and controlled, the block diagram appears as illustrated in Fig.1-5. Systems where several variables are monitored and controlled are called multivariable systems. Examples of multivariable systems are found in chemical processing, guidance and control of vehicles, the national economy, urban problems.The number of control systems that surround us is indeed very large. The essential feature of all these systems is in general the same . They all have input ,control ,output, and disturbance variables. They all describe a controller and a plant . They all have some type of a comparator. Finally, in all cases we want to drive the control system to follow a set preconceived commands.1.4 DESIGN, MODELING ,AND ANALYSISPrior to the building of a piece of hardware, a system must be designed, modeled, and analyzed. Actually the analysis is an important and essential feature of the design process. In general, when we design a control system we do so conceptually. Then we generate a mathematical model which is analyzed. The results of this analysis are compared to the performance specifications that are design a control system we do so conceptually. Then we generate a mathematical model which is analysis are compared to the performance specifications that are desired of the proposed system. The accuracy of the results depends upon the quality of the original model of the proposed design. We shall show , in Chapter7, how it is analyzed and then modified so that its performance satisfies the system specifications. The objective then may be considered to be the prediction , prior to construction, of the dynamic behavior that a physical system exhibits, i.e. its natural motion when disturbed from anequilibrium position and its response when excited by external stimuli. Specifically we are concerned with the speed of response or transient response , and the stability we mean that the output remains within certain reasonable limiting values .The relative weight given to any special requirement is dependent upon the specific application . [2] For example, the air conditioning of the interior of a building may be maintained to +/-1°C and satisfy the occupants. However, the temperature control in certain cryogenic systems requires that the temperature be controlled to within a fraction of a degree. The requirements of speed , accuracy, and stability are quit often contradictory and some compromises must be made . For example, increasing the accuracy generally makes for poor transient response. If the damping is decreased, the system oscillations increase and it may take a long time to reach some steady state value.It is important to remember that all real control systems are nonlinear; however , many can be approximated within a useful though limited range as linear systems. Generally, this is an acceptable first approximation. A very important benefit to be derived by assuming linearity is that the superposition theorem applies. If we obtain the response due to two different inputs, then the response due to the combined input is equal to the sum of the individual response due to the combined input is equal to the individual responses. Another benefit is that operational mathematics can be used in the analysis of linear systems. The operational method allows us to transform ordinary differential equations which are much simpler to handle.Traditionally, control system were represented by higher-order linear differential equations and the techniques of operational mathematics were employed to study these equations. Such an approach is referred to as the classical method and is particularly useful for analyzing systems characterized by a single input and a single output. As systems began to become more complex , it became increasingly necessary to use a digital Computer . The work on a computer can be advantageously carried out if the system under consideration is represented by a set of first-order differential equations and the analysis is carried out via matrix theory.This is in essence what is referred to as the state space or state variable approach . This method , although applicable to single input-output systems , finds important applications in the multivariable system . Another very attractive benefit is that it enables the control system engineer to study variables inside a system.Regardless of the approach used in the design and analysis of a control system , we must at least following steps:(1)Postulate a control system and the system specifications to besatisfied.(2)Generate a functional block diagram and obtain a mathematicalrepresentation of the system .(3)Analyze the system using any of the analytical or graphicalmethods applicable to the problem.(4)Check the performance (speed , accuracy, stability, or othereriterion) to see if the problem.(5)Finally, optimize the system parameters so that (1) is satisfied.控制系统的介绍1. 历史回顾早在人类历史文明出现之初，人们就产生了控制自然力的愿望。
嵌入式仪器中冗余备份的处理技术
仪器的冗余备份原理框图和相关处理技术．
关键词：嵌入式；可靠性；冗余备份
中图分类号：ＴＰ３０２．８
文献标识码：Ａ
Ｔｅｃｈｎｏｌｏｇｙ ｏｆ ｒｅｄｕｎｄａｎｃｙ ｆｏｒ ｅｍｂｅｄｄｅｄ－－ｉｎｓｔｒｕｍｅｎｔ
ＴＡＮ Ｘｉａｏ—ｙｕｎ，ＺＨＡＮＧ Ｇｕｏ—ｗｅｉ，ＬＩＵ Ｘｉａｏ—ｗｅｉ，ＧＯＮＧ Ｂｉｎｇ
Ｋｅｙ ｗｏｒｄｓ：ｅｍｂｅｄ；ｒｅｌｉａｂｉｌｉｔｙ；ｒｅｄｕｎｄａｎｃｙ
引
—－
口
冗余技术是系统或设备获得高可靠性、高安 全性和高生存能力的设计方法之一，是实现容错
功能非常重要的手段‘１｜。在已研制的嵌入式仪器 中，为了提高其可靠性，采用了冗余技术。因为嵌 入式仪器一般都是系统的重要部分，提高其可靠 性是设计中所面临的一个重要课题。例如，在工 业实时控制和长期无人照管的环境下工作的系统
（１．ＭＥＭＳ Ｃｅｎｔｅｒ Ｈａｅｒｂｉｎ Ｉｎｓｔｉｔｕｔｅ ｏｆ Ｔｅｃｈｎｏｌｏｇｙ，Ｈａｅｒｂｉｎ １ ５０００１，Ｃｈｉｎａ；
２．Ｃｏｍｐｕｔｅｒ Ｄｅｐａｒｔｍｅｎｔ ＨｅｉＬｏｎｇＪｉａｎｇ Ｕｎｉｖｅｒｓｉｔｙ，Ｈａｅｒｂｉｎ １５００８０，Ｃｈｉｎａ）
Ａｂｓｔｒａｃｔ：Ｔｈｉｓ ｐａｐｅｒ ｉｎｔｒｏｄｕｃｅｓ ｔｈｅ ｔｅｃｈｎｏｌｏｇｙ ｏｆ ｒｅｄｕｎｄａｎｃｙ ｆｏｒ ｅｍｂｅｄｄｅｄ—ｉｎｓｔｒｕｍｅｎｔ．Ｔｈｅ ｅｍｂｅｄ—
参考文献：
Ｅｌｉ王敏．计算机控制系统的容错技术［Ｊ］．微处理机，１９９５，（１）：１８—２２． ＷＡＮＧ Ｍ。Ｈｕａｎｇ ｘｉｎｈａｎｇ．ｆａｕｌｔ ｔｏｌｅｒａｎｃｅ ｔｅｃｈｎｉｑｕｅ ｏｆ ｃｏｍｐｕｔｅｒ ｃｏｎｔｒｏｌｌｅｄ ｓｙｓｔｅｍｓ［Ｊ］．Ｍｉｃｒｏｐｒｏｃｅｓｓｏｒｓ，１９９５，（１）：
现场英语和产品说明书解读考试题
现场英语和产品说明书解读考试题:基本信息：[矩阵文本题] *一、单选题:每题2.5分，计87.5分1. Robots are known to save costs, to improve quality and work conditions, and to minimize waste of resources. In the sentence above, the word “minimize” is closest in meaning to （）. [单选题] *A)collectB) reduce(正确答案)C) developD) throw2. Furthermore, robot-based production increases product quality, improves work and leads to an optimized use of resources. In the sentence above, the words “an optimized” is closest in meaning to （）. [单选题] *A)the worst way ofB)a legal way ofC)the best way of(正确答案)D) a common way3. Robotic technologies, such as navigation, motion control, sensing and cognition, will enable a broad range of innovations in today's products resulting, for example, in more flexible, environmentally friendly transport systems and intelligent household appliances. In the sentence above, the word “flexible” is closest in meaning to （）. [单选题] *A)elastic(正确答案)B)breakableC) hardD)solid4.In addition, the technologies applicable to space robotics will enable a wide range of Earth-based exploration and material processing activities from automated undersea inspection to mining and mineral extraction under hazardous conditions. In the sentence above, the word “hazardous” is closest in meaning to （）. [单选题] *A)easyB)difficultC) idealD) dangerous(正确答案)5. On the other hand, job profiles will improve as robots take over dangerous, dull and dirty jobs not only in the manufacturing industries. In the sentence above, the words “take over” is closest in meaning to （）. [单选题] *A) take backB)take awayC) undertake(正确答案)D) take off6. Infrared sensors work in conjunction with a lens on the top of the machine that housesa 360° panoramic camera. In the sentence above, the word “houses” is closest in meaning to （）. [单选题] *A)hidesB)liftsC) takesD)contains(正确答案)7. It's also worth mentioning that some 360 Eye press materials suggest that the vacuum can identify what kind of surface it's on, and will prioritize cleaning"easier"surfaces first. In the sentence above, the word “prioritize” is closest in meaning to （）. [单选题] *A)put sth in natural waysB)treat sth as being more important than other things(正确答案)C) take sth away quicklyD) place sth in a reversed order8.Higher CO2 lets plants greenhouses cut water losses because they can take in enough of the gas without opening their stomata as widely. In the sentence above, the word“ stomata” is closest in meaning to （）. [单选题] *A)belliesB)pores(正确答案)C)windowsD)doors9. Currently, induction-loop systems and hearing aids can be used to improve the volume of ambient sounds, but cannot target and amplify specific sounds effectively. In the sentence above, the word “ambient” is closest in meaning to （）. [单选题] *A)noisyB)lowerC) surrounding(正确答案)D)inner10. They now have a health system strengthening fund that is starting to invest considerable amount of money. In the sentence above, the word “considerable” is closest in meaning to （）. [单选题] *A) large(正确答案)B)considerateC)smallD) thinkable11. Many of its glaciers are steadfastly retreating due to rising temperatures and declining precipitation. In the sentence above, the word “precipitation” is closest in meaning to （）. [单选题] *A)predictionB) presentationC)rainfall(正确答案)D)flood12. We believe the reduction should be easily offset by the unexpected increase in investment growth, he said. In the sentence above, the word “offset” is closest in meaning to （）. [单选题] *A)made up for(正确答案)B)made fromC)made out ofD) made up of13. Your spouse is the one person that you should be able to trust over all others, so when they hurt you badly, and then do so again, it's more devastating than nearly any other pain. In the sentence above, the word “devastating” is closest in meaning to （）. [单选题] *A)complicatedB) incredibleC)enjoyableD) destructive(正确答案)14. He lost much of his right arm and suffered multiple injuries, including severe brain injury. In the sentence above, the word “multiple” is closest in meaning to （）. [单选题] *A)many(正确答案)B)fewC) hardD) light15. However, this position can mean you are forcing your body into a position that can exacerbate existing aches and strains in the joints and muscles.In the sentence above, the word “exacerbate” is closest in mean ing to （）. [单选题] *A)relieveB)worsen(正确答案)C)removeD)cure16. Lacking an outlet, the Caspian Sea loses water only by evaporation, leading to the accumulation of salt.In the sentence above, the word “accumulation” is closest in meaning to （）. [单选题] *A)creationB)emissionC) gathering(正确答案)D) lack17. They say better planning is needed to assess the environmental costs and benefits of planting trees to mitigate climate change.In the sentence above, the word “mitigate” is closest in meaning to （）. [单选题] *A)ease(正确答案)B)increaseC) strengthenD) eliminate18. The technology to enable this competitive edge is already at hand.In the sentence above, the word “edge” is closest in meaning to （）. [单选题] *A)brinkB)boundaryC) sideD)advantage(正确答案)19. The internet and significant price reductions on IT components such as wireless sensors have made smart-building technologies much more affordable, creating a strong business case for owners and investors to invest in smart technologies and buildingpe rformance.In the sentence above, the word “component” is closest in meaning to （）. [单选题] *A) competitionB)constructionC) constituent(正确答案)D)conservation20. In large buildings with centralized building automation systems, relatively inexpensive devices can be connected to the building control panel to enable a smart building management system to extract and analyze real-time equipment and system performance data and use it to fine-tune building performance.In the sentence above, the word “centralized” is closest in meaning to （）. [单选题] *A)concentrated(正确答案)B)coreC) heartD)inside21. Cloud computing is another advance that makes smart building management system financially feasible to a degree not previously possible.In the sentence above, the word “feasible” is closest in meaning to （）. [单选题] *A)impossibleB)viable(正确答案)C) imaginableD) realized22. The resulting savings, according to two major corporate energy management studies produced last year by The Economist Intelligence Unit(EIU) and Deloitte, have becomeincreasingly essential for a building to remain financially competitive in the market place. In the sentence above, the word “essential” is closest in meaning to （）. [单选题] *A)fundamental(正确答案)B) trivialC) heavyD) unnecessary23. Since smart buildings involve computer-controlled systems, owners and investors often assume that operation requires a small army of computer programmers.In the sentence above, the word “assume” is closest in meaning to （）. [单选题] *A)denyB) presume(正确答案)C)assessD)estimateing data generated by building automation systems, a smart-building management system can detect minute changes in fan speed, air temperatures or energy consumption, and trigger continuous adjustments to optimize equipment performance.In the sentence above, the word “detect” is closest in meaning to （）. [单选题] *A) dismissB)stealC)spyD) perceive(正确答案)25. The Empire State Building, for example, exceeded projected energy savings for the second consecutive year following an extensive phased retrofit begun in 2009. In the sentence above, the word “consecutive” is closest in meaning to （）. [单选题] *A)conspicuousB)contrivedC) coherent(正确答案)D)executive26. For each pixel, the program calculates the composition of the material adjacent to it. In the sentence above, the word “adjacent” is closest in meaning to （）. [单选题] *A)afarB)adjoining(正确答案)C)recentD) foreign27. Its flexibility means that it could potentially be used for flexible or wearable devices. In the sentence above, the word “potentially” is closest in meaning to （）. [单选题] *A) professionallyB)activelyC) possibly(正确答案)D) passively28. Possible applications included wireless web-based access, E-mail, as well as video teleconferencing and multimedia services consisting of mixed voice and data streams. In the sentence above, the word “mixed” is closest in meaning to （）. [单选题] *A) simplifiedB)distributedC)ridiculousD)miscellaneous(正确答案)29. In order to solve this problem, we have proposed the bandwidth optimization control protocol and the mix-bandwidth data path for future 5G real wireless world. In the sentence above, the wor d “proposed” is closest in meaning to （）. [单选题] *A)madeB)suggested(正确答案)C)contributedD) produced30. The 6th generation mobile communication networks can integrate satellite communication networks and 5G to make global coverage, which is shown in Figure 4. In the sentence above, the word “integrate” is closest in meaning to （）. [单选题] *A)divideB)separateC)merge(正确答案)D) split31. This will drive the next generation(7G) mobile communication networks to occur. In the sentence above, the word “drive” is closest in meaning to （）. [单选题] *A)provideB)impel(正确答案)C)forbidD)allow32. It's another indication of how the industry is evolving to meet the demands of consumers who insist on ever-increasing amounts of wireless information but won'ttolerate large antennas looming over their homes, parks and other beloved sites. In the sen tence above, the word “evolving” is closest in meaning to （）. [单选题] *A) producingB)urgingC)makingD) developing(正确答案)33The law of conservation of energy, also known as the first law of thermodynamics, states that the energy of a closed system must remain constant. In the sentence above, the word “constant” is closest in meaning to （）. [单选题] *A) steady(正确答案)B)changeableC)activeD) passive34. This may seem prudent in the face of so much uncertainty. In the sentence above, the word “prudent” is closest in meaning to （）. [单选题] *A) aggressiveB)boldC)cautious(正确答案)D)rude35. This is in marked contrast to annual growth of 2. 7 percent over the previous 15 years. In the sentence above, the word “contrast” is closest in meaning to （）. [单选题] *A)distinction(正确答案)B)conditionC) contactD)contract二、判断题:每题2.5分，计12.5分1.Alloy steels are divided into two types: low alloy steels with under 10 percent of added elements and high alloy steels with over 10 percent (usually between 15 and 30 percent)of added elements. [判断题] *对(正确答案)错2.The advantage of hot rolling is that it can be reduced in thickness much more easily and therefore it is used to make accurate thin sheets of metal. [判断题] *对错(正确答案)3.The disadvantage of hot rolling a metal is that it can be reduced in thickness much more easily than when cold rolled. [判断题] *对错(正确答案)4.Flats are rectangular in cross-section and the width is much smaller than the thickness. [判断题] *对错(正确答案)5.Tubes are hollow sections, and are only circular in cross-section. [判断题] *对错(正确答案)。
计算机控制技术参考文献格式
计算机控制技术参考文献格式计算机控制技术的参考文献格式可以根据不同的文献类型有所区别。
以下是一些常见的文献类型及其格式：1. 期刊论文：作者，文题，刊名，年份，卷号（期号）：起~止页码。
例如：[1] Smith, J. "Computer Controlled Systems: A Practical Overview." IEEE Transactions on Control Systems Technology, 2019, 27(3): .2. 专（译）著：作者，书名（译者），出版地：出版者，出版年，起~止页码。
例如：[2] Chen, Y., and J. Wang. "Introduction to Computer Control Theory." Beijing: Tsinghua University Press, 2017, 23-65.3. 论文集：作者，文题，编者，文集名，出版地：出版者，出版年，起~止页码。
例如：[3] Wang, L., and Z. Li. "Advanced Topics in Computer Control." In Control Theory and Applications, edited by J. Li, X. Chen, and Y. Wang. Shanghai: Shanghai Scientific and Technical Publishers, 2016, .4. 学位论文：作者，文题，博士（或硕士学位论文），授予单位，授予年。
例如：[4] Zhang, Y. "Research on Computer Control System Design." Master's Thesis, Tsinghua University, 2018.5. 专利：申请者，专利名，国名，专利文献种类，专利号，授权日期。
提高燃料效率：车主维护指南说明书
Improper accessories or modifications can affect your vehicle’s handling, stability, and performance, and cause a crash in which you can be hurt or killed.
Raising your vehicle with a nonAcura suspension kit can affect the handling and stability.
Non-Acura wheels, because they are a universal design, can cause excessive stress on suspension components.
Drive moderately. Rapid acceleration, abrupt cornering, and hard braking use more fuel.
Always drive in the highest gear possible.
Try to maintain a constant speed. Every time you slow down and speed up, your vehicle uses extra fuel. Use cruise control when appropriate.
GLOVE BOX
Your vehicle has several convenient storage areas:
Glove box
Door pockets
Trunk, including the back seats when folded down
Cross-Coupled_Biaxial_Computer_Control_for_Mfg_Systems
Biaxial control systems for generating predetermined paths under load disturbsuch as encountered in NC and CNC systems for machine tools, are conventionally designed such that the control of each axis is independent of the other. The present paper is concerned with·providing cross-couplings for biaxial control syst.ems, whereby an error in either axis affects the control/oops of both axes. An algo•rithm for a cross-coupled control system is presented, and the performance of . the cross-coupled system is mathematica//y analyzed and compared with the com;entional CNC system having individual axis control. It is shown that crosscoupling between axes improves the contour accuracy while the velocity respbnse of each axis is only slightly reduced. Although the proposed cross-coupled system reqt.rires additional hardware for implementation with an NC system, operation with a CNC-based system requires only software modifications to the system comrrol program.
- 1、下载文档前请自行甄别文档内容的完整性，平台不提供额外的编辑、内容补充、找答案等附加服务。
- 2、"仅部分预览"的文档,不可在线预览部分如存在完整性等问题,可反馈申请退款(可完整预览的文档不适用该条件!)。
- 3、如文档侵犯您的权益，请联系客服反馈,我们会尽快为您处理(人工客服工作时间：9:00-18:30)。
© 2009 HBUT Hubei University of Technology
六、计算机控制研究课题
© 2009 HBUT Hubei University of Technology
七、计算机控制发展历史、发展方向与应用前景
© 2009 HBUT Hubei University of Technology
© 2009 HBUT Hubei University of Technology
2. 航空航天
© 2009 HBUT Hubei University of Technology
3. 军事装备
© 2009 HBUT Hubei University of Technol论：4个专题 计算机控制发展史 计算机控制研究热点 计算机控制理论典型应用（新理论） 计算机控制系的发展方向与应用前景 要求： 分成四个小组；小组成员分头检索文献，汇总后 讨论，由小组代表做10分钟的发言。
© 2009 HBUT Hubei University of Technology
三、计算机控制系统的分类 按控制规律分类 程序和顺序控制 PID控制 有限拍控制 复杂规律控制 智能控制等等 3. 按控制方式分类 开环控制和闭环控制
2.
© 2009 HBUT Hubei University of Technology
四、计算机控制系统的结构和组成
1.
2. 3. 4.
计算机控制系统的组成——硬件和软件 控制对象——控制对象传递函数 执行器 测量环节
© 2009 HBUT Hubei University of Technology
第一讲 计算机控制系统概论
一、计算机控制系统的概念 二、典型计算机控制系统 三、计算机控制系统的分类 四、计算机控制系统的结构和组成 五、计算机控制系统的性能及其指标 六、计算机控制研究课题 七、计算机控制发展历史、发展方向与应用前景
© 2009 HBUT Hubei University of Technology
四、计算机控制系统的结构和组成
数字调节器与输入输出通道 (1) 多路开关、采样保持器 (2) 采样数学描述、采样信号频谱与采样定理 (3) 模数转换器、量化单位与字长 (4) 数字调节器——计算机 (5) 数模转换器——保持器 泰勒级数应用——n阶保持器 AD转换器——零阶保持器 保持器幅频与相频——低通相角滞后特性
© 2009 HBUT Hubei University of Technology
一、计算机控制系统的概念
1.
2. 3. 4.
定义 典型闭环控制系统的模拟结构与计算机控制系统 计算机控制系统的控制过程 计算机控制系统的特点——灵活性适应性与复杂 控制
© 2009 HBUT Hubei University of Technology
5.
© 2009 HBUT Hubei University of Technology
五、计算机控制系统的性能及其指标
1.
2. 3.
4.
5.
自动控制系统三要素——稳快准 计算机控制系统的绝对稳定性 计算机控制系统的动态特性——暂态过程的相对 稳定性与快速性 计算机控制系统的稳态精度——稳态误差 综合指标
计算机控制系统
Computer Controlled Systems
© 2009 HBUT Hubei University of Technology
课程内容
1.
2. 3. 4. 5.
6.
7.
计算机控制系统概论(1) 分析离散系统的数学工具z变换(2) 线性离散系统的数学模型与分析(1) 线性离散系统的状态空间分析(1) 计算机控制系统的模拟化设计(1) 计算机控制系统的离散化设计(1) 计算机控制系统的实现(1)
二、典型计算机控制系统
1.
2.
计算机控制系统的典型结构 计算机控制系统举例
© 2009 HBUT Hubei University of Technology
1. 工业应用
© 2009 HBUT Hubei University of Technology
© 2009 HBUT Hubei University of Technology
© 2009 HBUT Hubei University of Technology
三、计算机控制系统的分类
1.
按功能（发展进程）分类 数据处理系统 直接数字控制系统 监督控制系统 分级控制系统 集散控制系统 计算机控制网路
© 2009 HBUT Hubei University of Technology