自动控制技术
P1 催化裂化过程建模与稳态优化控制(攀枝花大学 冯明琴 等)
Modeling and Stable State Optimal Control for FCC Process
催化裂化装置是一个高度非线性、时变和长时延、强耦合、分布参数和不确定性的复杂系统。在研究其过程机理的基础上，定义了一种模糊神经网络用以建模，用自相关函数检验法检验模型的正确性，再用改进的Frank-Wolfe算法进行稳态优化计算。并以一炼油厂催化裂化装置为对象进行试验，研究其辨识、建模和稳态优化控制。
FCCU (Fluid Catalysis and Cracking Unit) is a highly non-linear, time variable, long time delay, intensive coupling, parameter distributed, indefinite and complex system. We have established a fuzzy neural network based on the process mechanism for the modeling. We use the autocorrelation function checking method to test the correctness of the model, advanced Frank-Wolfe algorithm to compute stable state optimization. We also use a oil refinery works’ FCCU to test and study the system identification, modeling and stable state optimal control by the network.
P6 永磁无刷直流电机伺服系统全数字化设计（华中科技大学 吴东苏 等）
The Full-Digital Design of BLDC Motor Servo System
基于DSP的全数字化无刷直流电机伺服系统，由包括DSP和片外存储器的以TMS320F240组成的小系统，及反馈信号采集模块2部分组成。系统原理是：三相交流输入经整流、稳压后为逆变电路提供直流电源，逆变电路所需的触发信号则由DSP提供，输出占空比可调的PWM信号通过调整的宽度控制功率管的开关时间，实现对无刷电机的控制。其数学模型的建立条件为电动机的气隙磁场沿气隙方波分布、绕组通电时磁通忽略不计、功率管压降为恒值、各相绕组对称。伺服系统采用内环为电流环，外为速度环，最外为位置环的三环串级控制结构。运行结果表明，采用这种控制方案可使系统取得良好的控制效果。
The servo system for full-digital BLDC motor consists of DSP, memory subsystem based on TMS320F240 and the module for feedback signal acquisition. After three-phase AC supply input was rectified, became DC power supply and then it was sent to counter-circuit. The striking signal that counter-circuit need was provided by DSP, and then adjustable PWM signal was outputted, the on/off time of power tube was controlled with adjusting the width of PWM signal, so, the control for BLDC motor was realized. The condition of establishing math model is that gas-gap magnetic field of motor distributed along gas-gap square-wave, the magnetic flux was ignored when current passed winding, the voltage of power tube was dropped to constant value, the winding of each phase was symmetrical. 3-ring serial control structure with current ring, speed ring and position ring was adopted in the servo system. The experiment result shows that excellent control effect of the servo system was obtained with the control scheme.
P9 适用于微粒操作的真空微夹研究（华中科技大学 刘敏 等）
Research on Vacuum Micro-Tool for Handling Micro-Target
微夹研究是微机械电子学系统（MEMS）领域的一个前沿课题。在微粒操作中，起主导作用的是表面力（包括静电力、范德华力和张力），重力可忽略。真空微夹由真空喷射泵、线性压力调节阀、电磁开关阀以及满足尺寸和形状要求玻璃吸管组成。其控制系统为一单片机系统，控制命令由上位机（PC机）给出。对300μm玻璃小球的吸取和释放实验表明，系统结构和控制方式可行，效果良好，适用于亚毫米级微粒的自动吸取和释放操作。
The research on vacuum micro-tool is advance task in the MEMS field. In the manipulation of micro-objects, the main force is the adhesion force, including Vanderwals force, electrostatic attraction and capillary force, and the weight can be neglected. The vacuum micro-tool consists of a venturi jet pump, a linear pressure regulation valve, two switch valves and a glass pipette suited for micro-operation. And the control system is controlled by a microcomputer receiving that the control command given by upper PC. The experimental results of picking and placing glass globules (300μm) shows that the system structure and the control mode is feasible and has good effect for automatic picking and placing manipulation of millimeter micro-objects.
P13 现场总线技术与应用（西南交通大学 魏余芳 等）
Fieldbus Technology and Application
现场总线是一种串行数据通信链路，是连接智能现场设备和自动化系统的一种通信网络。其特点是信号传输全数字、控制功能全分散、标准统一全开放。目前有影响的现场总线技术有基金会现场总线FF、LonWorks总线、PROFIBUS总线、CAN总线和HART协议等。文中详细介绍了LonWorks总线控制节点的两种结构、LonWorks总线在铁路信号控制和楼宇自动化中的应用，以及现场总线技术的发展趋势。
Fieldbus is a kind of serial link for data communication, or a kind of communication network for connecting intelligent fieldbus equipments with automatic system. Its features are: the signal transfer is wholly digital, the control function is completely distributed, and it is a open system with unified standard. There are five types of the influential fieldbus, such FF fieldbus, LonWorks fieldbus, PROFIBUS fieldbus, CAN fieldbus, and HART protocol. This paper introduces, the two configuration of control node in LonWorks fieldbus, the LonWorks fieldbus applications in Railway Signal Control System and Building Automation System, and the development trend of the fieldbus Technology.
P18 数控系统圆弧数据采样插补算法（中国兵器工业第58研究所 熊俊良）
The Arithmetic of Arc Data Sampling Interpolation for CNC System
在分析数控系统圆弧数据插补割线方式较切线、内接弦插补方式误差更小的基础上，讨论了数控系统圆弧数据插补割线方式中最大径向误差与圆弧半径和逼近步长的关系。并讨论了圆弧分象限“均差”割线方式插补时，圆弧的起始步距角和终止步距角、起始象限步数和终止限步数；以及在整象限内的步数和步距角。给出了相应的基本公式和插补算法。
The arc data interpolation error by secant, tangent and chord, and the smallest error by secant mode is analyzed in this paper. The relation between the maximum radial error and arc radius and approach step-length in the secant mode of arc data interpolation in CNC system is detailed. The start-step-angle, end-step angle, number of steps for start quadrant and for ending quadrant, and number of steps and step-angle for whole quadrants, in secant “equal-error” interpolation mode, is discussed. The corresponding some basic formulas and the interpolation arithmetic are given in this paper.
P22 采用TMS320F240的运动控制实验平台（攀枝花大学 张小平 等）
A Motion Control Experimental Platform Based on TMS320F240
以TMS320F240数字信号处理器（DSP）为核心的的运动控制实验平台，采用三项交—直—交逆变电路和检测电路及相应外围电路构成三项变频器，其上位机使用PC。变频器与感应电机和电机负载结合，构成了一个完整的交流调速系统。逆变器的主开关器件，选用智能功率模块（IPM）。DSP控制器以TMS320F240为核心的SEED-F240 DEMO版为基础开发，包括信号的A/D转换和接口等。负载使用5K38UN270Q三项感应伺服电机所带磁粉离合器，对称饿空间矢量买宽调制波由TMS320F240的通用定时器1与3个全比较单元配合产生，采用M/T法测量转速。只要遵循该实验平台的接口协议，设计所需控制软件，即可实现其运动控制，并已成功地用于异步电机无速度传感器的矢量控制、直接转矩控制、V/F恒定调速控制等项目。
TMS320F240-based digital signal processor (DSP) used as the key part of experimental platform for motion control, PC used as upper computer, three-phase transducer consists of three-phase AC-DC-AC frequency changing circuit, detecting circuit and peripheral circuit. The AC adjusting speed system made up of transducer and induction-motor. Intelligent power module (IPM) was used as main on/off device of transducer. On the basis of TMS320F240-based DSP used as the key part, SEED-F240 DEMO board, signal A/D conversion and interface board was developed. The magnetic powder clutch in 5K38UN270Q three-phase servo induction-motor was applied for loading, the modulating wave for the pulse width of symmetrical space vector was generated by a universal timer in TMS320F240 and 3 comparative cell, the rotate speed was tested with M/T method. If only the control software was designed according as the interface protocol of experimental stage, motion control was realized. The experimental platform for motion control had been applied in the vector control, torqu |