Major Social Work Training Practices Translation Mechanical Class 100

。The position of the position feedback counter of the servo motor is that the optical encoder obtains a position codifier(). There, two orthogonal pulse waveform generators determine the direction of motion; The number of pulses provides the absolute position.

However, these waveforms cannot be directly received by the digital controller, they should be a digital structure that gives the encoder count in absolute position and uses it to process and take control actions. The digital counter is the encoder for this post, giving a 32-bit resolution of the absolute position of the main block. Other digital structures are registered synchronously to avoid errors in the input signal in the encoder.

Fig. 4 shows this block diagram. The FPGA controller implements the design of the control system using the VHDL language, as shown in the block diagram of the previous paragraph, implemented in the Spartan-3 FPGA (Xilinx, 2005).

This device has 200,000 gates, 216 kb of random access memory (RAM), 1218*173 18-bit multiplier, and the inputs and outputs are defined by the user. This reference clock speed is 50 MHz.

。Location feedback counter.

The servo position makes use of the position of the optical encoder codifier(). There are two orthogonal squares of the pulse waveform, and the direction of motion that is generated, determines the absolute position of the number of pulses transmitted. But these waveforms are not acceptable to direct digital controllers; They should process the numerical structure, give the absolute position count of that encoder, and use it to take control actions.

A numeric counter is the absolute position code of the main block for the position applied for, with a 32-bit resolution. The structure of other digits is used to prevent the simultaneous registration of incorrect encoding of input signals. Figure 4 shows this block diagram.

Controller execution.

The control system designed, using the Hardware Description Language (VHDL), shows the implementation of the block diagram in the previous section, which is Spartan-3 FPGA (2005), lecturer vividly. The device has 200,000 gates, 216 KB random access memory (RAM), 1218 18-bit multiplier inputs and outputs defined by the user. This base clock is 50 Hz in minutes.

Place a feedback counter.

The auxiliary motor position is obtained from the position of an optoelectronic codifier (encoder). There, the square of the two-finding integral method causes the pulsed signal waveform to determine the direction of action; The number of pulses provides an absolute position. However, those signal waveforms cannot be directly accepted by the digital controller; They should be handled by giving absolute position counts in a digital structure of the encoder and using it to take control activities.

A digital counter is the main block of position encoders giving absolute position of 32-bit resolution. Other digital structures are synchronous registers, which are used to avoid errors in the encoder input signals. Figure 4 shows this structural diagram.

FPGA controller implementation.

A designed control system using VHDL, shown by the structural diagram of the front section, was implemented in the Spartan-3 FPGA (Xilinx was implemented in 2005). This device has 200,000 gates, 216 kilobytes of random access memory (RAM), 1218*18-bit multiplier and 173 defined user inputs and outputs. This base clock is 50 Hz in minutes.

FPGA implementation.

The implementation of the control method in this work is a standard PID. The algorithm is similar to (galil motion motion) that will be used in this section of the commercial development board1. The main contribution of this work is the realization of high-speed digital structures through a regionally efficient FPGA.

The development of FPGA devices has made it possible to obtain higher (servo loop update time) sampling rates compared to other processors such as DSPs or microcontrollers. On the other hand, the integration and portability of FPGAs are well suited for complementary structures such as configuration file generation, counters, feedback system interfaces that are embedded in the same SoC technology, and require a separate DSP or microcontroller and dedicated to these peripheral logics. It is also important to note that the FPGA is reconfigurable, which means that whenever a digital modification of the internal structure is required, the PID control algorithm, or even a major modification, the additional control structure is not enough to do without changing the hardware by the FPGA software through the hardware description language.

Although the DSP can be implemented by software to control changes in the algorithm, the continuous nature of the processor does not guarantee high sampling rates when the algorithm requires more computational cycles, while FPGAs do not, due to its inherent parallel structure problems. 。Hardware design of the controller.

PID's hardware.

The design developed in this work carries out a number of controls such as those used in law for the purpose of reconfigurable hardware controllers: proportional (P), proportional integral (PI), proportional, differential (PD), proportional integral derivative (PID control), lead filters, filters and hysteresis filters that cause hysteresis. All the previously mentioned laws allow higher resolution at higher sampling rates.

The law on the hardware design of these controls was developed based on a numerically filtered display of a divergence equation on the second-order infinite impulse response (native) (1), where b and a are constant coefficients that can be changed according to the specific control in the law, x(k) for the excitation and y(k) for the output of the system:

Formula omitted).

The gear teeth are neat and parallel to the shaft are spur gears. Spur gears can only be used to connect parallel shafts, however, parallel shafts can also be connected with another type of gear. Spur gears can be paired with another type of gear.

Helical gears have certain advantages, for example, when connected to parallel circumferences, they have more pressure capacity than spur gears with the same number of teeth and can be cut with the same tools. Helical gears can also be connected to a non-parallel, non-intersecting shaft at any angle. The 90-degree angle is the angle at which this type of gear is often applied.

Worm gears provide the easiest way to obtain a pair of gears with large ratios. They are usually not as efficient as parallel shaft gears, although they have additional sliding along the teeth. Because they are similar and rely on the same factors, worm gears are just as efficient as gears and screws.

Landlord, I don't understand mechanical, maybe the translation is inaccurate, can you combine your actual experience, help me explain my ** mistakes? Thank you very much!

Gear Shift, Mold Life, Multiple Inserts, Project Name, Mold Features, Quick Fix, Graft, Select Body, Lead Time, Slider, Bushing, Row Channel, Spacer Block, Extractdiom Plug, Pregiudicare

Adjust the PID with the frequency response method

This approach is based on two important aspects of the system's response: stability and responsiveness. The stability of the system shows the nature of the response, the speed of the response of the system, the ability of the system to make small corrections without causing vibrations.

The stability is expressed in terms of phase margin, and the response speed of the system is directly related to the crossover frequency. It is assumed that the design goal can be expressed as a function of the crossover frequency (oc) and the phase margin (ym), thus satisfying equations (11) and (12).

where l(jw) is the open-loop transfer function of the servo system, as shown in Figure 6, represents the identification product b(s), and the DAC gain ka, the zhh function h(s) and the PID digital filter.

431PLD frequency response method.

This approach is built on two important aspects of system response: stability and responsiveness.

The stability of the system refers to the natural response, while the speed of response refers to the correct response that can be made. The stability of the system is expressed in C++, and the speed of response is directly related to frequency.

Usually his design goal is to be able to achieve the following functions: the latter ones are not very good.

PID regulation of the frequency response method.

The method is based on two important aspects of the system's response: stability level and response speed. The stability of the system indicates the reaction characteristics, while the speed of response indicates the ability of the system to perform small corrections without causing **.

The stability level is expressed by the phase margin, and the response speed of the system is directly related to the traversal frequency. Presumably, the design goal can be expressed by the function of the traversal frequency (OC) and the phase margin (YM). Thus, equations (11) and (12) satisfy:

Equations omitted from 11, 12).

where L(JW) is the open-loop transfer function of the servo system, as shown in Figure 6, represents the identification product B(S), DAC to obtain the KA, ZOH function H(S) and PID digital filter.

。Methods are modulated by frequency response tuning PID.

The method is based on two important aspects of the stability of the system's response, grade and response speed....The stability of a system, while the natural reaction shows the ability of the system to make small corrections to the response speed without causing vibrations. This level of stability is expressed at the edge of the phase, the speed of the system's response, which is directly related to the frequency of the intersection. This is assumed to be designed for the purpose of using functions such as cross frequency (oc) and phase margin (ym).

Hence EQS. (xi) and (12):

Formula omitted).

This is where (small) the open-loop system of the transfer function of the servo, as shown in Figure 6, represents a kind of identification. B(S) products, obtained ZOH digital-to-analog converters, functional H(S) and PID digital filters.