yang课程设计(修改版).docxVIP

天津职业技术师范大学 Tianjin University of Technology and Education 毕 业 设 计 专 业： 自动化与电气工程学院 班级学号： 01120081308 学生姓名： 吉中柱 指导教师： 李宏伟 教授 二〇一三年六月 天津职业技术师范大学本科生毕业设计 基于FPGA的等精度频率计 Identification design for the kinetic model of a superminiature helicopter 专业班级：电气0813班 学生姓名：吉中柱 指导教师：李宏伟 教授 学 院：自动化与电气工程学院 2013 年 6 月 摘 要 随着当今世界经济的快速发展和信息化时代的来临，企业的效益尤为可见，胶带运输机集控系统运行安全可靠与否直接影响的企业的经济效益。可靠性和安全性，实施集中监控，实现系统的综合保护和集中监控，是十分必要的。由于生产技术的不断发展，和生产技术的提高，对于较大胶带运输机的性能指标和技术规格也越来越严格。对于运输能力的安全性和可靠性也越来越提高，因此，对于胶带运输机必须全方位提供可靠、安全的检测和保护，这对于提高生产效率，降低事故率以及确保人身安全等，都具有重要意义。因此，对于运用PLC软件设计保护检测胶带运输机运行，至关重要。 运用S7-200 PLC软件和MCGS组态仿真软件，更能方便，快捷，灵活的对系统进行调试和维修，为生产安全，和经济利益带来巨大效益。同时，也为科学进步和社会发展，有着积极的作用。 关键词：胶带运输机；plc软件；MCGS仿真； ABSTRACT In order to realize the autonomous flying of a superminiture helicopter, it is necessary to obtain its high-accuracy kinetic model. Considering the impact on flight dynamical characteristics caused by the couplings among the helicopter body, main rotating wings/stablizer bars and stroke oars, a linear time-invariant continuous-time mechanical model for the superminiture helicopter is analyzed. On the basis of the mechanical model, an identification scheme for the kinetic model in the hovering state can be designed by use of an L2-optimal identification method. Furthermore, the estimated model is able to describe the true dynamical characteristics of the helicopter. Based on a geometrical interpretation for the v-gap metric, this method belongs to a novel identification method, which can estimate multi-input and multi-output errors-in-variables (EIV) models. An L2-optimal model consists of a system model represented by normalized coprime graph symbol and a noise model represented by a complementary inner factor (CIF). A priori pole information on the underlying system can be used to build a generalized orthogonal basis, which is further employed to parameterize the system model. The parameter optimization for the system model can be efficie