论文线缆测试仪的设计.docVIP

线缆测试仪的设计 对本论文给予深入细致的指点，同时也感谢身边的朋友们，也对从网络和论坛里得到的帮助作者表示感谢。 参考文献 [1] 邴志刚，方景林，谷兆麟等．计算机控制[M]．北京：清华大学出版社，北京交通大学出版社， 2005 [2] 黄任．AVR单片机与CPLD／FPGA综合应用入门[Ｍ]．北京：北京航空航天大学出版社，2004 [3] 吴双力，崔剑，王伯岭．AVR-GCC 与AVR单片机C语言开发司[Ｍ]．北京：北京航空航天大 学出版社，2004 [4] 张亦华， 延明． 数字电路EDA入门－VHDL程序实例集[Ｍ]． 北京： 北京邮电大学出版社， 2004 [5] 侯伯亨，顾新．VHDL硬件描述语言与数字逻辑电路设计[Ｍ]．北京：西安电子科技大学出版 社，2004 [6] 陈华. 温度控制系统的设计与应用[J]．现代电子技术，2002（9） ：74-75 [7] 刘光武，刘冬，姚志成．单片机系统实用抗干扰技术[Ｍ]．北京：人民邮电出版社， 2003 [8] 可编程逻辑器件中文网站 http：//www.PLD. [9] 我们的AVR http：// [10] 研学论坛 http：///index.jsp [11] 维普期刊全文数据库 http：///datalib/cn/vip.shtml [12] 超星数字图书馆 http：///datalib/cn/chaoxin.shtml 附录 （一） 系统原理图 （二） 毕业设计过程中所涉及的软件 （三） 英文论文 Mobile robot tracking of pre-planned paths 6. CURVATURE RATE LIMITING In the preceding sections, we assumed that the steering controller could instantaneously assume any desired curvature .The resulting analysis yielded a 4 : 1 ratio between control constants for critically damped response .The graph labelled ‘curvraw’ on Fig. 4 shows the curvature required to correct an error in y when the vehicle is parallel to a stright path but displaced 0.1 m from it. The graph indicatesthat a large initial step change in curvature is required followed by a sequence of much smaller changes. In real systems, the steering controller will take a finite time to attain this step in demanded curvature, so we must either: (1) Include the dynamics of the steering process in the analysis and recompute the optimum ratio of control constants. Figure 4. Step response (k ) with curvature rate limiting. (2) Include in the system a mechanism to spread the change in curvature more evenly over the whole steering process and assume that, to an acceptable accuracy, the real steering mechanism can track the demanded turning curvature. To avoid assuming specific steering control dynamics, here we present a solution based on the second approach. 6.1. Filtering demand curvature In order to spread the changes in curvature more evenly across t