硬件实现的

A nerve net controller have been designed on the basis of the hardware design of the AC servo system and system model. The controller include two forward nerve net with three layers . One is designed to identify the AC servo system model and another is to control. The controller use special learning algorithm which to control system at the same time and improve its constringency pace through introducing new MFBP algorithm. The intelligent control algorithmic is programmed using C++ language after the controller have been designed .

在该交流伺服系统硬件设计和系统数学建模的基础上，设计了神经网络自适应控制器，这个控制器包括两个三层的前馈神经网络，一个神经网络用于非线性系统的辨识，另一个神经网络作为控制器，此控制器采取边学习边控制的工作方式，并采用一种新型的MFBP算法实现了控制算法的快速性，在控制器设计完成的基础上，利用C++语言具体实现智能控制算法的编写。

Firstly, it discusses the principle of adaptive interference chancellor, including broad band signal and narrow band signal; Secondly, it analysises one common algorithm used in adaptive interference chancellor, that is, LMS algorithm and its anamorphosis algorithm especially normalized LMS algorithm pointing out their relationship. After then, the paper talks about the structure and reality of canceling broad band noise in narrow band signal and narrow band noise in broad band signal and gives it's result simulation analyzing the factors affecting the power of the algorithm. In the last party, it gives the hardware design and assembly language software design using TMS32OC3 1, including the result of simulating.

首先，本文讨论了自适应干扰对消的原理，并对窄带信号和宽带信号两种进行了分别分析；然后本文对自适应干扰对消中常用的算法—LMS算法进行了分析，同时也讨论了LMS算法的变形算法，尤其是归一化LMS算法，并指出了这些算法的相同和不同之处；此后，本文讨论了窄带信号中的宽带干扰对消和宽带信号中的窄带干扰对消的结构及实现方法并给出了住址的结果，分析了影响干扰对消效果的因素；在论文的最后，给出了用TMS320C31实现窄带信号中的宽带干扰对消的硬件设计和汇编程序设计，以及汇编语言程序的结果，并就此结果与高级语言程序的结果作了比较。

Thus the original data is received. But anciently, it always takes hardwares to code.

但在以往采用这种方法时都是由专用的硬件来实现。

The luminescence power of semiconductor laser diode is tested after the radiator element of laser diode is made and the drive circuit is designed. Then, chaos mathematic model is introduced to produce deterministic class stochastic signal and C langrage program, which is based on the hardware circuit design of MSP430, is designed and on-line debugged to implement the dynamic stimulation effect and avoid the body adaptability with the duty cycle of chaos sequence. The duty cycle is adjusted and controlled to accomplish the reinforcing and reducing in moxibustion. At last, Average power of laser diode is tested under the conditions of different duty cycles and the waveforms are collected by applying virtual instrument.

在半导体激光器散热装置的特别制作及工作驱动电路的设计基础上，完成半导体激光器发光功率的测试，然后引入混沌数学模型方法来产生确定性的类随机信号，在 MSP430 单片机硬件电路设计的基础上，应用单片机 C语言进行程序设计并在线调试，实现传统灸法的动态刺激效果，采用混沌序列占空比信号消除人体适应性，调整和控制输出占空比的改变以达到灸疗的补泻手法的实现，最后对不同控制占空比情况下激光器输出的平均功率进行测试，完成工作波形的采集。

Around the topic, the weak points of the traditional platform is analyzed first, such as complex arithmetic, long calculating time, high needs of hardware and so on. A real time control method based on virtual simulation is suggested to separate the complex positive/negative calculation of space kinematic and real time motion control. And a"3-2-1"type 6DOF platform is designed with the reference of the MAST (Multi-Axis Shaking Table) of MTS. The kinematic and dynamic calculation of the platform is finished. According to the calculating result, the control system of the"3-2-1"type 6DOF platform including 6 linear servo electric cylinders is designed and constructed. And the professional software Pro/E is used to do the 3D model and 6DOF motion simulation of the platform. The motion curves of the pistons of the 6 cylinders are exported with the simulation. At last the control software is programmed with Microsoft Visual Basic 6.0 and realizes the functions with the commands of GE series motion controllers. When loading the motion curves exported with the simulation, every cylinder can follow the curve very well and the platform realizes the hoped 6DOF motion.

围绕选题，本论文首先分析了传统的运动平台控制方法所存在的算法复杂、解算耗时长、硬件需求高的缺点，提出了一种基于虚拟仿真的实时控制方法，该方法将复杂的空间运动学正、反解与实时运动控制相分离；之后，参考MTS公司的MAST多轴振动平台，设计了新型的"3-2-1"型六自由度平台，并进行了运动学及动力学计算，根据相关计算结果，设计与搭建了包括驱动6个直线伺服电动缸在内的"3-2-1"型六自由度平台控制系统；接着，使用Pro/E对"3-2-1"型六自由度平台进行了三维建模和六自由度运动学仿真，并由仿真直接获得了6个直线伺服电动缸的活塞杆的相应运动曲线；最后使用Microsoft Visual Basic 6.0编写了控制软件界面，通过调用GE系列运动控制卡的各种命令函数实现了控制系统的相关功能，而当加载仿真得到的各缸运动曲线后，每缸均能很好地跟踪输入曲线，使平台实现了期望的多自由度运动。

At the same time, on the base of analysis of the present situation, the development trend and the leading edge technology, the necessity and feasibility about the exploitation of the full hydraulic bulldozer"s sate monitoring and fault diagnosis system is given; According to the structure, working feature and working environment, it works out system schema and system composition; The system is divided into display module, communication module and fault diagnosis module by means of block design, the implementation method and key parameter are also given; In light of the features of the full hydraulic bulldozer, the state monitoring and fault diagnosis platform composed of controller RC6-9 and display DI2/10 is designed based on CAN-Bus and the hardware design is completed; It lists the measured values and state of monitored parameters which should be real-time displayed in monitoring module as well as the data which will be transmitted; Furthermore, On the base of the study of, it gives 34 kinds of constant faults" diagnosis methods; Using BODAS software and DPS software, it compile the program code of the controller and the displayer; At last, this paper design and make the simulation test device of control system of construction machinery, through the experiment, the realizability, the categoricalness, the reliability, the stability and real-time are tested, in addition, the improved methods are given.

本文收集整理了国内外智能推土机研究的相关文献资料，综合分析了国内外智能推土机的研究现状、发展趋势和前沿技术，论证了开发全液压推土机智能系统的重要组成部分&全液压推土机状态监测与故障诊断系统&的必要性和可行性；根据全液压推土机的结构、作业特点和作业环境，制定了全液压推土机状态监测与故障诊断系统方案，确定了系统的结构组成；采用模块化设计方法，将整个系统分成了显示、通信和故障诊断三个模块，给出了各模块功能的实现方法，确定了各模块的关键技术参数：选用RC6-9和DI2／10作为系统的控制器和显示器，用CAN总线搭建了系统的通信平台，完成了系统的硬件设计；确定了系统监测参数和通信数据，对全液压推土机常见故障特征进行了分析，给出了34种常见故障的诊断方法；在BODAS软件和DPS软件的集成编程环境下，编写了控制器和显示器程序；设计并制作了工程机械控制系统模拟试验板，并在此基础上通过多次的程序调试与试验，对所设计的全液压推土机状态监测与故障诊断系统功能的可实现性、完备性、可靠性、稳定性和实时性进行了检验，证实了此系统的可行性，并提出了进一步的改进方案和措施。

By the detail discussion onthe hardware of the smooth path control system of single-chip microcomputer developed and the system software including new type continuous smooth path software, the analyzing of international standard program languageISO andthe attempt to developmental application in the smooth path control systemand experiment have been done, the description of the smooth path of the non-circular curive such as ellipse, hyperbola, parabola and their realignment has been realized by the way directly to input their parameters. The correctnesson the priciple and the method of the continuous smooth path control and the forthright on programing method hayed been proved by the experiment, new way to realize higher accracy continuous smooth path control has been developed.

通过对所研制成功的单片微机平滑轨迹控制系统硬件和包括新型的连续平滑轨迹生成软件在内的系统软件的详细描述，进行了国际通用标准编程语言△ISO标准编码的分析和在平猾轨迹控制系统中扩展应用的尝试和实验，实现了椭圆、抛物线、双曲线等非圆曲线及其组合的直接参数输入的平滑轨迹轮廓描述，并通过实验证明了连续平滑轨迹控制原理及方法的正确性和程序编制的简捷性，为实现高精度连续平滑轨迹控制开辟了一条新的途径。

A design and implementation method of the high speed modulation system, which adopted the new techniques of the FPGA and DAC based communication system,is presented in this paper. The effect of the key techniques of this system, such as the high speed digital signal processing for modulation, high speed based-band signal conversion, wide-band modulation, carrier suppression, high frequency and high precision system clock generation, is analyzed, and the solutions and performance analysis is also given. Finally, a high speed modulation system for space applications is implemented, can be used for high speed data transmission with QPSK, 8PSK, QAM or other kinds of digital modulation.

本论文依据正交调制原理，采用基于FPGA和DAC的设计技术，提出了一种高速、灵活的调制系统的设计方法，重点分析了系统组成的调制编码映射、基带脉冲信号转换、信号滤波、调制、系统时钟产生等关键技术环节的影响，解决了高速调制信号处理、高速数据转换、宽带调制、载波抑制、高频率高精度系统时钟的产生等关键技术问题，完成了一种适用于空间应用的高传输速率、多进制数字调制方式和调制体制灵活的数据传输调制系统的设计与实现，可在硬件设计不变的情况下，实现QPSK、8PSK和16QAM等多种调制方式的高速数据传输，QPSK调制速率达到500Mbps。

First, the stations'timing process and the slot aligning are discussed. Second, the dissertation propose a resource request random access method based on feedback. The performances of this method are analyzed. Third, proceed from the considerations of the MAC protocol for the HFC system, a QOS-oriental scheduling algorithm for the MAC protocol based on dynamic TDMA is proposed. Simulation results show that the performance of this algorithm is better than that of the first come first service. Forth, two contention resolution algorithms ----p-persistent CRA and tree CRA, which are usually adopted in the HFC system, are summarized. The delay and characteristic are compared. At last, the dissertation introduces the function implementation of the MAC layer based on COM21 UPSTREAMS.

首先，讨论了基站的同步进程和时隙同步的实现；然后，本文提出了一种带反馈模块的资源申请信号随机接入方法，并对其进行性能分析；然后，从HFC系统的MAC协议出发，提出了一种用于基于动态TDMA技术的MAC协议的业务安排算法，计算机仿真结果表明其性能优于先到先服务法的性能；然后概述了常用于HFC系统的两种冲突解决算法——p-坚持冲突解决算法和树型冲突解决算法，比较两者的时延性能与特征；最后，介绍了基于COM21 UPSTREAMS协议的MAC层功能实现，给出了硬件框图和照片。

At last, the applications of transputer arrays for vision processings are investigated.

最后还研究了Transputer阵列结构在视觉处理中的应用，其中讨论了Tran-sputer阵列互连拓扑的一些特点，给出了Transputer阵列系统常用的三种并行策略及其用于实现视觉处理算法的可行性，对特定硬件模型下Transputer阵列实现视觉处理中的点类、局部类、全局类算法时的性能指标进行了分析，并给出了算法实例。

The split between the two groups can hardly be papered over.

这两个团体间的分歧难以掩饰。

This approach not only encourages a greater number of responses, but minimizes the likelihood of stale groupthink.

这种做法不仅鼓励了更多的反应，而且减少跟风的可能性。