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倒立摆是一个多变量

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060018.pdf" target="mainFrame">1.5 CYGNAL系列单片机</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060019.pdf" target="mainFrame">1.6本文的工作</a><br>

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<img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out3" CLASS="Outline" STYLE="cursor:hand"><a href="y8171060020.pdf" target="mainFrame">第二章C8051单片机</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060021.pdf" target="mainFrame">2.1选择F015的原因：</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060022.pdf" target="mainFrame">2.2 CIP.51内核</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060023.pdf" target="mainFrame">2.3存储器</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060024.pdf" target="mainFrame">2.4 JTAG调试和边界扫描</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060025.pdf" target="mainFrame">2.5可编程数字I/O和交叉开关</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060026.pdf" target="mainFrame">2.6可编程计数器阵列</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060026.pdf" target="mainFrame">2.7串行端口</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060028.pdf" target="mainFrame">2.8模/数转换器</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060029.pdf" target="mainFrame">2.9数/模转换器</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060029.pdf" target="mainFrame">2.10比较器</a><br>

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<img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out4" CLASS="Outline" STYLE="cursor:hand"><a href="y8171060031.pdf" target="mainFrame">第三章倒立摆控制系统设计</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out41" CLASS="Outline" STYLE="cursor:hand"><a href="y8171060031.pdf" target="mainFrame">3.1概述</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060031.pdf" target="mainFrame">3.1.1硬件设计任务</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060031.pdf" target="mainFrame">3.1.2软件设计任务</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out42" CLASS="Outline" STYLE="cursor:hand"><a href="y8171060035.pdf" target="mainFrame">3.2倒立摆控制系统硬件设计</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060035.pdf" target="mainFrame">3.2.1 CPU单元</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060035.pdf" target="mainFrame">3.2.2 C8051F015单片机简介</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060038.pdf" target="mainFrame">3.2.3 JTAG接口电路设计</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060039.pdf" target="mainFrame">3.2.4可编程数字I/O</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060040.pdf" target="mainFrame">3.2.5振荡器</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060041.pdf" target="mainFrame">3.2.6电压基准</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060042.pdf" target="mainFrame">3.2.7复位</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060043.pdf" target="mainFrame">3.2.8电源、驱动电路</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060044.pdf" target="mainFrame">3.2.9硬件设计中需要注意的问题</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out43" CLASS="Outline" STYLE="cursor:hand"><a href="y8171060045.pdf" target="mainFrame">3.3倒立摆控制系统软件设计</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060046.pdf" target="mainFrame">3.3.1Cygnal IDE开发环境</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060047.pdf" target="mainFrame">3.3.2软件设计思想</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060047.pdf" target="mainFrame">3.3.3模块化设计</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060049.pdf" target="mainFrame">3.3.4初始化模块</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060050.pdf" target="mainFrame">3.4采样程序框图</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out45" CLASS="Outline" STYLE="cursor:hand"><a href="y8171060050.pdf" target="mainFrame">3.5程序模块</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060052.pdf" target="mainFrame">3.5.1主程序模块</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060053.pdf" target="mainFrame">3.5.2子程序模块</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out46" CLASS="Outline" STYLE="cursor:hand"><a href="y8171060053.pdf" target="mainFrame">3.6软件抗干扰设计</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060053.pdf" target="mainFrame">3.6.1指令冗余技术使用</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060056.pdf" target="mainFrame">3.6.2软件陷阱技术使用</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060057.pdf" target="mainFrame">3.6.3“看门狗”技术使用</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060057.pdf" target="mainFrame">3.6.4测量信号软件抗干扰技术的使用</a><br>

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<img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out5" CLASS="Outline" STYLE="cursor:hand"><a href="y8171060059.pdf" target="mainFrame">第四章控制算法与实现</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060060.pdf" target="mainFrame">4.1圆轨一级倒立模型的建立</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060061.pdf" target="mainFrame">4.2圆轨二级倒立摆系统模型的建立</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out53" CLASS="Outline" STYLE="cursor:hand"><a href="y8171060062.pdf" target="mainFrame">4.3圆轨一级倒立摆摆起过程分析</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060063.pdf" target="mainFrame">4.3.1基于开环控制律的摆起</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060064.pdf" target="mainFrame">4.3.2基于闭环能量控制的摆起</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060065.pdf" target="mainFrame">4.3.3仿真与实验</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out54" CLASS="Outline" STYLE="cursor:hand"><a href="y8171060068.pdf" target="mainFrame">4.4圆轨二级倒立摆基于能量摆起过程分析</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060069.pdf" target="mainFrame">4.4.1基于闭环能量控制的摆起</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060070.pdf" target="mainFrame">4.4.2仿真与实验</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out55" CLASS="Outline" STYLE="cursor:hand"><a href="y8171060071.pdf" target="mainFrame">4.5线性二次型最优调节器</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060072.pdf" target="mainFrame">4.5.1线性最优控制</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060073.pdf" target="mainFrame">4.5.2线性二次型最优调节器的设计</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060076.pdf" target="mainFrame">4.5.3线性二次型最优调节器稳定性分析</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060077.pdf" target="mainFrame">4.5.4仿真与实验</a><br>

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<img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out6" CLASS="Outline" STYLE="cursor:hand"><a href="y8171060078.pdf" target="mainFrame">第五章8279显示电路</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060079.pdf" target="mainFrame">5.1 8279介绍</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060080.pdf" target="mainFrame">5.2 8279时钟频率的得到</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060081.pdf" target="mainFrame">5.3 8279初始化</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060082.pdf" target="mainFrame">5.4显示程序框图</a><br>

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<img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060083.pdf" target="mainFrame">第六章结束语</a><br><%EOF%>

<img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060084.pdf" target="mainFrame">参考文献</a><br>

<img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060085.pdf" target="mainFrame">致谢</a><br>

<img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y8171060086.pdf" target="mainFrame">作者简介</a><br>

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