环形球栅扭矩传感器的数据采集系统设计与研究
|
摘要
扭矩是最能表征传动轴动态性能和工作状态的典型参数之一。扭矩测试技术在各种机械产品的开发研究、质量检验以及故障诊断等方面得到了广泛的应用。利用扭矩测量系统采集实测数据,通过比较分析处理后,即可获得机械主轴的工作状态,实现对机械传动系统动态特性的监测、诊断与控制,从而减少事故的发生,使生产正常进行。因此,扭矩测量一直是国内外学者致力研究的热点之一。随着生产力的发展,扭矩传感器不仅要满足测量精度的要求,同时还需适应例如高温、强腐蚀、强冲击以及强振动等各种恶劣的工业生产环境。
论文针对目前国内外对极端环境中机械传动系统的扭矩测量尚无有效解决方案的现状,在国家自然科学基金项目(项目编号:50975300)“基于球对称的交流电磁感应环型阵列器原理研究”和高等学校博士学科点专项科研基金(项目编号:20100191110038)的资助下,对用于极端条件下的环形球栅扭矩传感器开展了较为深入的研究,并重点对环形球栅扭矩传感器的数据采集系统进行了设计与研究,为实现极端环境下机械传动系统扭矩的在线动态测量,进行了较为系统的探索与实验研究,为进一步深入研究极端环境下机械传动系统扭矩测量工作奠定了基础。
从工程应用的角度出发,论文首先对环形球栅扭矩传感器的结构和工作原理进行研究,并完成环形球栅扭矩传感器输出信号的相关特性分析;其次,针对环形球栅扭矩传感器的输出信号特点,提出相应的信号处理方法;然后,根据数据采集系统设计原则及参数要求,提出环形球栅扭矩传感器的数据采集系统的总体设计方案,并从信号调理、数据采集、机械主轴、电机控制、以及系统软件设计等方面完成系统详细设计。最后,对系统进行调试与实验,完成实验数据的分析和系统误差分析。
论文利用虚拟仪器技术以灵活的软件功能代替固化硬件,简化系统的硬件电路,减少由硬件电路产生的干扰信号的影响,使测量结果更精确,同时提高了系统的可靠性、灵活性、通用性和可扩展性。
In the various mechanical transmission systems, Torque is a typical mechanical parameter to reflect the dynamic performance and the labor status of mechanical transmission shaft, the testing technology has become necessary means of research and development, test and analysis, quality control, and fault diagnosis of various mechanical products. It’s working conditions which is obtained by using torque sensor systems to collect large number of measured data, then being comparatived and analyzed, which can achieve the monitoring, diagnosis and control to dynamic characteristics of mechanical transmission system. avoid the occurrence of the major equipment accidents and make the production safe. So,measurement of the torque is always one of the hot spots which are devoted by many scientists at home and abroad now. With the development of productive forces, torque sensors not only to meet the requirements of accuracy, is also required to adapt to such high temperature and strong corrosion, strong shock and strong vibration, and other harsh industrial production environments.
Funded by“Research on the principle of the ring-space array based on the sphericallysymmetric and the principal of electromagnetic induction”the project of NaturalScience Foundation Of Country and Doctoral Program of Higher Education Research Fund,the paper under the extreme conditions of ring ball gratings torque sensor depth research carried out, focusing on the torque sensor ring ball gratings data acquisition system was designed and studied for the realization of mechanical transmission of torque under extreme environments On-line dynamic measurement, a more systematic exploration and experimental research, for further study of mechanical transmission system under extreme conditions of work laid the foundation for torque measurement.
From the view of engineering application, the paper discusses and researches structure and working principle of the Torque based on ring ball gratings, and analyses the impact of ring ball gratings to the output voltage of the collection coils within reader head when the mechanical transmission shaft is in working, according to the spherically symmetric and the principal of electromagnetic induction. The paper make a thorough discuss and study on data colletion system for the feature of the ring ball gratings torque sensor: We designed a lab equipment for torque measurement according to system requirements; Hardware circuit of system includes permeability electrocircuit within the reader head and control circuit of motor; Design software of motor contorl and data acquisition based on LabVIEW in order to control motor and collcet signal of sensor. At last, the test and experiment of system is carried out. The elementary error of the experiment data has been analysed.
Using virtual instrument technology in order to a flexible software instead of solidifying hardware, the system reduces hardware circuits, takes from the influence of undesired signal caused by hardware circuits, makes measurement results more accurate, and also enhances the reliability, fexibility, universality and extendability of the system.
论文针对目前国内外对极端环境中机械传动系统的扭矩测量尚无有效解决方案的现状,在国家自然科学基金项目(项目编号:50975300)“基于球对称的交流电磁感应环型阵列器原理研究”和高等学校博士学科点专项科研基金(项目编号:20100191110038)的资助下,对用于极端条件下的环形球栅扭矩传感器开展了较为深入的研究,并重点对环形球栅扭矩传感器的数据采集系统进行了设计与研究,为实现极端环境下机械传动系统扭矩的在线动态测量,进行了较为系统的探索与实验研究,为进一步深入研究极端环境下机械传动系统扭矩测量工作奠定了基础。
从工程应用的角度出发,论文首先对环形球栅扭矩传感器的结构和工作原理进行研究,并完成环形球栅扭矩传感器输出信号的相关特性分析;其次,针对环形球栅扭矩传感器的输出信号特点,提出相应的信号处理方法;然后,根据数据采集系统设计原则及参数要求,提出环形球栅扭矩传感器的数据采集系统的总体设计方案,并从信号调理、数据采集、机械主轴、电机控制、以及系统软件设计等方面完成系统详细设计。最后,对系统进行调试与实验,完成实验数据的分析和系统误差分析。
论文利用虚拟仪器技术以灵活的软件功能代替固化硬件,简化系统的硬件电路,减少由硬件电路产生的干扰信号的影响,使测量结果更精确,同时提高了系统的可靠性、灵活性、通用性和可扩展性。
In the various mechanical transmission systems, Torque is a typical mechanical parameter to reflect the dynamic performance and the labor status of mechanical transmission shaft, the testing technology has become necessary means of research and development, test and analysis, quality control, and fault diagnosis of various mechanical products. It’s working conditions which is obtained by using torque sensor systems to collect large number of measured data, then being comparatived and analyzed, which can achieve the monitoring, diagnosis and control to dynamic characteristics of mechanical transmission system. avoid the occurrence of the major equipment accidents and make the production safe. So,measurement of the torque is always one of the hot spots which are devoted by many scientists at home and abroad now. With the development of productive forces, torque sensors not only to meet the requirements of accuracy, is also required to adapt to such high temperature and strong corrosion, strong shock and strong vibration, and other harsh industrial production environments.
Funded by“Research on the principle of the ring-space array based on the sphericallysymmetric and the principal of electromagnetic induction”the project of NaturalScience Foundation Of Country and Doctoral Program of Higher Education Research Fund,the paper under the extreme conditions of ring ball gratings torque sensor depth research carried out, focusing on the torque sensor ring ball gratings data acquisition system was designed and studied for the realization of mechanical transmission of torque under extreme environments On-line dynamic measurement, a more systematic exploration and experimental research, for further study of mechanical transmission system under extreme conditions of work laid the foundation for torque measurement.
From the view of engineering application, the paper discusses and researches structure and working principle of the Torque based on ring ball gratings, and analyses the impact of ring ball gratings to the output voltage of the collection coils within reader head when the mechanical transmission shaft is in working, according to the spherically symmetric and the principal of electromagnetic induction. The paper make a thorough discuss and study on data colletion system for the feature of the ring ball gratings torque sensor: We designed a lab equipment for torque measurement according to system requirements; Hardware circuit of system includes permeability electrocircuit within the reader head and control circuit of motor; Design software of motor contorl and data acquisition based on LabVIEW in order to control motor and collcet signal of sensor. At last, the test and experiment of system is carried out. The elementary error of the experiment data has been analysed.
Using virtual instrument technology in order to a flexible software instead of solidifying hardware, the system reduces hardware circuits, takes from the influence of undesired signal caused by hardware circuits, makes measurement results more accurate, and also enhances the reliability, fexibility, universality and extendability of the system.
引文
[1] Baynes T M , Russell G J , Bailey A.Comparison of Stepwise Demagnetization Techniques[J].IEEE Transactions on Magnetics,2002,38(4):25-3 1.
[2]闫晓强,张海,杨舒拉.轧机扭矩遥测系统[J].冶金设备,2001,130(6):63-65,32.
[3] Sackfield A,Barber JR,Hills DA,et al.A Shrink-fit Shaft Subject to Torsion[J].European Journal of Mechanics A/Solids.2002,21(10):73-84.
[4]商维绿,缪德源,钱顺章,黄险峰.现代扭矩测量技术[M].上海交通大学出版社,1999.10.
[5]杨海马.无线传输轧钢机接轴扭矩传感器的研究[D].河北:燕山大学,2004.
[6] S.H.He,J.Zhong.Modeling and Identification of HAGC System of Temper Rolling Mill[J]. Journal of Central South University of Technology,2005,12(6):699-704.
[7] A.Tesuos.Estimationo of Lubrication State by Obserbation of Rolled Strip Surface High Speed[J]. Cold Rolling of Mild Steel.ISCR,2005,18(6):34-36.
[8]贾宏光,吴一辉,王立鼎.微小扭矩动态测量[J].光学精密仪器,1998,6(2):61-63.
[9]欧扬,张纪龙.扭矩测试的发展动态和发展方向[J].华北工学院学报,1996,17(1):46-47.
[10]文西芹,张永忠.扭矩传感器的现状与发展趋势[J].仪表技术与传感器,2001(12):1-3.
[11] Kanatsu,Masayuk Ohta.Running torque of ball bearings with polymer lubricant[J].2005,Part C:272-279.
[12]张有颐.转矩测量技术[M].北京:计量出版社,1986.
[13] Clancy , Edward A , Bida Oljeta.Influence of advanced electromyogram ( EMG )amplitudeProcessors on EMG-to-torque estimation during constant-posture,force-varying contractions[J]. Journal of Biomechanics,2006,39(14):2690-2698.
[14]王远干.光栅扭矩测量系统中光栅信号质量评估方法研究[D].2004:2-4.
[15]孙训方.材料力学[M].北京:高等教育出版社,2002.8.
[16] D.W.Auckland,S.Sundram,R.Shuttleworth,et al.The Measurement of Shaft Torque Using an Optical Encoder[J].J Phys.Sci Instrum,1984,17(5):1193-1198.
[17] Hoogenboom L,Hull-Allen Gergory,Steven W.Fiberoptic and Laser Sensors[J].Proc SPIE,1984,478:46-57.
[18]黄豪彩,黄宜坚,吴亚楠.虚拟转矩、转速仪的研制[J].仪表技术与传感器,2004(7):8-9.
[19]陈培玉,阙沛文.单片机控制的扭矩测试仪[J].机电工程,2003,20(4):15-17.
[20]张军.虚拟式扭矩功率测量仪的研究[J].振动、测试与诊断,2000,增刊:20-21.
[21]卓清锋,刘和平.单片机式高精度转矩转速效率仪的研究[J].电工技术杂志,2000,5:28-29.
[22] Jin B,Chen XZ,Leung WS.Development and applications of advanced intelligent instruments for dynamic torque-speed measurement Industrial Electronics[J].Control and Instrumentation,1994.IECON'94.20th International Conference on 1994,2:5-9.
[23]王岩,储江伟.扭矩测量方法现状及发展趋势[J].林业机械与木工设备,2010(11):38-11.
[24]万德安,章阳宁.一种新型扭矩传感器的研制[J].传感器技术,2003,22(11):27-28.
[25] Hamid D.Taghirad,P.R.Belanger.Intelligent Built-In Torque Sensor for Harmonic Drive Systems [J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEAS UREMENT, 1999,48(6):1201-1207.
[26]王雁,杨春兰,杨守成等.平行槽线圈式磁弹性扭矩传感器[J].自动化仪表,1999,20(2):15-17.
[27] Sasada I,Uramoto S,Hara K.Non-contact Torque Sensors Using Magnetic Heads and aMagnetostrictive Layer on the Shaft[J].IEEE Trans on Magn,1986,22(5):406-412.
[28] Jacek Salach,Adam Bienkowski,Roman Szewczyk.New possibilities of utilizing metallic glasses as torque sensors[J].IEEE TRANSACTIONS ON SENSORS,2004,1(10):505-507.
[29] Jacek Salach,Adam Bienkowski,Roman Szewczyk.The ring-shaped magnetoelastic torque sensors utilizing soft amorphous magnetic materials[J]. Journal of Magnetism and Magnetic Materials,2007,316:607-609.
[30] Dzmitry Tsetserukou,Riichiro Tadakuma,Hiroyuki Kajimoto.Optical Torque Sensors for Implementation of Local Impedance Control of the Arm of Humanoid Robot[R]. IEEE International Conference on Robotics and Automation,5,2006.
[31] R.J.Hazelden.Optical Torque Sensor for Automotive Steering Systems[J]. Sensors and Actuators A,1993,37/38:193-197.
[32]季学武,马小平,周寒露等.电动助力转向系统光电式转矩传感器的研究[J].传感技术与传感器,2004,10:4-6.
[33]张凤生,张光辉.CCD在转矩测量中的应用[J].现代计量测试,1996,3:13-16.
[34] Elias CN, Figueira DC,Rios P R. Influence of the coating material on the loosing of dental implant abutment screw joints[J]. Materials Science and Engineering C,2006,26(8):1361-1366.
[35] Turner JD.Development of a rotating-shaft torque sensor for automotive applications[J]. IEEE Proceeding.1988,135(5):334-338.
[36]孟臣,李敏.JN338智能数字式转矩转速传感器及其应用[J].国外电子元器件,2003,1156-58.
[37]北京三晶现代科技集团传感器事业部. JN338数字转矩传感器使用说明书[EB/OL].2007.
[38] Rudd RE,Kline BR. Fiber optic torquemeter design and development[J].ISA Trans, 1989,(2):19-23.
[39] J.Beckley, V.Kalinin, M.Lee,et al. Non-contact Torque Sensors Based on SAW Resonators [R].IEEE International Frequency Control Symposium and PDA Exhibition,2002.
[40]王勇,陈相.激光衍射扭矩仪[P].中国专利,200610039322.2,2006一08一30.
[41]湖湘测控仪器有限公司.TI-2扭矩转速功率测试仪使用说明书[EB/01].2007.
[42]陆振国,张会华,倪国芬.转矩测量仪[J].航空精密制造技术,1996,32(2):41-42.
[43]张有颐.转矩测量技术[M].北京:计量出版社,1986,2.
[44]孙红旗,张洪霞.材料力学[M].哈尔滨:哈尔滨工业大学出版社,2008.57一60
[45]吴永烽,喻洪麟,何安国.环形球栅扭矩测量原理研究[J].仪器仪表学报,2010,11(31):2580-2585.
[46]强锡富.传感器[M].北京:机械工业出版社,1994.
[47]巴军.环形空间阵列扭矩传感器测量系统的研究[D].2009:5-1.
[48]张鑫.基于LabVIEW的阵列式气体传感器动态数据采集系统[D]. 2007-06-30.
[49]金贺荣,郑德忠,何群.基于虚拟仪器的翻车机传动系统扭矩测试算法研究[J].传感技术学报,2007(3),20(3):694-697.
[50]赵思宏,范惠林.电机转矩转速测量方法的分析[J].光学精密工程,2002,10(3):290-294.
[51]郑君里,杨为理等.信号与系统[M].北京:高等教育出版社,2000.
[52]刘明,徐洪波,宁国勤.数字信号处理[M].北京:清华大学出版社,2006.
[53]范钦珊.材料力学[M].北京:清华大学出版社,2004.
[54]方建军.机械设计与应用[M].北京:化学工业出版社,2004.
[55]陈隆昌,阎治安,刘新正.控制电机[M].西安二西安电子科技大学出版社,2000.
[56]夏长亮.无刷直流电机控制系统.北京:科学出版社,2009.
[57]刘刚,王志强,房建成.永磁无刷直流电机控制技术与应用[M].北京:机械工业出版社,2008.
[58]张崇巍,李汉强.运动控制系统[M].武汉:武汉理工大学出版社,2002.
[59]杨顺昌.电机的矩阵分析[M].重庆:重庆大学出版社,1988.
[60]周黄,芦刚,李声晋.无刷直流电机控制系统的建模与仿真研究[J].测控技术,1000-8829(2007)10-0023-03.
[61]李仁定.电机的微机控制[M].北京:机械工业出版社,1999.
[62]陶永华,新型PID控制及其应用系统,机械工业出版社,2002,9
[63]羊彦,景占荣,毕强,韩星.无刷直流电机数字PID研究[J].电机与控制学报, 2003, 7 (4):299-302.
[64]谢世杰,陈生潭,楼顺天.数字PID算法在无刷直流电机控制器中的应用[J].现代电子技术,2004,2:59-61.
[65]任美辉,孔祥军,梁原华.自调节精密90°移相器[J].电测与仪表,2004,41(464:39-31).
[66]李清泉,黄昌宁编著.集成运算放大器原理与应用[M].北京:北京科学出版社,1980.
[67]杨素行主编.模拟电子技术基础简明教程第二版[M]北京:高等教育出版社,1985.10.
[68]李凡.基于FPGA的全数字无刷直流电机控制系统研究《.重庆大学硕士论文》,2010-05-01
[69]龙华伟,顾永刚. LabVIEW8.2.1与DAQ数据采集[M].北京:清华大学出版社,2008.
[70]李国朝.基于相关原理的相位差测量及虚拟相位差计的设计[J].传感器与仪器仪表,2007,3(1).
[71]杨艾兵,张锡恩,郭利.相关原理在测试领域的应用分析[J].科学技术与工程,2007,13(7).
[2]闫晓强,张海,杨舒拉.轧机扭矩遥测系统[J].冶金设备,2001,130(6):63-65,32.
[3] Sackfield A,Barber JR,Hills DA,et al.A Shrink-fit Shaft Subject to Torsion[J].European Journal of Mechanics A/Solids.2002,21(10):73-84.
[4]商维绿,缪德源,钱顺章,黄险峰.现代扭矩测量技术[M].上海交通大学出版社,1999.10.
[5]杨海马.无线传输轧钢机接轴扭矩传感器的研究[D].河北:燕山大学,2004.
[6] S.H.He,J.Zhong.Modeling and Identification of HAGC System of Temper Rolling Mill[J]. Journal of Central South University of Technology,2005,12(6):699-704.
[7] A.Tesuos.Estimationo of Lubrication State by Obserbation of Rolled Strip Surface High Speed[J]. Cold Rolling of Mild Steel.ISCR,2005,18(6):34-36.
[8]贾宏光,吴一辉,王立鼎.微小扭矩动态测量[J].光学精密仪器,1998,6(2):61-63.
[9]欧扬,张纪龙.扭矩测试的发展动态和发展方向[J].华北工学院学报,1996,17(1):46-47.
[10]文西芹,张永忠.扭矩传感器的现状与发展趋势[J].仪表技术与传感器,2001(12):1-3.
[11] Kanatsu,Masayuk Ohta.Running torque of ball bearings with polymer lubricant[J].2005,Part C:272-279.
[12]张有颐.转矩测量技术[M].北京:计量出版社,1986.
[13] Clancy , Edward A , Bida Oljeta.Influence of advanced electromyogram ( EMG )amplitudeProcessors on EMG-to-torque estimation during constant-posture,force-varying contractions[J]. Journal of Biomechanics,2006,39(14):2690-2698.
[14]王远干.光栅扭矩测量系统中光栅信号质量评估方法研究[D].2004:2-4.
[15]孙训方.材料力学[M].北京:高等教育出版社,2002.8.
[16] D.W.Auckland,S.Sundram,R.Shuttleworth,et al.The Measurement of Shaft Torque Using an Optical Encoder[J].J Phys.Sci Instrum,1984,17(5):1193-1198.
[17] Hoogenboom L,Hull-Allen Gergory,Steven W.Fiberoptic and Laser Sensors[J].Proc SPIE,1984,478:46-57.
[18]黄豪彩,黄宜坚,吴亚楠.虚拟转矩、转速仪的研制[J].仪表技术与传感器,2004(7):8-9.
[19]陈培玉,阙沛文.单片机控制的扭矩测试仪[J].机电工程,2003,20(4):15-17.
[20]张军.虚拟式扭矩功率测量仪的研究[J].振动、测试与诊断,2000,增刊:20-21.
[21]卓清锋,刘和平.单片机式高精度转矩转速效率仪的研究[J].电工技术杂志,2000,5:28-29.
[22] Jin B,Chen XZ,Leung WS.Development and applications of advanced intelligent instruments for dynamic torque-speed measurement Industrial Electronics[J].Control and Instrumentation,1994.IECON'94.20th International Conference on 1994,2:5-9.
[23]王岩,储江伟.扭矩测量方法现状及发展趋势[J].林业机械与木工设备,2010(11):38-11.
[24]万德安,章阳宁.一种新型扭矩传感器的研制[J].传感器技术,2003,22(11):27-28.
[25] Hamid D.Taghirad,P.R.Belanger.Intelligent Built-In Torque Sensor for Harmonic Drive Systems [J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEAS UREMENT, 1999,48(6):1201-1207.
[26]王雁,杨春兰,杨守成等.平行槽线圈式磁弹性扭矩传感器[J].自动化仪表,1999,20(2):15-17.
[27] Sasada I,Uramoto S,Hara K.Non-contact Torque Sensors Using Magnetic Heads and aMagnetostrictive Layer on the Shaft[J].IEEE Trans on Magn,1986,22(5):406-412.
[28] Jacek Salach,Adam Bienkowski,Roman Szewczyk.New possibilities of utilizing metallic glasses as torque sensors[J].IEEE TRANSACTIONS ON SENSORS,2004,1(10):505-507.
[29] Jacek Salach,Adam Bienkowski,Roman Szewczyk.The ring-shaped magnetoelastic torque sensors utilizing soft amorphous magnetic materials[J]. Journal of Magnetism and Magnetic Materials,2007,316:607-609.
[30] Dzmitry Tsetserukou,Riichiro Tadakuma,Hiroyuki Kajimoto.Optical Torque Sensors for Implementation of Local Impedance Control of the Arm of Humanoid Robot[R]. IEEE International Conference on Robotics and Automation,5,2006.
[31] R.J.Hazelden.Optical Torque Sensor for Automotive Steering Systems[J]. Sensors and Actuators A,1993,37/38:193-197.
[32]季学武,马小平,周寒露等.电动助力转向系统光电式转矩传感器的研究[J].传感技术与传感器,2004,10:4-6.
[33]张凤生,张光辉.CCD在转矩测量中的应用[J].现代计量测试,1996,3:13-16.
[34] Elias CN, Figueira DC,Rios P R. Influence of the coating material on the loosing of dental implant abutment screw joints[J]. Materials Science and Engineering C,2006,26(8):1361-1366.
[35] Turner JD.Development of a rotating-shaft torque sensor for automotive applications[J]. IEEE Proceeding.1988,135(5):334-338.
[36]孟臣,李敏.JN338智能数字式转矩转速传感器及其应用[J].国外电子元器件,2003,1156-58.
[37]北京三晶现代科技集团传感器事业部. JN338数字转矩传感器使用说明书[EB/OL].2007.
[38] Rudd RE,Kline BR. Fiber optic torquemeter design and development[J].ISA Trans, 1989,(2):19-23.
[39] J.Beckley, V.Kalinin, M.Lee,et al. Non-contact Torque Sensors Based on SAW Resonators [R].IEEE International Frequency Control Symposium and PDA Exhibition,2002.
[40]王勇,陈相.激光衍射扭矩仪[P].中国专利,200610039322.2,2006一08一30.
[41]湖湘测控仪器有限公司.TI-2扭矩转速功率测试仪使用说明书[EB/01].2007.
[42]陆振国,张会华,倪国芬.转矩测量仪[J].航空精密制造技术,1996,32(2):41-42.
[43]张有颐.转矩测量技术[M].北京:计量出版社,1986,2.
[44]孙红旗,张洪霞.材料力学[M].哈尔滨:哈尔滨工业大学出版社,2008.57一60
[45]吴永烽,喻洪麟,何安国.环形球栅扭矩测量原理研究[J].仪器仪表学报,2010,11(31):2580-2585.
[46]强锡富.传感器[M].北京:机械工业出版社,1994.
[47]巴军.环形空间阵列扭矩传感器测量系统的研究[D].2009:5-1.
[48]张鑫.基于LabVIEW的阵列式气体传感器动态数据采集系统[D]. 2007-06-30.
[49]金贺荣,郑德忠,何群.基于虚拟仪器的翻车机传动系统扭矩测试算法研究[J].传感技术学报,2007(3),20(3):694-697.
[50]赵思宏,范惠林.电机转矩转速测量方法的分析[J].光学精密工程,2002,10(3):290-294.
[51]郑君里,杨为理等.信号与系统[M].北京:高等教育出版社,2000.
[52]刘明,徐洪波,宁国勤.数字信号处理[M].北京:清华大学出版社,2006.
[53]范钦珊.材料力学[M].北京:清华大学出版社,2004.
[54]方建军.机械设计与应用[M].北京:化学工业出版社,2004.
[55]陈隆昌,阎治安,刘新正.控制电机[M].西安二西安电子科技大学出版社,2000.
[56]夏长亮.无刷直流电机控制系统.北京:科学出版社,2009.
[57]刘刚,王志强,房建成.永磁无刷直流电机控制技术与应用[M].北京:机械工业出版社,2008.
[58]张崇巍,李汉强.运动控制系统[M].武汉:武汉理工大学出版社,2002.
[59]杨顺昌.电机的矩阵分析[M].重庆:重庆大学出版社,1988.
[60]周黄,芦刚,李声晋.无刷直流电机控制系统的建模与仿真研究[J].测控技术,1000-8829(2007)10-0023-03.
[61]李仁定.电机的微机控制[M].北京:机械工业出版社,1999.
[62]陶永华,新型PID控制及其应用系统,机械工业出版社,2002,9
[63]羊彦,景占荣,毕强,韩星.无刷直流电机数字PID研究[J].电机与控制学报, 2003, 7 (4):299-302.
[64]谢世杰,陈生潭,楼顺天.数字PID算法在无刷直流电机控制器中的应用[J].现代电子技术,2004,2:59-61.
[65]任美辉,孔祥军,梁原华.自调节精密90°移相器[J].电测与仪表,2004,41(464:39-31).
[66]李清泉,黄昌宁编著.集成运算放大器原理与应用[M].北京:北京科学出版社,1980.
[67]杨素行主编.模拟电子技术基础简明教程第二版[M]北京:高等教育出版社,1985.10.
[68]李凡.基于FPGA的全数字无刷直流电机控制系统研究《.重庆大学硕士论文》,2010-05-01
[69]龙华伟,顾永刚. LabVIEW8.2.1与DAQ数据采集[M].北京:清华大学出版社,2008.
[70]李国朝.基于相关原理的相位差测量及虚拟相位差计的设计[J].传感器与仪器仪表,2007,3(1).
[71]杨艾兵,张锡恩,郭利.相关原理在测试领域的应用分析[J].科学技术与工程,2007,13(7).
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |