Lately, it is required that the bandwidth of PWM （pulse width modulation） power amplifier is extended. For example, it is in application of the testing power supply of a low frequency immunity examination, or a clas...Lately, it is required that the bandwidth of PWM （pulse width modulation） power amplifier is extended. For example, it is in application of the testing power supply of a low frequency immunity examination, or a class-D amplifier. In this paper, the authors show that the bandwidth of PWM power amplifier can be controller. This controller is implemented on a DSP （digital can be made wider with this controller. extended by using an approximate 2DOF （2-degree-of-freedom） digital signal processor）. It is demonstrated from experiments that the bandwidth展开更多
This paper describes the replacement of a controller for a programmable universal machine for assembly (PUMA) 512 robot with a newly designed PC based (open architecture) controller employing a real-time direct contro...This paper describes the replacement of a controller for a programmable universal machine for assembly (PUMA) 512 robot with a newly designed PC based (open architecture) controller employing a real-time direct control of six joints. The original structure of the PUMA robot is retained. The hardware of the new controller includes such in-house designed parts as pulse width modulation (PWM) amplifiers, digital and analog controllers, I/O cards, signal conditioner cards, and 16-bit A/D and D/A boards. An Intel Pentium IV industrial computer is used as the central controller. The control software is implemented using VC++ programming language. The trajectory tracking performance of all six joints is tested at varying velocities. Experimental results show that it is feasible to implement the suggested open architecture platform for PUMA 500 series robots through the software routines running on a PC. By assembling controller from off-the-shell hardware and software components, the benefits of reduced and improved robustness have been realized.展开更多
This paper presents a fully integrated CMOS filterless class D amplifier that can directly hook up lithium battery in mobile application The proposed amplifier embodies a 2-order feedback path architecture instead of ...This paper presents a fully integrated CMOS filterless class D amplifier that can directly hook up lithium battery in mobile application The proposed amplifier embodies a 2-order feedback path architecture instead of direct feedback of output to input of the integrator to decrease the high frequency intermodulation distortion associated with direct feedback and eliminate the integrator input common mode disturbance from the output in ternary modulation. The prototype class D amplifier realized in 0.35 μm digital technology achieves a THD＋N of 0.02% when delivering 400 m W to an 8 Ω load from V_（DD） =3.6 V. The PSRR of the prototype class D amplifier is 80 dB at217 Hz. Furthermore a filterless method that can eliminate the external LC filter is employed which offers great advantages of saving PCB space and lowering system cost. In addition the prototype class D amplifier can operate in large voltage range with V_（DD）range from 2.5 to 4.2V in mobile application. The total area of the amplifier is 1.7mm^2.展开更多
文摘Lately, it is required that the bandwidth of PWM （pulse width modulation） power amplifier is extended. For example, it is in application of the testing power supply of a low frequency immunity examination, or a class-D amplifier. In this paper, the authors show that the bandwidth of PWM power amplifier can be controller. This controller is implemented on a DSP （digital can be made wider with this controller. extended by using an approximate 2DOF （2-degree-of-freedom） digital signal processor）. It is demonstrated from experiments that the bandwidth
文摘This paper describes the replacement of a controller for a programmable universal machine for assembly (PUMA) 512 robot with a newly designed PC based (open architecture) controller employing a real-time direct control of six joints. The original structure of the PUMA robot is retained. The hardware of the new controller includes such in-house designed parts as pulse width modulation (PWM) amplifiers, digital and analog controllers, I/O cards, signal conditioner cards, and 16-bit A/D and D/A boards. An Intel Pentium IV industrial computer is used as the central controller. The control software is implemented using VC++ programming language. The trajectory tracking performance of all six joints is tested at varying velocities. Experimental results show that it is feasible to implement the suggested open architecture platform for PUMA 500 series robots through the software routines running on a PC. By assembling controller from off-the-shell hardware and software components, the benefits of reduced and improved robustness have been realized.
基金supported by the National Natural Science Foundation of China(Nos.61234002,61322405,61306044)
文摘This paper presents a fully integrated CMOS filterless class D amplifier that can directly hook up lithium battery in mobile application The proposed amplifier embodies a 2-order feedback path architecture instead of direct feedback of output to input of the integrator to decrease the high frequency intermodulation distortion associated with direct feedback and eliminate the integrator input common mode disturbance from the output in ternary modulation. The prototype class D amplifier realized in 0.35 μm digital technology achieves a THD＋N of 0.02% when delivering 400 m W to an 8 Ω load from V_（DD） =3.6 V. The PSRR of the prototype class D amplifier is 80 dB at217 Hz. Furthermore a filterless method that can eliminate the external LC filter is employed which offers great advantages of saving PCB space and lowering system cost. In addition the prototype class D amplifier can operate in large voltage range with V_（DD）range from 2.5 to 4.2V in mobile application. The total area of the amplifier is 1.7mm^2.
