To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer developme...To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer development, and magnetic encoders, and other sensors, in which the STM32 F103 chip is used as the main control chip, and the DRV8323 is a brushless motor drive chip. The principle of field-oriented control(FOC) brushless motor drive is elaborated.Meanwhile, the drive and control system design is completed from both hardware and software aspects. Finally, the PID algorithm is used for the closed-loop speed test of the robot joint. The experimental result shows that the designed robot joints and control system run smoothly and reliably, have the characteristics of modularization and miniaturization, and are suitable for the control of micro-service robots and manipulators.展开更多
This paper considers the uplink of a cooperative Code-Division Multiple-Access (CDMA) system where parts of mobile nodes serve as source nodes while the others serve as relay nodes at any instant in time. When the non...This paper considers the uplink of a cooperative Code-Division Multiple-Access (CDMA) system where parts of mobile nodes serve as source nodes while the others serve as relay nodes at any instant in time. When the non-orthogonal spreading codes are adopted,Multiple Access Interference (MAI) will exist at both the relay nodes and the base node,causing diversity gain to diminish. To mitigate MAI and exploit full advantages of cooperation,the Probabilistic Data Association (PDA) is developed at the relay nodes and the base node. Simulation results demonstrate that some performance gains can be obtained by the PDA detector over the Minimum Mean Square Error (MMSE) detector at high Signal-to-Noise Ratio (SNR) and conversely at low SNR.展开更多
When coexisting with dual-link primary systems,secondary systems in cognitive radios should first distinguish between the primary downlinks and uplinks in order to efficiently explore their respective spectrum opportu...When coexisting with dual-link primary systems,secondary systems in cognitive radios should first distinguish between the primary downlinks and uplinks in order to efficiently explore their respective spectrum opportunities.Because of the assumptive prior knowledge about the time-frequency locations of primary downlinks and uplinks,this procedure is usually not considered in the design of cognitive radios.In this paper,a cooperative method is proposed for the downlink/uplink identification of time-division duplex-based orthogonal frequency-division multiple access systems.In this method,the power level of the primary link is extracted as the key feature,which also contributes to the subsequent cognitive behaviours.The effects of the primary and secondary systems and the effects of the detection parameters on the identification accuracy are all analysed in detail.The simulation results show that the proposed method can identify the primary links precisely and quickly with low complexity.展开更多
基金Project(51805368) supported by the National Natural Science Foundation of ChinaProject(2018QNRC001) supported by the Young Elite Scientists Sponsorship Program by China Association for Science and TechnologyProject(DMETKF2021017) supported by Open Fund of State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,China。
文摘To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer development, and magnetic encoders, and other sensors, in which the STM32 F103 chip is used as the main control chip, and the DRV8323 is a brushless motor drive chip. The principle of field-oriented control(FOC) brushless motor drive is elaborated.Meanwhile, the drive and control system design is completed from both hardware and software aspects. Finally, the PID algorithm is used for the closed-loop speed test of the robot joint. The experimental result shows that the designed robot joints and control system run smoothly and reliably, have the characteristics of modularization and miniaturization, and are suitable for the control of micro-service robots and manipulators.
基金Supported by the National Natural Science Foundation of China (No. 60772061)Science Foundation of Nanjing University of Posts and Telecommunications (No. NY207132)the Postdoctoral Research Programs (No. 0801054B)
文摘This paper considers the uplink of a cooperative Code-Division Multiple-Access (CDMA) system where parts of mobile nodes serve as source nodes while the others serve as relay nodes at any instant in time. When the non-orthogonal spreading codes are adopted,Multiple Access Interference (MAI) will exist at both the relay nodes and the base node,causing diversity gain to diminish. To mitigate MAI and exploit full advantages of cooperation,the Probabilistic Data Association (PDA) is developed at the relay nodes and the base node. Simulation results demonstrate that some performance gains can be obtained by the PDA detector over the Minimum Mean Square Error (MMSE) detector at high Signal-to-Noise Ratio (SNR) and conversely at low SNR.
基金supported by the National Natural Science Foundation of China under Grants No. 60832008,No. 60902001
文摘When coexisting with dual-link primary systems,secondary systems in cognitive radios should first distinguish between the primary downlinks and uplinks in order to efficiently explore their respective spectrum opportunities.Because of the assumptive prior knowledge about the time-frequency locations of primary downlinks and uplinks,this procedure is usually not considered in the design of cognitive radios.In this paper,a cooperative method is proposed for the downlink/uplink identification of time-division duplex-based orthogonal frequency-division multiple access systems.In this method,the power level of the primary link is extracted as the key feature,which also contributes to the subsequent cognitive behaviours.The effects of the primary and secondary systems and the effects of the detection parameters on the identification accuracy are all analysed in detail.The simulation results show that the proposed method can identify the primary links precisely and quickly with low complexity.
