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卡尔曼滤波与自抗扰控制 matlab源代码
【实例简介】关于卡尔曼滤波对飞机姿态进行解算以及采用自抗扰控制对无人机进行姿态控制的仿真模型
- 2021-11-10 00:35:15下载
- 积分：1
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单片机开发字模提取软件（生成文字、图像、动画源程序代码片段）
简单易用的单片机工具，字模提取软件。在文字输入区输入文字或者导入图标图像，即可生成C51或者A51的字模代码，代码可以直接复制粘贴到C程序中使用。软件提供图像修改功能：图像左右调换，图像上下调换，图像旋转，黑白反显，修改格点颜色，改变图像大小。软件还可以生成模拟动画的代码：上下移动，左右移动等，可以生成流动文字效果的源程序代码片段。中文破解版。
- 2020-11-30下载
- 积分：1
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flac中修正剑桥本构模型源码中文注解
flac中修正剑桥本构模型源码中文注解对想二次开发的人会有所帮助的
- 2020-12-12下载
- 积分：1
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英文简历模板（毕业生）
【实例简介】英文简历模板（毕业生）
- 2021-10-31 00:34:28下载
- 积分：1
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MIPI Alliance Specification for D-PHY
MIPI Alliance Specification for D-PHY Version 1.00.00 – 14 May 2009配合“MIPI Alliance Specification for Camera Serial Interface 2 (CSI-2)“ 一起看。http://download.csdn.net/detail/micro_st/4242724Version1.00.0014-May-2009MIPI Alliance Specification for D-PHY2 The material contained herein is not a license, either expressly or impliedly, to any IPR owned or3 controlled by any of the authors or developers of this material or MIPl. The material contained herein is4 provided on an"as iS basis and to the maximum extent permitted by applicable law, this material is5 provided AS IS AND WITH ALL FAULTS, and the authors and developers of this material and MIP6 hereby disclaim all other warranties and conditions, either express, implied or statutory, including, but not7 limited to, any (ifany)inplied warranties, duties or conditions of merchantability, of fitness for a8 particular purpose, of accuracy or completeness of responses, of results, of workmanlike effort, of lack of9 viruses, and of lack of negligence10 All materials contained herein are protected by copyright laws, and may not be reproduced, republisheddistributed, transmitted, displayed, broadcast or otherwise exploited in any manner without the express12 prior written permission of MIPI Alliance. MIPl, MIPI Alliance and the dotted rainbow arch and all related3 trademarks, tradenames, and other intellectual property are the exclusive property of MIPI Alliance and14 cannot be used without its express prior written permission15 ALSO, THERE IS NO WARRANTY OF CONDITION OF TITLE, QUIET ENJOYMENT, QUIET16 POSSESSION. CORRESPONDENCE TO DESCRIPTION OR NON-INFRINGEMENT WITH17 REGARD TO THIS MATERIAL OR THE CONTENTS OF THIS DOCUMENT.IN NO EVENT WILLI8 ANY AUTHOR OR DEVELOPER OF THIS MATERIAL OR THE CONTENTS OF THIS DOCUMENT9 OR MIPI BE LIABLE TO ANY OTHER PARTY FOR THE COST OF PROCURING SUBSTITUTE20 GOODS OR SERVICES. LOST PROFITS. LOSS OF USE. LOSS OF DATA OR ANY INCIDENTAL.21 CONSEQUENTIAL, DIRECT, INDIRECT, OR SPECIAL DAMAGES WHETHER UNDER22 CONTRACT TORT WARRANTY OR OTHERWISE ARISING IN ANY WAY OUT OF THIS OR23 ANY OTHER AGREEMENT SPECIFICATION OR DOCUMENT RELATING TO THIS MATERIAL24 WHETHER OR NOT SUCH PARTY HAD ADVANCE NOTICE OF THE POSSIBILITY OF SUCH25 DAMAGES26 Without limiting the generality of this Disclaimer stated above, the user of the contents of this Document is27 further notified that MIPI: (a)does not evaluate, test or verify the accuracy, soundness or credibility of the28 contents of this Document;(b)does not monitor or enforce compliance with the contents of this Document29 and (c)does not certify, test, or in any manner investigate products or services or any claims of compliance30 with the contents of this Document. The use or implementation of the contents of this Document may31 involve or require the use of intellectual property rights ("IPR")including(but not limited to) patents32 patent applications, or copyrights owned by one or more parties, whether or not Members of MIPIMIPI33 does not make any search or investigation for IPR, nor does miPi require or request the disclosure of any34 IPR or claims of IPR as respects the contents of this document or otherwise35 Questions pertaining to this document, or the terms or conditions of its provision, should be addressed36 MIPI Alliance. Inc37 c/o IEEE-ISTO38 445 Hoes lane39 Piscataway, NJ0885440 Alin: Board SecretaryCopyright C 2007-2009 MIPl Alliance, Inc. All rights reservedMIPI Alliance Member ConfidentialVersion1.00.0014-May-2009MIPI Alliance Specification for D-PHY42 Contents43 Draft Version 1.00.00-14 May 2009441 Overview1451.2 Purpose.…..,.,.,,.,..472 Terminology…2.1 Definitions162.2 Abbreviations…172.3 Acronyms51 3 D-PHY Introduction523.1 Summary of Phy functionality533.2 Mandatory Functionality················2054 4 Architecture21554.1 Lane modules…564.2 Master and slave2254.3 High Frequency Clock Generation22584.4 Clock lane data lanes and the phy-Protocol interface.224.5 Selectable Lane Options·;····················234.6 Lane Module Types4.6.1 Unidirectional Data Lane…264.6.2 Bi-directional data lanes26634.6.3 Clock lane.274.7 Configurations….7654.7.1 Unidirectional Configurations............664.7.2Bi-Dal Half-Duplex Configurations674.7.3 Mixed Data Lane configurations32Copyright C 2007-2009 MIPl Alliance, Inc. All rights reservedMIPI Alliance Member Confidential111Ⅴ ersion1.00.0014-May-2009MIPI Alliance Specification for D-PHY695.1Transmission Data Structure,………………………∴335.1.1Data unitsa勹5.1.2 Bit order Serialization and De-Serialization33725.1.3 Encoding and decoding735.1.4 Data Buffering,33745.2 Lane States and Line levels755.3 Operating Modes: Control, High-Speed, and Escape5. 4 High-Speed Data Transmission··········;·5. 41 Burst payload data785.4.2 Start-of-Transmission795.4.3End-of-transmission805.4.4 HS Data Transmission burst.365.5 Bi-directional data Lane turnaround5.6 Escape Mode41835.6.1Remote triggers42845.6.2 Low-Power data Transmission43855.6.3 Ultra-Low Power State865.6.4 Escape Mode State Machine43875.7 High-Speed Clock Transmission885. 8 Clock lane Ultra-Low Power State50959 Global Operation Timing Parameters.……5.10 System Power States56915.11 Initialization56925.12 Calibration5.13 Global Operation Flow Diagram57945.14 Data Rate Dependent Parameters(informative)955. 14.1 Parameters Containing Only UI values965. 14.2 Parameters Containing Time and Ul values59Copyright C 2007-2009 MIPl Alliance, Inc. All rights reservedMIPI Alliance Member ConfidentialVersion1.00.0014-May-2009MIPI Alliance Specification for D-PHY5.14.3 Parameters Containing Only Time Values…………5.14.4 Parameters Containing Only Time Values That Are Not Data Rate Dependent6 Fault detection611006.1 Contention detection1016.2 Sequence Error Detection.……611026.2.1 SoT Error621036.2.2 SOT Sync Error1046.2.3 EoT Sync Error1056.2. 4 Escape Mode Entry Command error.1066.2.5 LP Transmission Sync error621076.2.6 False Control error1086.3 Protocol Watchdog Timers(informative)62l096.3.1 HS RX Timeout6.3.2HS TX Timeout………………·················+···:··:·················∴62l116.3.3Escape mode timeout62l126.3. 4 Escape Mode Silence Timeout6.3.5 Turnaround errors114 7 Interconnect and Lane Configuration.641157.1 Lane configuration1167.2 Boundary Conditions.....…647.3 Definitions………64l187.4S- parameter Specifications………….651197.5 Characterization Conditions207.6 nterconnect Specifications………1217.6.1 Differential characteristics1227. 6.2 Common-mode characteristics671237.6.3 Intra-Lane Cross-Coupling1247. 6. 4 Mode-Conversion limitsCopyright C 2007-2009 MIPl Alliance, Inc. All rights reservedMIPI Alliance Member ConfidentialVersion1.00.0014-May-2009MIPI Alliance Specification for D-PHY1257.6.5 Inter-Lane Cross-Coupling671267. 6.6 Inter-Lane static skew1277.7 Driver and receiver Characteristics1287.7.1 Differential Characteristics1297. 7.2 Common-Mode characteristics1307.7.3 Mode-Conversion Limits1317.7.4 Inter-Lane Matching132 8 Electrical Characterislics701338.1 Driver characteristics1348.1.1 High-Speed Transmitter1358.1.2 Low-Power Transmitter1368.2 Receiver Characteristic·…············…·······…8301378.2.1 High-Speed Receiver801388.2.2Low- Power receiver.................….….821398.3 Line contention detection1408.4 Input Characteristics8441 9 High-Speed Data-Clock Timing1429.1 High-Speed Clock Timing861439.2 Forward High-Speed Data Transmission Timing871449.2.1 Data-Clock Timing Specifications1459.3 Reverse High-Speed Data Transmission Timing89146 10 Regulatory Requirements91147 Annex A Logical PHY-Protocol Inter face Description(informative)92148A 1 Signal Description149A 2 High-Speed Transmit from the Master Side150A3 High-Speed receive at the slave Sidel00151A 4 High-Speed Transmit from the Slave side152A.5 High-Speed Receive at the Master SideIOICopyright C 2007-2009 MIPl Alliance, Inc. All rights reservedMIPI Alliance Member ConfidentialVersion1.00.0014-May-2009MIPI Alliance Specification for D-PHY153A6 Low-Power Data Transmission102154A7 Low-Power Data Reception.103155A 8 Turn-around156 Annex B Interconnect Design Guidelines (informative)105157B. 1 Practical distances105158B 2 RF Frequency Bands: Interference.105B3 Transmission Line design160B4 Reference Layer.106161B 5 Printed-Circuit board106162B6 Flex-foils106163B 7 Series resistance106164B 8 Connectors106165 Annex C 8b9b Line Coding for D-PHY(normative)107166C 1 Line Coding Features...·············108167C.1.1Enabled Features for the Protocol108l68C 1. 2 Enabled Features for the Phy108169C2 Coding scheme170C 2.1 8b9b Coding Properties.....108171C 2.2 Data Codes: Basic Code Set……….109C.2.3 Comma Codes: Unique Exception Codes110173C 2.4 Control Codes: Regular Exception Codes…10174C.2.5 Complete Coding Scheme………175C 3 Operation with the D-PhY…11117yload: Data and Control177C.3.2 Details for Hs transmission………112178C.3.3 Details for LP Transmissionl12179C 4 Error Signal180C5 Extended PplCopyright C 2007-2009 MIPl Alliance, Inc. All rights reservedMIPI Alliance Member ConfidentialⅤ ersion1.00.0014-May-2009MIPI Alliance Specification for D-PHYl81C.6 Complete Code Set.….….l15182Copyright C 2007-2009 MIPl Alliance, Inc. All rights reservedMIPI Alliance Member Confidentialv111Version1.00.0014-May-2009MIPI Alliance Specification for D-PHYl83Figures184 Figure 1 Universal Lane Module functions21185 Figure2 Two Data Lane PHY Configuration.…………23186 Figure 3 Option Selection Flow Graph4187 Figure 4 Universal Lane Module Architecture25188 Figure 5 Lane Symbol Macros and Symbols Legend189 Figure 6 All Possible Data Lane Types and a basic Unidirectional Clock lane190 Figure 7 Unidirectional Single Data Lane Configuration30191 Figure 8 Unidirectional Multiple Data Lane Configuration without LPDT∴.30192 Figure 9 Two Directions Using Two Independent Unidirectional PHYs without LPDT.........31193 Figure 10 Bidirectional Single Data Lane Configuration31194 Figure 1l Bi-directional Multiple Data Lane Configuration......32195 Figure 12 Mixed Type multiple data Lane Configuration32196 Figure 13 Line level34197 Figure 14 High-Speed Data Transmission in Bursts36198 Figure 15 TX and rX State Machines for High-Speed Data Transmission37Figure16 Turnaround Procedure.……39200 Figure 17 Turnaround State Machine40201 Figure 18 Trigger-Reset Command in Escape Mode202 Figure 19 Two Data Byte Low-Power Data Transmission Example203 Figure 20 Escape Mode State Machine204 Figure2 I Switching the Clock Lane between Clock Transmission and low- Power mode………….47205 Figure 22 High-Speed Clock Transmission State Machine49206 Figure 23 Clock Lane Ultra-Low Power State State Machine········+·+···+·4···207 Figure 24 Data Lane Module State Diagram57208 Figure 25 Clock Lane Module state diagram58209 Figure 26 Point-to-point InterconnectCopyright C 2007-2009 MIPl Alliance, Inc. All rights reservedMIPI Alliance Member Confidential
- 2020-12-08下载
- 积分：1
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MicroPython for Esp8266 驱动MPU6050例程
使用MicroPython for Esp8266开发板驱动MPU6050六轴模块，并打印原始数据。
- 2021-05-06下载
- 积分：1
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ZedGraph帮助文档
ZedGraph帮助文档，供大家下载学习。
- 2021-05-06下载
- 积分：1
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四层电梯MCGS组态模拟
本资源利用MCGS组态软件来模拟实现四层电梯的控制，运行。PLC WORLD处理器为核心,综合了计算机控制、自动化、通讯网络等技术的一种通用的工业控制装置。PLC电梯控制系统有如下的特点:(1)、PLC是基于工业环境下设计的控制装置,环境适应性强,可靠性高;(2)、PLC最常用的编程语言是梯形图语言,编程语言形象、直观,编程筒单,便于广大现场工程技术人员掌握。(3)、門C控制系统的体积小,重量轻,便于安装,维修方便。(4)、PLC具有自诊断、故障报警、故种类显示等功能,可以方便的实时监视系统的运行状态。(5)、现代PLG具有传统控制系统无法比拟的远程数据传送、交换、控制和监枧的网络通讯功能。1.2系统结构和控制器选型电梯的PLC控制系统的结构如图1所示,主要硬件包括:可编控制器PL0、变频器、光电旋转编码器、轿厢操纵盘、厅外呼梯盘、门机及其他电气元件等。轿箱历外上位积操纵呼梯盘组态监控楼层显示申行接入部PLC部分串行接口2分门机编拽引机变频器码器图1系统结构图PLC WORLD1.3本次实习所选用的PLG机型?以及编程软件?S7-200可编程控制器是德国西门子公司研制的一种新型可编程控制器。它工作可靠,功能极其强大,存储容量大,编程方便,输出端可直接驱动2A的继电器或接触器的线圈,抗干扰能力强。因此,能够满足电梯对电气控制系统的要求。S7-200系列小型PG( MicroPL0)可应用于各种自动化系统。紧凑的结构,低廉的成本,强大的功能使得它成为各种小型控制任务的理想解决方案。在本次设计中,利用它编写控制一个四层楼电梯的控制系统分别完成轿厢内指令,厅外召唤指令,楼层位置指示,开门控制等任务STEP7WN32是S7-200系列的PLG编程软件,可以对S7-200的所有功能进行编程。该软件在 Windows平台上运行。其基本功能是协助用户完成应用软件任务。例如:创建用户程序,修改和编辑过程中编辑器具有简单的语法检查功能。还可以直接用软件设置PG的工作方式,参数和运行监控2.四层楼电梯模拟控制的设计控制要求(1)开始时,电梯处于任意一层。(2)当有外呼电梯信号到来是,轿厢响应该呼梯信号,达到该楼层时,轿厢停止运行,(轿厢门打开,延时3秒后自动关门)(3)当有内呼电梯信号到来是,轿厢响应该呼梯信号,达到该楼层时,轿厢停止运行,(轿厢门打开,延时3秒后自动关门)(4)在电梯轿厢运行过程中,即轿厢上升(或下降)途中,任何反PLC WORLD方向下降(或上升)的外呼信号均不响应,但如果反方向外呼梯信号前方再无其他内、外呼梯信号时,则电梯响应该外呼梯信号。例如,电梯轿厢在一楼,将要运行到三楼,在次过程中可以响应二层向上的外呼梯信号,但不响应二层向下的外哗梯信号。当到达三层,如果四层没有任何呼梯信号,则电梯可以响应三层向下外呼梯信号。否则,电梯将继续运行至四楼,然后向下运行响应三层向下外呼梯信号(5)电梯具有最远反向外呼梯功能。例如,电梯轿厢在一楼,而同时有二层向下呼梯,三层向下呼梯,四层向下外吇梯,则电梯轿厢先去四楼响应四层向下外呼梯信号。(6)电梯未平层或运行时,开门按钮和关门按钮均不起作用。平层且电梯轿厢停止运行后,按开门按钮轿厢开门,按关门按钮轿厢关门。3.I/0点的分配如下10.0S4四层内呼|10.7U1层上呼10.1S3层内呼11.0U2二层上呼10.2S2二层内呼11.1U3三次上呼10.3S1层内呼11.2SQ1层限位PLC WORLD10.4D4四层下呼11.3SQ2二层限位10.5D3层下呼11.4SQ3三层限位10.6D2二层下呼11.5SQ4四层限位Q0.0L4轿厢在四Q1.0SL2内呼二层层指示Q0.1L3轿厢在三Q1.1SL1内呼一层层指示Q0.2L2轿厢在二Q12外呼一层层上指示00.3L1轿厢在一Q1.3UP2外呼二层层上指示Q0.4DOWN轿厢上行Q1.4UP3外呼三层上指示Q0.5UP轿厢下行Q1.5DN2外呼二层下指示00.6sL4内呼四层Q1.6dn3呼三层指示下指示Q0.7内呼三层Q1.74外呼四层指示下指示4.PLC编程程序如下:4.1指令表:PLC WORLDsgLDsa22sq33sq1414Dsq0LD MO. 50MO. 4ALDLDSg2sq10MO. 5LDMO. 7M0. 6ALDOLDM2.0PLC WORLDsgdownLDMO. 7MO. 6ALDLD14sqdownM0. 6DMO. 5MO. 4ALDOLDM2.1MO. 2ANM3.0ownsq2sa3ANg4OLDPLC WORLDM3.3sg3sa2qAN MO. 5AMO. 7M2.0M3.3LDN MO. 2ANM2.7LDn sq 1AN213sqOLDM3.4g40sa3PLC WORLDsq200AAdownM0. 6MO. 3MO. 4LDM2.1M3.6OLDM3.4downd4sq4AL0ADd3sq3OLD20d22OLDusq
- 2020-07-02下载
- 积分：1
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CadLib4.0 Cad类库.rar
网上下了几个都不是真正的破解，只好自己动手！压缩包内包含解密文件及一个c#winfrom读取dwg、dxf的示例，vs2010下测试通过，支持最新的cad2014格式，更多示例可从官方下载。
- 2020-01-14下载
- 积分：1
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MON51 仿真器监控程序反汇编代码(MON51.asm)
手工反汇编，测试通过。
- 2020-06-23下载
- 积分：1
