正版新书]嵌入式机电一体化系统 设计与实现(新加坡)曾庆祥 著

译者序<br />前言<br />致谢<br />第 1 章 绪论 ····························· 1<br />1.1 嵌入式系统概述 ························· 1<br />1.2 基于 Athena III PC104 的嵌入式<br />系统示例 ·································· 2<br />1.3 基于 ARDUINO 的嵌入式系统<br />示例 ········································ 3<br />1.4 基于树莓派的嵌入式系统示例 ······· 5<br />1.5 基于 PIC 的嵌入式系统示例 ·········· 5<br />1.6 动机 ········································ 6<br />1.7 嵌入式系统原型的系统设计方法 ···· 8<br />参考文献 ······································· 11<br />第 2 章 基于 Linux 的嵌入式系统<br />设计 ····························13<br />2.1 Linux 操作系统 ·························13<br />2.2 为嵌入式系统构建 Linux 环境 ·······15<br />2.3 Linux 中的程序设计 ···················20<br />2.4 系统设计与架构 ························21<br />2.4.1 主进程设计 ·······················23<br />2.4.2 传感器进程设计 ··················27<br />2.4.3 传感器融合线程设计 ············28<br />2.4.4 控制进程设计·····················31<br />2.4.5 执行器驱动程序设计 ············31<br />2.4.6 网络通信线程设计 ···············32<br />2.5 控制系统组件的测试 ··················33<br />2.5.1 惯性测量单元·····················33<br />2.5.2 DVL 传感器单元 ·················38<br />2.5.3 图像视频单元·····················41<br />2.5.4 深度传感器单元 ··················44<br />2.6 卡尔曼滤波器 ···························46<br />2.7 图形用户界面 ···························49<br />参考文献 ·······································53<br />第 3 章 嵌入式水下航行器系统的<br />建模与仿真 ···················54<br />3.1 概述 ·······································54<br />3.2 ROV 概览 ································54<br />3.3 ROV 动力学建模 ·······················55<br />3.3.1 水动力阻尼模型 ··················57<br />3.3.2 水动力附加质量模型 ············62<br />3.4 实验结果验证 ···························66<br />3.4.1 升沉模型辨识·····················66<br />3.4.2 偏航模型辨识·····················69<br />3.5 ROV 模型仿真 ··························73<br />3.6 仿真 ROV 模型的外部扰动 ··········78<br />3.7 布放和回收过程模型 ··················80<br />3.8 控制系统设计 ···························81<br />3.8.1 滑模控制 ··························82<br />3.8.2 面向 SMC 的模糊遗传算法 ····83<br />3.8.3 PID 方法 ···························90<br />3.9 ROV 海上实验 ··························93<br />参考文献 ·······································95<br />第 4 章 xPC-Target 嵌入式系统<br />设计 ····························97<br />4.1 概述 ·······································97<br />4.2 用于仿真测试的硬件接口概览 ······99<br />4.3 硬件接口 ······························· 100<br />4.4 使用 xPC-Target 进行硬件在环<br />测试 ····································· 108<br />4.4.1 使用台式机作为目标 PC 创建<br />xPC-Target 实时内核 ·········· 109<br />4.4.2 使用 Athena II-PC104 作为目标<br />PC 创建 xPC-Target 实时<br />内核 ······························ 112<br />4.5 创建 xPC-Target Simulink 框图 ···· 114<br />4.6 在 xPC-Target 中使用 RS232、<br />模拟和数字 I/O ······················· 122<br />4.7 红外传感器模型 ······················ 129<br />4.8 增量编码器模型 ······················ 130<br />4.9 伺服直流电动机的识别 ············· 134<br />4.10 伺服直流电动机的 PID 速度<br />控制 ··································· 137<br />4.11 伺服直流电动机的滑模速度<br />控制 ··································· 138<br />4.12 线性二次调节器 ···················· 140<br />4.13 伺服直流电动机数字速度控制 ··· 143<br />4.14 案例研究：使用 xPC-Target 系统<br />的具有不确定性的海洋机器人<br />航行器 ································ 145<br />4.14.1 系统设计与架构 ·············· 145<br />4.14.2 水下机器人航行器动力学<br />模型 ····························· 146<br />4.14.3 稳态推进器动力学 ··········· 149<br />4.14.4 水下机器人航行器—水平<br />子系统模型 ···················· 152<br />4.14.5 控制器设计 ···················· 161<br />4.14.6 实现和测试 ···················· 164<br />参考文献 ····································· 168<br />第 5 章 PIC 嵌入式系统设计 ····· 170<br />5.1 MPLAB IDE 概览 ···················· 170<br />5.2 智能真空机器人系统设计 ·········· 171<br />5.2.1 系统设计与架构 ················ 171<br />5.2.2 程序设计与系统实现 ·········· 175<br />5.2.3 测试 ······························ 188<br />5.3 面向患者的远程温度传感系统<br />设计 ····································· 189<br />5.3.1 系统设计与架构 ················ 189<br />5.3.2 程序设计与系统实现 ·········· 192<br />5.3.3 测试 ······························ 193<br />5.4 爬壁机器人系统设计 ················ 195<br />5.4.1 系统设计与架构 ················ 196<br />5.4.2 程序设计与系统实现 ·········· 202<br />5.4.3 测试 ······························ 207<br />5.5 磁力输送机系统设计 ················ 208<br />5.5.1 系统设计与架构 ················ 209<br />5.5.2 程序设计与系统实现 ·········· 219<br />5.5.3 测试 ······························ 227<br />参考文献 ····································· 229<br />第 6 章 ARDUINO 嵌入式系统<br />设计 ·························· 232<br />6.1 ROV 系统设计 ························ 232<br />6.1.1 系统设计与架构 ················ 232<br />6.1.2 程序设计与系统实现 ·········· 238<br />6.1.3 测试 ······························ 241<br />6.2 用于监控的水下履带机器人智能<br />控制 ····································· 246<br />6.2.1 系统设计与架构 ················ 246<br />6.2.2 程序设计与系统实现 ·········· 250<br />6.2.3 测试 ······························ 255<br />6.3 仿树懒爬杆机器人 ··················· 256<br />6.3.1 系统设计与架构 ················ 257<br />6.3.2 程序设计与系统实现 ·········· 260<br />6.3.3 测试 ······························ 269<br />参考文献 ····································· 269<br />第 7 章 树莓派嵌入式系统设计 ··· 270<br />7.1 污损检测系统 ························· 270<br />7.1.1 系统设计与架构 ················ 271<br />7.1.2 程序设计与系统实现 ·········· 286<br />7.1.3 测试 ······························ 298<br />7.2 基于多跳微处理器的远程振动和<br />图像监测原型系统 ··················· 301<br />7.2.1 系统设计与架构 ················ 302<br />7.2.2 程序设计与系统实现 ·········· 306<br />7.2.3 测试 ······························ 308<br />7.3 人脸识别系统 ························· 309<br />7.3.1 系统设计与架构 ················ 310<br />7.3.2 程序设计与系统实现 ·········· 311<br />7.3.3 使用 PyQt 的 GUI ·············· 326<br />7.3.4 测试 ······························ 328<br />参考文献 ····································· 340

本书介绍如何面向不确定环境设计嵌入式控制系统，主要内容包括基于Linux的系统设计、基于模型的仿真以及xPC-Target系统设计，包含各种实际系统的应用。全书共7章，其中：第1章介绍嵌入式系统的设计；第2章讨论使用基于Linux的嵌入式系统设计以及基于Linux的系统在水下航行器上的实现和测试；第3章介绍水下航行器嵌入式系统的建模与仿真；第4章介绍如何使用xPC-Target进行嵌入式系统原型设计和测试；第5~7章分别介绍PIC、ARDUINO和树莓派在实际应用中的使用。