Delphi之东进数字语音卡(SS1)可复用源码

本文介绍了一种基于Delphi的东进数字语音卡(SS1)的封装实现,包括卡类和通道类的设计与源码。该封装遵循状态机模式,支持FSK和DTMF两种通信方式,并允许动态注入业务接口。

Delphi之东进数字语音卡(SS1)可复用源码

作者:成晓旭

Bloghttp://blog.youkuaiyun.com/cxxsoft

(声明:欢迎转载,请保证文章的完整性)

由于工作原因,本人将不在从事商业应有软件的开发工作,现在开始逐级“解密”自己以前写的部分自有产权代码,但愿对后来的朋友有点参考、借鉴的价值。

本代码是本人开发的计划开源的CIT通用平台的东进1号信令数字语言卡封装,设计思路与模拟语音卡的封装非常类似,在此不再赘述。有兴趣的朋友,请参考本人的另外一篇文章《Delphi之东进模拟语音卡(D<chmetcnv w:st="on" tcsc="0" numbertype="1" negative="False" hasspace="False" sourcevalue="160" unitname="a">160A</chmetcnv>)可复用源码》:http://blog.youkuaiyun.com/cxxsoft/archive/2006/08/23/1108211.aspx

核心思想是一致的:卡、通道分别设计和实现;通道内,核心的还是状态机模式轮巡通道状态来管理硬件卡设备;板卡封装内实现不实现任何业务接口,但允许动态注入实现业务接口的对象,来近一步分发、处理板卡层采集的基础数据。

卡类源代码:

// ------------------------------------------------------------------------------
//
// 产品名称:成晓旭的个人软件Delphi源码库
// 产品版本:CXXSoftdelphicodesourcelib2.0
// 模块名称:Delphi之东进数字语音卡类
// 模块描述:
// 单元文件:unDJCardSS1.pas
// 开发作者:成晓旭
// 作者blog: http://blog.youkuaiyun.com/CXXSoft
// 备注:任何人使用此文件时,请保留此段自述文件,谢谢!
// 开发时间:2005-01-09
// 修改历史:
// 修改描述:
// ------------------------------------------------------------------------------
unitunDJCardSS1;

interface
uses
Windows,SysUtils,Classes,
unBaseDefine,
Tce1_32,
Tce1_FSK;

type
TDJCommCardSS1
= class (TThread)
private
onTrunkEvent:TTrunkSatausEvent;
onRecEvent:TTrunkReceiveEvent;
isLoadFSK:boolean;
CommIsFSK:boolean;
Trunks:arrayofTObject;
functionInitCardForFSK():boolean;
procedureFreeCardForFSK();
procedureThreadKernelProcess();
protected
procedureExecute();
override ;
public
TotalTrunkNum,InTrunkNum,OutTrunkNum:Word;
TrunkConnected:arrayofboolean;

constructorCreate(
const aStateEvent:TTrunkSatausEvent; const aRecEvent:TTrunkReceiveEvent);
destructorDestroy();
override ;
// 初始化中继卡
functionInitCard( const isFSKComm:boolean):Boolean;
// 释放中继卡
functionFreeCommCard():boolean;
// 开始运行中继卡管理模块
procedureStartRunCommModule();
// 获取一个空闲通道(指定通道类型)
functionGetAFreeTrunkByType( const aTrunkType:TTrunkType):integer;
// 获取一个空闲呼出通道
functionGetAFreeTrunkByOut():integer;
// 挂断指定通道
procedureHangOfByTrunkID( const aChannelID:integer);
// 通过指定通道拨号
procedureDialPhoneByTrunkID( const aChannelID:integer; const phoneNumber,callerNumber:PChar; const aDevID:integer =- 1 );
// 通过指定通道发送数据
functionSendStringByTrunkID( const aChannelID:integer; const sendBuffer:PChar):boolean;
end;

implementation

... {TDJCommCardSS1}
uses
unDJChannelSS1;

constructorTDJCommCardSS1.Create(
const aStateEvent:TTrunkSatausEvent;
const aRecEvent:TTrunkReceiveEvent);
begin
inheritedCreate(
true );
Self.FreeOnTerminate:
= true ;
onTrunkEvent:
= aStateEvent;
onRecEvent:
= aRecEvent;
end;

destructorTDJCommCardSS1.Destroy();
begin
Self.Suspend();
Self.Terminate();
FreeCommCard();
end;

procedureTDJCommCardSS1.DialPhoneByTrunkID(
const aChannelID:integer;
const phoneNumber,callerNumber:PChar; const aDevID:integer);
begin
if (aChannelID > ErrTrunkId)and(DJTrk_CheckTrunkFree(aChannelID))then
TDJCommChannelsSS1(Trunks[aChannelID]).StartDialPhone(phoneNumber,callerNumber,aDevID,);
end;

procedureTDJCommCardSS1.Execute;
begin
while NOTTerminated do
begin
Synchronize(ThreadKernelProcess);
Sleep(
1 );
end;
end;

procedureTDJCommCardSS1.FreeCardForFSK();
begin
if CommIsFSKandisLoadFSKthen
begin
DJFsk_Release();
end;
end;

functionTDJCommCardSS1.FreeCommCard():boolean;
var
Loop:Word;
begin
Sleep(
1000 );
if TotalTrunkNum > 0 then
begin
for Loop: = 0 toTotalTrunkNum - 1 do
begin
if Assigned(TDJCommChannelsSS1(Trunks[Loop]))then
begin
TDJCommChannelsSS1(Trunks[Loop]).Free();
TDJCommChannelsSS1(Trunks[Loop]):
= nil;
end;
end;
end;
DJSys_DisableCard();
FreeCardForFSK();
Result:
= true ;
end;

functionTDJCommCardSS1.GetAFreeTrunkByOut():integer;
begin
Result:
= GetAFreeTrunkByType(Type_Export);
end;

functionTDJCommCardSS1.GetAFreeTrunkByType(
const aTrunkType:TTrunkType):integer;
var
Loop:Word;
begin
Result:
= ErrTrunkID;
for Loop: = 0 toTotalTrunkNum - 1 do
begin
if ((TDJCommChannelsSS1(Trunks[Loop]).GetTrunkType() = aTrunkType)
and(DJTrk_CheckTrunkFree(Loop)))then
begin
Result:
= Loop;
break ;
end;
end;
end;

procedureTDJCommCardSS1.HangOfByTrunkID(
const aChannelID:integer);
begin
TDJCommChannelsSS1(Trunks[aChannelID]).InOutHangOff();
end;

functionTDJCommCardSS1.InitCard(
const isFSKComm:boolean):Boolean;
const
PromptFile
= ' Prompt.ini ' ;
var
Loop:Integer;
isOK:boolean;
TimeOfNow:SystemTime;
begin
Result:
= False;
CommIsFSK:
= isFSKComm;
isOK:
= (DJSys_EnableCard( '' ,PromptFile) = _ERR_OK);
if NotisOKthenexit;
isOK:
= InitCardForFSK();
if NOTisOKthenExit;
isLoadFSK:
= isOK;
GetLocalTime(TimeOfNow);
DJSys_SetSysTime(TimeOfNow.wHour,TimeOfNow.wMinute,TimeOfNow.wSecond);
TotalTrunkNum:
= DJTrk_GetTotalTrunkNum();
InTrunkNum:
= TotalTrunkNumshr 1 ;
OutTrunkNum:
= TotalTrunkNum - InTrunkNum;

SetLength(Trunks,TotalTrunkNum);
SetLength(TrunkConnected,TotalTrunkNum);

for Loop: = 0 toOutTrunkNum - 1 do
Trunks[Loop]:
= TDJCommChannelsSS1.Create(Self,Loop,Type_Export,CommIsFSK,onTrunkEvent,onRecEvent);
for Loop: = OutTrunkNumtoTotalTrunkNum - 1 do
Trunks[Loop]:
= TDJCommChannelsSS1.Create(Self,Loop,Type_Import,CommIsFSK,onTrunkEvent,onRecEvent);
for Loop: = 0 toTotalTrunkNum - 1 do
begin
TDJCommChannelsSS1(Trunks[Loop]).ClearTrunkBuffer(csReceiving);
end;

DJSys_AutoApplyDtmf(ENABLEDTMF);
// 自动分配DTMF资源
DJSys_EnableAutoKB(); // 自动回送KB信号
isOK: = isOKandDJSys_EnableDtmfSend();
Result:
= isOK;
end;

functionTDJCommCardSS1.InitCardForFSK():boolean;
var
k:integer;
begin
Result:
= true ;
if CommIsFSKthen
begin
k:
= DJFsk_InitForFsk(SZK_Mode);
Result:
= (k = 1 );
end;
end;

functionTDJCommCardSS1.SendStringByTrunkID(
const aChannelID:integer;
const sendBuffer:PChar):boolean;
begin
Result:
= TDJCommChannelsSS1(Trunks[aChannelID]).SendString(sendBuffer);
end;

procedureTDJCommCardSS1.StartRunCommModule();
begin
Resume();
end;

procedureTDJCommCardSS1.ThreadKernelProcess();
var
Loop:Word;
begin
DJSys_PushPlay();
for Loop: = 0 toTotalTrunkNum - 1 do
begin
try
TDJCommChannelsSS1(Trunks[Loop]).DJChannelProcessor();
except
end;
end;
end;

end.

通道类源代码:

// ------------------------------------------------------------------------------
//
// 产品名称:成晓旭的个人软件Delphi源码库
// 产品版本:CXXSoftdelphicodesourcelib2.0
// 模块名称:Delphi之东进数字语音卡通道类
// 模块描述:
// 单元文件:unDJChannelSS1.pas
// 开发作者:成晓旭
// 作者blog: http://blog.youkuaiyun.com/CXXSoft
// 备注:任何人使用此文件时,请保留此段自述文件,谢谢!
// 开发时间:2005-01-09
// 修改历史:
// 修改描述:
// ------------------------------------------------------------------------------
unitunDJChannelSS1;

interface
uses
Windows,SysUtils,
unBaseDefine,
Tce1_32,
Tce1_FSK,
unDJCardSS1;
type

TCXXStatus
= (csSending,csReceiving,csPlaying);

TDJCommChannelsSS1
= class (TObject)
private
CommIsFSK:boolean;
controller:TDJCommCardSS1;
TrunkID:integer;
TrunkStep:TTrunkStep;

MaxBuffer:array[
0 ..DTMF_BUFFER_SIZE - 1 ]ofChar;
msgChannel:TTrunkStatusInfo;
msgFrame:TRecCommFrame;

commFrameNumber,recPos:Word;
subStatus:TCXXStatus;
commPhone:
string ;
commFrameStr:
string ;

// 应该进一步优化为注入的接口,非简单的回调句柄
onTrunkState:TTrunkSatausEvent;
onRecEvent:TTrunkReceiveEvent;
InOutType:TTrunkType;

functionSendDataFromTrunk():boolean;
functionCheckSendDataEnd():boolean;
procedureSaveMaxBufferToFrameStr();
procedureProcessConnected();
// 注意:此方法与具体业务的通信协议存在严重依赖关系(IoC实现依赖反转)
functionCheckReceiveOverFSK( const dataBuffer:arrayof char ; const dataNumber:Word):boolean;
// 注意:此方法与具体业务的通信协议存在严重依赖关系(IoC实现依赖反转)
functionCheckReceiveOverDTMF( const dataBuffer:arrayof char ; const dataNumber:Word):boolean;
functionGetCommData(
const dataBuffer:arrayof char ; const dataNumber:Word): string ;
functionReceiveDataFromTrunk():boolean;

procedureInformChannelStatus(
const aStep:TTrunkStep; const lvof:TLVOperateFlag);
procedureInformBusinessStatus(
const aCommData: string ; const cif:TCommInformFlag);
procedureInformDialStatus(
const aStep:TTrunkStep);
procedureInWaitingIntoToConnect();
functionGetCommFrameFromSendString(
const commFrame: string ): string ;

procedureRegisterTrunkEvent(
const trunkStateEvent:TTrunkSatausEvent);
procedureRegisterReceiveEvent(
const trunkRecEvent:TTrunkReceiveEvent);
public

constructorCreate(
const trunkController:TDJCommCardSS1; const TrkID:Integer;
const TrunkType:TTrunkType; const isFSKComm:boolean;
const aStateEvent:TTrunkSatausEvent; const aRecEvent:TTrunkReceiveEvent);
destructorDestroy;
override ;

// 获取通道状态
functionGetTrunkType():TTrunkType;
procedureDJChannelProcessor();
// 通道挂机
procedureInOutHangOff();
// 开始拨号
procedureStartDialPhone( const phoneNumber,callerNumber:PChar; const aDevID:integer =- 1 );
// 发送通信数据
functionSendString( const pchSend:PChar):boolean;
// 清空通道数据缓冲
procedureClearTrunkBuffer( const aSB:TCXXStatus);
// 获取通道号
functionGetTrunkID():integer;
end;

implementation

... {TDJCommChannelsSS1}
const
Frame_FillChar
= # 0 ;
Leader_Flag
= $ 55 ;
HeadNumber
= 30 ;
hasLeader
= true ;

functionTDJCommChannelsSS1.CheckSendDataEnd():boolean;
begin
Result:
= false ;
if CommIsFSKthen
begin
if (DJFsk_CheckSendFSKEnd(TrunkID,SZK_Mode) = 1 )then
begin
DJFsk_StopSend(TrunkID,SZK_Mode);
Result:
= true ;
end;
end
else
begin
if DJTrk_CheckDtmfSendEnd(TrunkID)then
begin
DJVoc_StopPlayFile(TrunkID);
Result:
= true ;
end;
end;
if Resultthen
ClearTrunkBuffer(csReceiving);
end;

procedureTDJCommChannelsSS1.ClearTrunkBuffer(
const aSB:TCXXStatus);
begin
subStatus:
= aSB;
if CommIsFSKthen
DJFsk_ResetFskBuffer(TrunkID,SZK_Mode)
else
DJTrk_InitDtmfBufNew(TrunkID);
commFrameNumber:
= 0 ;
recPos:
= 0 ;
end;

constructorTDJCommChannelsSS1.Create(
const trunkController:TDJCommCardSS1; const TrkID:Integer;
const TrunkType:TTrunkType; const isFSKComm:boolean;
const aStateEvent:TTrunkSatausEvent; const aRecEvent:TTrunkReceiveEvent);
var
t:TTrunkType;
begin
inheritedCreate;
RegisterTrunkEvent(aStateEvent);
RegisterReceiveEvent(aRecEvent);
controller:
= trunkController;
TrunkID:
= TrkID;
commPhone:
= '' ;
TrunkStep:
= TTrunkStep( - 1 );
t:
= TrunkType;
if DJTrk_SetTrunkType(TrkID,t)then
InOutType:
= TrunkType;
CommIsFSK:
= isFSKComm;
controller.TrunkConnected[TrunkID]:
= false ;
ClearTrunkBuffer(csReceiving);
InformChannelStatus(Step_Free,lvofAdd);
end;

destructorTDJCommChannelsSS1.Destroy();
begin
inherited;
DJTrk_BackwardHangUp(TrunkID);
end;

procedureTDJCommChannelsSS1.DJChannelProcessor();
var
aStep:TTrunkStep;
begin
// DJSys_PushPlay();
aStep: = DJTrk_GetTrunkStatus(TrunkID);
// 状态变化
if TrunkStep <> aStepthen
begin
TrunkStep:
= aStep;
InformChannelStatus(TrunkStep,lvofUpdate);
end;
// 前向挂机
if (TrunkStep <> Step_Free)andDJTrk_CheckForwardHangUp(TrunkID)then
begin
InOutHangOff();
end;
// 入中继拨入,等待接续(建立连接)
if (TrunkStep = Step_Wait)and(DJTrk_CheckTrunkIn(TrunkID))then
begin
InWaitingIntoToConnect();
end;
// 通道连接已经建立
if (TrunkStep = Step_Connect)then
begin
ProcessConnected();
end;
// 出通道拨号失败
if TrunkStep = Step_DialFailthen
begin
InformDialStatus(TrunkStep);
end;
if TrunkStep = Step_Delaythen
Exit;
// 出入通道空闲
if TrunkStep = Step_Freethen
begin
// 等待接收呼入
end;
end;

functionTDJCommChannelsSS1.GetTrunkID():integer;
begin
Result:
= Self.TrunkID;
end;

procedureTDJCommChannelsSS1.InformChannelStatus(
const aStep:TTrunkStep; const lvof:TLVOperateFlag);
begin
msgChannel.lvFlag:
= lvof;
msgChannel.TrunkID:
= IntToStr(Self.TrunkID);
msgChannel.DeviceID:
= '' ;
msgChannel.TrunkTypeStr:
= TrunkTypeInStr[InOutType];
msgChannel.TrunkStep:
= Ord(aStep);
msgChannel.TrunkStepStr:
= TrunkStepInStr[aStep];
if aStep = Step_Freethen
begin
msgChannel.Phone:
= '' ;
msgChannel.Data:
= '' ;
end
else
begin
msgChannel.Phone:
= commPhone;
msgChannel.Data:
= commFrameStr;
end;
if Assigned(onTrunkState)then
onTrunkState(msgChannel);
end;

procedureTDJCommChannelsSS1.InformDialStatus(
const aStep:TTrunkStep);
var
dStatus:TDialStatus;
begin
dStatus:
= DJTrk_GetDialStatus(TrunkID);
case dStatusof
DS_Busy,DS_OverTime,DS_NoUser,DS_LineError:
begin
InOutHangOff();
end;
end;
end;

procedureTDJCommChannelsSS1.InformBusinessStatus(
const aCommData: string ; const cif:TCommInformFlag);
begin
// 依赖注入的业务处理接口调用,实现业务处理的
end;

procedureTDJCommChannelsSS1.InOutHangOff();
begin
DJTrk_BackwardHangUp(TrunkID);
controller.TrunkConnected[TrunkID]:
= false ;
InformBusinessStatus(
'' ,cifDisconnected);
end;

procedureTDJCommChannelsSS1.InWaitingIntoToConnect;
begin
DJVoc_PlayFile(TrunkID,
' .Voicedtmf13 ' );
DJVoc_StopPlayFile(TrunkID);
end;


procedureTDJCommChannelsSS1.ProcessConnected();
var
ss:TCXXStatus;
begin
if NOTcontroller.TrunkConnected[TrunkID]then
begin
controller.TrunkConnected[TrunkID]:
= true ;
ss:
= csReceiving;
InformBusinessStatus(
'' ,cifConnected);
ClearTrunkBuffer(ss);
end;
case subStatusof
csSending:
begin
if CheckSendDataEnd()then
begin
InformChannelStatus(Step_Connect,lvofUpdate);
InformBusinessStatus(commFrameStr,cifSend);
end;
end;
csReceiving:
begin
if ReceiveDataFromTrunk()then
begin
msgFrame.CommFrame:
= commFrameStr;
msgFrame.CommType:
= Comm_FSK;
InformChannelStatus(Step_Connect,lvofUpdate);
InformBusinessStatus(commFrameStr,cifReceive);
end;
end;
csPlaying:
begin

end;
end;
end;

functionTDJCommChannelsSS1.ReceiveDataFromTrunk():boolean;
var
num,Loop:integer;
tempBuffer:array[
0 ..DTMF_BUFFER_SIZE - 1 ]ofChar;
begin
Result:
= false ;
try
if Self.CommIsFSKthen
begin
// FSK方式版本
FillChar(tempBuffer,DTMF_BUFFER_SIZE,Frame_FillChar);
num:
= DJFsk_GetFSK(TrunkID,tempBuffer,SZK_MODE);
if (num > 0 )then
begin
if CheckReceiveOverFSK(tempBuffer,num)then
begin
Self.commFrameStr:
= GetCommData(tempBuffer,num);
Self.ClearTrunkBuffer(csReceiving);
Result:
= true ;
end;
end;
end
else
begin
// DTMF方式版本
num: = DJTrk_GetReceiveDtmfNumNew(TrunkID);
if num > 0 then
begin
for Loop: = 0 tonum - 1 do
begin
MaxBuffer[recPos
+ Loop]: = DJTrk_GetDtmfCodeNew(TrunkID);
recPos:
= (recPos + 1 )modDTMF_BUFFER_SIZE;
end;
Inc(commFrameNumber,num);
if CheckReceiveOverDTMF(tempBuffer,num)then
begin
ClearTrunkBuffer(csReceiving);
Result:
= true ;
end;
end;
end;
except
Result:
= false ;
end;
end;

procedureTDJCommChannelsSS1.RegisterReceiveEvent(
const trunkRecEvent:TTrunkReceiveEvent);
begin
onRecEvent:
= trunkRecEvent;
end;

procedureTDJCommChannelsSS1.RegisterTrunkEvent(
const trunkStateEvent:TTrunkSatausEvent);
begin
onTrunkState:
= trunkStateEvent;
end;

procedureTDJCommChannelsSS1.SaveMaxBufferToFrameStr();
var
Loop:Word;
begin
commFrameStr:
= '' ;
for Loop: = 0 tocommFrameNumber - 1 do
begin
commFrameStr:
= commFrameStr + MaxBuffer[Loop];
end;
end;

functionTDJCommChannelsSS1.SendDataFromTrunk():boolean;
begin
Result:
= false ;
if controller.TrunkConnected[TrunkID]then
begin
if CommIsFSKthen
begin
Result:
= DJFsk_SendFSK(TrunkID,@MaxBuffer[ 0 ],commFrameNumber,SZK_Mode) = 1 ;
end
else
begin
Result:
= DJTrk_SendDtmfStr(TrunkID,@MaxBuffer[ 0 ]) = 1 ;
end;
end;
if Resultthen
subStatus:
= csSending;
end;

functionTDJCommChannelsSS1.SendString(
const pchSend:PChar):boolean;
var
Loop:integer;
strTemp:
string ;
begin
Result:
= false ;
if Self.CommIsFSKandhasLeaderthen
begin
// 加FSK前导字符的版本
strTemp: = GetCommFrameFromSendString(pchSend);
commFrameNumber:
= Length(strTemp);
if commFrameNumber > 0 then
begin
for Loop: = 0 tocommFrameNumber - 1 do
MaxBuffer[Loop]:
= strTemp[Loop + 1 ];
MaxBuffer[commFrameNumber]:
= # 0 ;
SaveMaxBufferToFrameStr();
Result:
= SendDataFromTrunk();
end;
end
else
begin
// 不加前导字符的版本
commFrameNumber: = Length(pchSend);
if commFrameNumber > 0 then
begin
for Loop: = 0 tocommFrameNumber - 1 do
MaxBuffer[Loop]:
= pchSend[Loop];
MaxBuffer[commFrameNumber]:
= # 0 ;
SaveMaxBufferToFrameStr();
Result:
= SendDataFromTrunk();
end;
end;
end;

procedureTDJCommChannelsSS1.StartDialPhone(
const phoneNumber,
callerNumber:PChar;
const aDevID:integer);
begin
if DJTrk_CheckTrunkFree(TrunkID)and(Trim(phoneNumber) <> '' )then
begin
commPhone:
= Trim(phoneNumber);
DJTrk_StartDial(TrunkID,PChar(commPhone),
'' );
end;
end;

functionTDJCommChannelsSS1.CheckReceiveOverFSK(
const dataBuffer:arrayof char ;
const dataNumber:Word):boolean;
begin
// 业务实现方法:判定通信帧串发送结束
Result: = true ;
end;

functionTDJCommChannelsSS1.GetCommData(
const dataBuffer:arrayof char ;
const dataNumber:Word): string ;
var
Loop:Word;
begin
Result:
= '' ;
if dataNumber <= 0 thenExit;
for Loop: = 0 todataNumber - 1 do
begin
if (dataBuffer[Loop] <> Frame_FillChar)then
Result:
= Result + dataBuffer[Loop];
end;
end;

functionTDJCommChannelsSS1.GetCommFrameFromSendString(
const commFrame: string ): string ;
var
Loop:integer;
begin
Result:
= commFrame;
for Loop: = 0 toHeadNumber - 1 do
Result:
= CHR(Leader_Flag) + Result;
end;

functionTDJCommChannelsSS1.CheckReceiveOverDTMF(
const dataBuffer:arrayof char ; const dataNumber:Word):boolean;
begin
// 业务实现方法:判定通信帧串发送结束
Result: = true ;
end;

functionTDJCommChannelsSS1.GetTrunkType():TTrunkType;
begin
Result:
= Self.InOutType;
end;

end.

基于数据驱动的 Koopman 算子的递归神经网络模型线性化,用于纳米定位系统的预测控制研究(Matlab代码实现)内容概要:本文围绕“基于数据驱动的Koopman算子的递归神经网络模型线性化”展开,旨在研究纳米定位系统的预测控制方法。通过结合数据驱动技术与Koopman算子理论,将非线性系统动态近似为高维线性系统,而利用递归神经网络(RNN)建模并实现系统行为的精确预测。文中详细阐述了模型构建流程、线性化策略及在预测控制中的集成应用,并提供了完整的Matlab代码实现,便于科研人员复现实验、优化算法并拓展至其他精密控制系统。该方法有效提升了纳米级定位系统的控制精度与动态响应性能。; 适合人群:具备自动控制、机器学习或信号处理背景,熟悉Matlab编程,从事精密仪器控制、智能制造或先控制算法研究的研究生、科研人员及工程技术人员。; 使用场景及目标:①实现非线性动态系统的数据驱动线性化建模;②提升纳米定位平台的轨迹跟踪与预测控制性能;③为高精度控制系统提供可复现的Koopman-RNN融合解决方案; 阅读建议:建议结合Matlab代码逐段理解算法实现细节,重点关注Koopman观测矩阵构造、RNN训练流程与模型预测控制器(MPC)的集成方式,鼓励在实际硬件平台上验证并调整参数以适应具体应用场景。
提供了一套完整的基于51单片机的DDS(直接数字频率合成)信号波形发生器设计方案,适合电子爱好者、学生以及嵌入式开发人员学习和实践。该方案详细展示了如何利用51单片机(以AT89C52为例)结合AD9833 DDS芯片来生成正弦波、锯齿波、三角波等多种波形,并且支持通过LCD12864显示屏直观展示波形参数或状态。 内容概述 源码:包含完整的C语言编程代码,适用于51系列单片机,实现了DDS信号的生成逻辑。 仿真:提供了Proteus仿真文件,允许用户在软件环境中测试整个系统,无需硬件即可预览波形生成效果。 原理图:详细的电路原理图,指导用户如何连接单片机、DDS芯片及其他外围电路。 PCB设计:为高级用户准备,包含了PCB布局设计文件,便于制作电路板。 设计报告:详尽的设计文档,解释了项目背景、设计方案、电路设计思路、软硬件协同工作原理及测试结果分析。 主要特点 用户交互:通过按键控制波形类型和参数,增加了项目的互动性和实用性。 显示界面:LCD12864显示屏用于显示当前生成的波形类型和相关参数,提升了项目的可视化度。 教育价值:本资源非常适合教学和自学,覆盖了DDS技术基础、单片机编程和硬件设计多个方面。 使用指南 阅读设计报告:首先了解设计的整体框架和技术细节。 环境搭建:确保拥有支持51单片机的编译环境,如Keil MDK。 加载仿真:在Proteus中打开仿真文件,观察并理解系统的工作流程。 编译与烧录:将源码编译无误后,烧录至51单片机。 硬件组装:根据原理图和PCB设计制造或装配硬件。 请注意,本资源遵守CC 4.0 BY-SA版权协议,使用时请保留原作者信息及链接,尊重原创劳动成果。
【四轴飞行器的位移控制】控制四轴飞行器的姿态和位置设计内环和外环PID控制回路(Simulink仿真实现)内容概要:本文档详细介绍了基于Simulink仿真实现的四轴飞行器位移控制方法,重点在于设计内外环PID控制回路以实现对四轴飞行器姿态和位置的精确控制。文中阐述了控制系统的基本架构,内环负责稳定飞行器的姿态(如俯仰、滚转和偏航),外环则用于控制飞行器的空间位置和轨迹跟踪。通过Simulink搭建系统模型,实现控制算法的仿真验证,帮助理解飞行器动力学特性与PID控制器参数调节之间的关系,而优化控制性能。; 适合人群:具备自动控制理论基础和Simulink使用经验的高校学生、科研人员及从事无人机控制系统的工程师;尤其适合开展飞行器控制、机器人导航等相关课题的研究者。; 使用场景及目标:①掌握四轴飞行器的动力学建模与控制原理;②学习内外环PID控制结构的设计与参数整定方法;③通过Simulink仿真验证控制策略的有效性,为实际飞行测试提供理论支持和技术储备;④应用于教学实验、科研项目或毕业设计中的控制系统开发。; 阅读建议:建议读者结合Simulink软件动手实践,逐步构建控制系统模型,重点关注PID参数对系统响应的影响,同时可扩展学习姿态传感器融合、轨迹规划等阶内容,以全面提升飞行器控制系统的综合设计能力。
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