Leidsid 33 sarnast õppematerjali, mis on seotud failiga "Mikrokontrollerid ja praktiline robootika ". Need materjalid aitavad sul teemat sügavamalt mõista.
control, erro, error, gain, proportion, marks, proportional, bang, below, increases, term, integral, function, step, graph, solution, turn, transfer, negative, between, ?bang, figure, matlab, program, development, hold, response, closed, loop, draw, describe, compare, differences, functions, terms, turns, similar, signal, changed, changes, value, logicalMicrocontroller homework for week 10 1. PID control scheme: Equation describing the PID control: Differences between ,,bang-bang" control and proportional control: Proportional 0%...100% As error decreases, output decreases, e.g. reduces overshoot ,,Bang-bang" 0% or 100% Only 2 states (that's why also called On/off control). It has feedback. Similar to PWM ouput signal. Integral and Derivative terms in the PID equation: These are time-based terms: theintegral is an integral over some time period, and the derivative is the derivative between two time periods. Derivative to measure how fast the error is changing; rate of change in error gives indication
v 3 Sensors 47 Temperature Sensors 47 Optical Sensors 59 CCDs 72 Magnetic Sensors 82 Motion/Acceleration Sensors 86 Strain Gauge 90 4 Time-Based Measurements 93 Measuring Period versus Frequency 95 Mixing 97 Voltage-to-Frequency Converters 99 Clock Resolution 102 5 Output Control Methods 103 Open-Loop Control 103 Negative Feedback and Control 103 Microprocessor-Based Systems 104 On-Off Control 105 Proportional Control 108 PID Control 110 Motor Control 123 Measuring and Analyzing Control Loops 130 6 Solenoids, Relays, and Other Analog Outputs 137 Solenoids 137 Heaters 143 Coolers 148 Fans 149 LEDs 151
It is also applied in detectors, which find the signals in the noisy operation conditions. The third application is in switching circuits because an ideal rectifier acts like a perfect conductor when forward biased and lik a perfect insulator when reverse biased. 7) A power diode is more complicated in structure and operational characteristics than the small signal diode. The forward bias characteristic of the power diode is approximately linear, which means that the voltage drop is proportional to the omic resistance and to the current. The rated currents of power diodes are thousands of amperes and the area of the pn junction may be tens of square centimeters. In the case of power diode, the additional n- layer exists between these two layers, which is termed as a drift region. This layer can be quitewide for the diode. The wide lightly doped region adds significant ohmic resistance to the forward-biased diode and causes larger power
4-2 Using a Programming Console . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 4-3 Programming Console Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 4-4 Programming Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 SECTION 5 Test Runs and Error Processing . . . . . . . . . . . . . . . . . . . . 119 5-1 Initial System Checks and Test Run Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 5-2 The CPM1A Cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 5-3 Self-diagnosis Functions . . . . . . . . . . . . .
SINAD is usually expressed in dB. For examples to calculate the ratio of 1 kW (one kilowatt, or 1000 watts) to 1 W in decibels, use the formula 3. ENOB is the effective number-of-bits related to SINAD and the quality of a digitized signal. The 6.02 term in the divisor converts decibels (a log10) to bits (a log2) The 1.76 term comes from quantization error in an ideal ADC 4. THD - Total harmonic distortion is the ratio of the root-mean-square (rms) value of the fundamental signal to the mean value of the root-sum-square of its harmonics (generally, only the first 5 harmonics are significant). 5. SFDR- Spurious free dynamic range is the ratio of the rms value of the signal to the rms value of the worst spurious signal (fake signal) regardless of where it falls in the frequency spectrum. 6
Question 1 Name 9 characteristic parameters of sensors. Solution: 1. Thershold. 2. Sensitivity. 3. Full Range. 4. Linearity. 5. Accuracy. 6. Precision. 7. Stability. 8. Hysteresis. 9. Noise. Question 2 Given the circuit below (using a SYH-2R humidity sensor) determine the output voltage for a relative humidity of 70 % at 30 °C if RT = 50 kΩ and VDD= 2.5 V. Solution: Check specification for Humidity Sensor of SYH-2R.pdf at: http://www.rhopointcomponents.com/images/SYH-2R.pdf 2 Week 04 Homework - Solutions Check Thermistor - Wikipedia.pdf at http://en.wikipedia.org/wiki/Thermistor Calculate the Humidity Sensor resistance at 30°C T = 273.15°C +30°C = 303.15°C
F2 genotypes C C C C C C C C F2 phenotypes red pink (pink) white; F2 ratio 1:2:1; accept other symbols if key given. accept r and w as symbols without key. 6 (c) (i) 65; 130; 65; 3 (ii) 0.138 + 0.007 + 0.061; (or other suitable working) 0.206 – 0.208; 2 marks for correct value if no working shown ecf for both marks but calculated value must be to three decimal places 2 (iii) support, figure lower than 5.991 / figure lower than critical value; R ‘support’ on its own. ecf applies if value in (ii) is incorrect 1
A... AA Auto Answer AAA Authentication, Authorization and Accounting AAB All-to-All Broadcast AAC Advanced Audio Coding AACS Advanced Access Control System AAL Asynchronous Transfer Mode Adaption Layer AAM Automatic Acoustic Management AAP Applications Access Point [DEC] AARP AppleTalk Address Resolution Protocol AAS All-to-All Scatter AASP ASCII Asynchronous Support Package AAT Average Access Time AATP Authorized Academic Training Program [Microsoft] .ABA Address Book Archive (file name extension) [Palm] ABAP Advanced Business Application Programming [SAP] ABC * Atanasoff-Berry Computer (First digital
oData transparency: In bit and byte oriented protocols, there is a problem if a control character (for ETX (End of Text) ·Same as ETB, only no more blocks will follow. ITB (End of > Differences with HDLC length of protocol field (1B or 2B) byte-oriented protocols) or the start-of-frame flag (for bit-oriented protocols) appears in the actual data
RSS of its harmonics. 5. SFDR – Ratio of the RMS value of the signal to the RMS value of the worst spurious signal. 6. Channels – multiple analog signal inputs to the ADC that can be individually selected or selected through a multiplexor. 7. Linearity – Describes how an ADC conveter follows a linear function. 8. Operating temperature – A temperature at which the ADC functions optimally, usually given by the manufacturer. 9. Power dissipation – The proportion of power dissipated (through heat) when the ADC is working. Question 2: An 8 bit ADC has a reference voltage of 5V. What is the digital output code word for an input of 1.2V? 001111012 What is the voltage range corresponding to 1 LSB? 0,0195V Question 3. A 15 bit ADC has a reference voltage of 10V. What is the digital output code word for an input of 6.83V? 101011101101100 Question 4. What is the value of the quantization error between an input voltage of 2.3V and
2V? What is the voltage range corresponding to 1 LSB? 1,2𝑉 0,0195𝑉 = 61 ; 61 = 001111012 Digital output code for an input of 1.2V is 001111012. Voltage range corresponding to 1 LSB is U= 0,0195V. Question 3 A 15 bit ADC has a reference voltage of 10V. What is the digital output code word for an input of 6.83V? 15 bit = 32768 10V/ 32768 = 0,0003 V 6,83V / 0,0003 = 22767 22767 = 01011000 111011112 Question 4 What is the value of the quantization error between an input voltage of 2.3V and quantized voltage with the output code word equal to 011101012 using an 8 bit ADC with 5V reference? 011101012 = 117 Correspond to 5V * 117/256 = 2.2852V Error = 2,3V – 2.2852 = 0,0148V Question 5 A digital multimeter is designed to have a readout with four decimal digits. How many bits will be required in its ADC? MAX = 9999 213 = 8192 214 = 16384 (too many digits) 13 Bit will be required in ts ADC. Question 6
"grounded" parts of the equipment, which are often accessible to users, are not at ground potential. Thus the two circuits are no longer isolated from each other, and circuit 1 can introduce interference into the output of circuit 2. If circuit 2 is an audio system, and circuit 1 has large AC currents flowing in it, the interference may be heard as a 50 or 60 Hz hum in the speakers. Question 7 (20 marks) Assume we have a period based measurement system as shown in the below figure. Design the sample clock frequency that we can measure the frequency input with the change from 5 MHz to 5.0001 MHz in 50 counts. Solution: Frequency input at 5 MHz divided by 10000 = 500 Hz. Frequency input at 5.0001 MHz divided by 10000 = 500.01 Hz. Fs Counts read by register at 500 Hz = x1 500 Hz Fs Counts read by proceessor at 500
tutvu lausearvutuse keskkonnaga: http://logik.phl.univie.ac.at/~chris/gateway/formular-uk-zentral.html Millistel muutuja väärtustel on lause (Av(B&A))v(-A&(Cv(B&-C))) väär? Panna tuleb results only, 0 on väär 1 on õige Tutvu ajalooga saidis kuni II maailmasõda: http://www.maxmon.com/history.htm Loe läbi jutt ja proovi andmetega mängida: http://math.hws.edu/TMCM/java/DataReps/index.html Kahend süsteemi arvu(101101001) ->kümnend süsteemiks. Nr sisse ja bianarile punkt, ja vaatan base ten integeri kümnendarvudest annab Ecki appletis juuresoleva graafilise kujutise, teen kujundi ja vaatan base integeri mis vastab kahendsüsteemi arvule 1110001 ASCII tabelis? Nr sisse ja punkt bianari, vaatan ...teksti Kümnendsüsteemi arv 33 on kahendsüsteemis? 33 kirjutan ja Base-ten integer, vaatan bianary Loe läbi jutud Atbashi ja Caesari šifri (Caesar cipher) kohta: http://www.wikipedia.org 2 Tutvu ajalooga kuni 1970ndad: http://www.islandnet.com/~kpolsson/comphist/ 47-68 ingli
· Call the benefits of 3-phase rectifiers upon the 1-phase ones output voltage · Which rectifier has more diodes 3-phase bridge · In the case of high-pass filter before the load, what can you tell about the current higher · What is the difference between the construction and operation of a rectifier and an inverter input wave output wave · What are the advantages of a single-phase bridge inverter high efficiency high reliability · What kind of control provides the highest output power of the inverter block · What load inductance provides the interruptible output current zero · What should be the value of an inverter output frequency to reduce audible noise very high · What is the maximum modulation index of a linear PWM system one · What semiconductor devices are most widely used in inverters diode transistor · What is the most important component of a full-bridge inverter transistor · What is delay time of VSI 1 ms
1 System development • Modelling in early system development stage corrects design errors before construction. • Beneficial modelling reasons (– Insight: in the design and operation of a system – Completeness: detection of missing parts for simulation and a better understanding of the system requirements – Correctness: errors and flaws are usually detected, problematic scenarios can be reproduced, systematic error investigation) 2 Introduction CPN • CPN is a graphical language for concurrent system design and analysis and also general-purpose modelling environment and also applicable for industrial projects and high level programming. • Petri nets provide(– graphical notation– modelling concurrency, communication, synchronisation) • CPN application domains that are typical(– communication protocols, data networks, distributed algorithms)
W·m-2·K-1 to 757 W·m-2·K-1. For the Reynolds number of 3855 and with the change of agitation from 618 to 1703 the overall heat transfer changes from 731 W·m-2·K-1 to 816 W·m- 2 ·K-1. It can be observed, that the heat transfer coefficient with the highest agitation rate of 1703 is higher than with the heat transfer coefficient with the lowest agitation rate of 618 rpm. With other agitation rates there are some anomalies seen, but the differences are very small. The biggest percentage error seen on the graph (Figure 5) is with the Reynolds number of 1993 and between agitation rates of 980 rpm and 1343 rpm, the percentage of the error is 11%. It is expected that higher agitation rates would lead to higher global heat transfer coefficients, because the outside heat transfer coefficient should be higher. However during the present experiments this behavior was not always observed, possibly because the experimental set up used is not a standard one.
ALEXANDER TARANENKO ANASTASSIJA MOROZOVA Tallinn University of Technology March 2013 INTRODUCTION The following system consists of two Mitsubishi AL2 controllers that control two crossroads, a pedestrian crossing and a parking lot. The following implementation divides the task between the two, but keeps controller one the main one and controller two the secondary one. The system can work in two modes, automatic and manual, the latter of which can also work in two separate sub- modes that must be selected for each crosswalk individually. DESCRIPTION The control system consists of 2 Mitsubishi AL2 controllers
Õppeaines: SISSEJUHATUS ERIALASSE Tehnoloogia ja ringmajanduse instituut Õpperühm: Juhendaja: Tallinn 2021 TABLE OF CONTENTS 2 1 THE CORNERSTONES OF SURVEY RESEARCH 1.1 Introduction The idea of conducting a survey is deceptively simple. It involves identifying a specific group or category of people and collecting information from some of them in order to gain insight into what the entire group does or thinks; however, undertaking a survey inevitably raises questions that may be difficult to answer. How many people need to be surveyed in order to be able to describe fairly accurately the entire group? How should the people be selected? What questions should be asked and how should they be posed to respondents? In addition, what data collection methods should one consider using, and are some of those methods of collecting data better than others
Pure Competition Competition The word "competition" may be used in two ways: rivalry (synonym; opposition, antagonism) structural competition or "pure competition" The main characteristics of competition: 1. Number of firms 2. Type of product 3. Control over price 4. Conditions of entry 5. Nonprice competition 6. Information flow Pure Competition · Involves very large numbers of sellers and buyers. · Firms producing identical or homogeneous products. · Standardized product (a product identical to that of other producers). (ex. corn or cucumbers). · Free Entry and Exit: no significant legal, technological, financial, or other obstacles
R2 R4 R1R3 , then R4 RS 2 3 50 R1 100 b) When VOUT = 0,5 V {under strain}, R1 R3 VOUT VIN 1 R R 2 R3 R4 100 100 0,5V 5V 100 50 100 R4 R4 RS 76,46 Question 4 Figure below shows the thermistor circuit (R25 = 2kΩ). The data sheet and the specifications are provided: Midterm Exam - Solutions 3 D.C. Dissipation Constant: 2 mW/°C Required accuracy: 1.5 °C Sensor circuit VREF = 4 V Application temperature: 0°C to 40 °C a. Calculate the resistance of the thermistor, RTH , at 0°C and 40°C respectively? From the given information, the thermistor resistance at 25°C or R25= 2 kΩ, and
Einstein suggested that energy and matter are interchangeable. His equation also suggests that the quantity of energy and matter in the Universe is fixed. Second Law of Thermodynamics Heat can never pass spontaneously from a colder to a hotter body. As a result of this fact, natural processes that involve energy transfer must have one direction, and all natural processes are irreversible. This law also predicts that the entropy of an isolated system always increases with time. Entropy is the measure of the disorder or randomness of energy and matter in a system. Because of the second law of thermodynamics both energy and matter in the Universe are becoming less useful as time goes on. Perfect order in the Universe occurred the instance after the Big Bang when energy and matter and all of the forces of the Universe were unified. Third Law of Thermodynamics The third law of thermodynamics states that if all the thermal motion of molecules (kinetic
Clearance Center, 222 Rosewood Drive, Danvers, MA 01923. For those organizations that have been granted a photocopy license by CCC, a separate system of payments has been arranged. The fee codes for users of the Transactional Reporting Service are ISBN-13: 978-0-8138-2182-5/2010. Designations used by companies to distinguish their products are often claimed as trademarks. All brand names and product names used in this book are trade names, service marks, trademarks or registered trademarks of their respective owners. The publisher is not associated with any product or vendor men- tioned in this book. This publication is designed to provide accurate and authoritative information in regard to the subject matter covered. It is sold on the understanding that the publisher is not engaged in rendering professional services. If professional advice or other expert assistance is required, the services of a competent professional should be sought.
Test VIII - cumulative test by Piigli, Mets, Parker, Kauler "Top delusion" question / answers are red. Test I The induction machines are associated with the names of Dolivo - Dobrovolsky, Tesla. The synchronous machines are associated with the name of Ferraris. The DC machines are associated with the names of Jacobi and Henry. The electromagnetic torque is born in air gap. The torque is proportional to the current in dc motor. Which equations are correct? P = sW; oomega = tuletis fii'st The angular frequency is 2*pi()*n / 60 ja 2*pi()f The motor torque is equal to TL + J * oomega tuletis aja järgi The inductor supplies the motor with flux. The leading companies in the world market of electrical drive engineering are: Mitsubishi. The energy balance is described by energy conservation law. The armature supplies the motor with current.
Write pseudocode that will compare the strings without case sensitivity and return a Boolean result in variable Y indicating whether the strings match or not. == 8. Y = true for i from 1 to 20 for j from 1 to 8, excluding 3 // first bit is spared (omitted) and the second (third) bit for upper bitindex = j + (i-1)*8 if S1[bitindex] ≠ S2[bitindex] Y = false Exit loop end end end == CPU architecture 9. Suppose a microprocessor adds the numbers shown below respectively. In each instance explain the influence of the computation on the flag register in terms of each of the flag bits Z, N, C, and V. Assume the processor can handle 8-bit binary values using a two’s compliment representation. a) 60 + 80 b) 60 – 80 == The N, Z, C, and V bits are the condition code flags, conditions code flags to be set or cleared (0 or 1). 1. N = 0; Z = 0; C = 0; V = 0 2. N = 0; Z = 1; C = 0; V = 0 3. N = 0; Z = 1; C = 1; V = 0 4. N = 1; Z = 0; C = 0; V = 0 5
Siin iga infobitt jagatakse k «pilguks» antud kasutajale omistatud koodi abil, mis on ortogonaalne teistele kasutajatele omistatud koodidele. Selle tihendusmeetodit kasutatakse DSSS hajaspektersides. Hajaspekterside on tundetu erinevate mürade ja mitmekiirelise leviga seotud häirete suhtes,võimaldab peita edastatavat infot, võimaldab paljudel kasutajatel kasutada sama ribalaiust 16. Miks on kiire võimsuse kontroll CDMA võrgus oluline Power control is essentially needed to solve the near-far problem. The main idea to reduce the near-far problem, is to achieve the same power level received by all mobiles to the base station. Each received power must be at least level, so that it allows the link to meet the requirements of the system such that Eb/N0. To receive the same power level at the base station, the mobiles those are closer to the base station should transmit less power than the mobiles which are far away from the
BARRIERS TO DISTRICT HEATING DEVELOPMENT IN SOME EUROPEAN COUNTRIES Abstract District heating (DH) offers low primary energy demand, high security of supply and small CO 2 emissions. Barriers to DH in the UK, Ireland, France, Romania and the Czech Republic have been compiled through publications and interviews. DH systems require large investments, have negative initial cash flow and long payback time, which obstructs financing. One actor should control DH from source to consumption. If the value chain is fragmented, contracts are required between the links. It increases risks and financing costs, like in the UK and Ireland, where DH is not established. There are few multi- family houses with central heating and it is expensive to build DH networks in built areas. Most French DH systems are operated according to long-term concessions by companies that sell electricity and gas. No strong actor provides unbiased DH support
0. Ramp Power input to the motor is reduced gradually, following a determined ramp path. 1. Coasting Power is turned off instantly and the rotor is allowed to freely spin until it stops. 2. DC Brake A DC source from the generates a permanent magnetic field in the stator which creates an EMF in the windings of the rotated rotor, causing the braking current. Interaction of the permanent stator flux and the rotor current produces the braking torque. 1.4 When the sensorless vector control is required? Sensorless vector control is beneficial when there is a need to save money on building the drive. With sensorless vector control, costly hardware such as tachometers can be left out from the construction of the drive. 1.5 Call the drive faults you met. How do you avoid and clear these faults? I met the following faults: F004 - UnderVoltage This fault can be avoided by providing a stable source of power to the drive. The
injection is made on the cathode side. Since the orientation (input and output) of the capillary sets the geometry of the detector, it should be possible to change the polarity of the source. Although most analysis are conducted at constant voltage, it is sometimes advantageous to work at a constant current, for example, in isotachophoresis or in condition where is no good temperature control. Temperature variations change the viscosity of the buffer and the migration time when working with a constant voltage. With direct current 22 viscosity changes are compensated with proportional changes in voltage, thereby permanent migration times is achieved. Detection
Therefore coordination between the various players in the chain is key in its effective management. Cooper and Ellram [1993] compare supply chain management to a well-balanced and well-practiced relay team. Such a team is more competitive when each player knows how to be positioned for the hand-off. The relationships are the strongest between players who directly pass the baton (stick), but the entire team needs to make a coordinated effort to win the race. Below is an example of a very simple supply chain for a single product, where raw material is procured from vendors, transformed into finished goods in a single step, and then transported to distribution centers, and ultimately, customers. Realistic supply chains have multiple end products with shared components, facilities and capacities. The flow of materials is not always along an arborescent network, various modes of transportation may be
Question 1 Name 9 characteristic parameters of sensors. Treshold, noise, range, stability, linearity, accuracy, precision, sensitivity, hysteresis Question 2 Given the circuit below (using a SYH-2R humidity sensor) determine the output voltage for a relative humidity of 70 % at 30 °C if R T = 50 kΩ and VDD= 2.5 V. R70 30 c =R H =9,2 kV RH 9,2 k V O= ∙ V DD= ∙ 2,5 = 0,388 V (R T + R H ) ( 50 k +9,2 k ) Hint: Check specification for Humidity Sensor of SYH-2R.pdf at http://www.rhopointcomponents.com/images/SYH-2R.pdf 2 Week 04 Homework
Steps 1-4 are collectively referred to as planning. Planning comprises selecting organization goals, predicting results under various alternative ways of achieving those goals, deciding how to attain them. Most important planning tool is budget, quantitative expression of a proposed plan of action by management and is an aid to coordinating what needs to be done to implement that plan. The comparison of actual performance to budgeted performance is the control or post decision role of information. Control comprises taking actions that implement planning decisions, deciding how to evaluate performance, and providing feedback and learning to help future decision making. Chapter 2 - Cost terms and purposes. Direct costs of a cost object are related to the particular cost object and can be traced to it in an economically feasible (cost-effective) way. Cost tracing is used to describe the assignment of direct costs to a particular cost object.
indicating whether the strings match or not. Y = true; for i from 1 to 20; for j from 1 to 8, excluding 3; //first bit is spared (omitted) and the second (third) bit for upper bitindex = j + (i-1) ∗8; if S1[bitindex] =! S2[bitindex]; Y = false; Exit loop; end; end; end; CPU architecture 9. Suppose a microprocessor adds the numbers shown below respectively. In each instance explain the influence of the computation on the flag register in terms of each of the flag bits Z, N, C, and V. Assume the processor can handle 8-bit binary values using a two’s compliment representation. a) 60 + 80 b) 60 – 80 Range from -128 to 127. Equation Result Z N C V Comment
------------------------------------------------------------------------------- Page 7 SPSS/PC+ 6/12/ 2 Independent samples of T8 Teie sugu Group 1: T8 EQ 1 Group 2: T8 EQ 2 t-test for: T75 Minu too vastab mu kvalifikatsioonile Number Standard Standard of Cases Mean Deviation Error Group 1 18 2.0556 1.056 .249 Group 2 15 1.6000 .632 .163 ³ Pooled Variance Estimate ³ Separate Variance Estimate ³ ³ F 2-Tail ³ t Degrees of 2-Tail ³ t Degrees of 2-Tail Value Prob. ³ Value Freedom Prob. ³ Value Freedom Prob.
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