设计了基于STM32处理器的有位置传感器的直流无刷电机控制器,采用电子换相取代传统有刷电机的电刷换相,弥补了传统有刷电机寿命短、发热严重问题.直流电机转子位置信息通过霍尔传感器检测,根据电机换相原理,控制器输出PWM波到智能逆变器IPM驱动电机运行.移植网络协议LWIP对工业现场电机进行统一管理.

基于STM32平台,设计一种基于工业现场总线RS485、CAN和有线以太网的嵌入式多协议半双工交叉通信的网关产品,主要采用STM32高性能ARM处理器作为核心控制芯片,实现RJ85、UART、CAN双向透明传输设计、MODbusTCP转MODbus单向半双工传输设计、MODbusTCP转CANopen单向半双工传输设计,在现代工业现场具有很好的推广价值.

This paper proposes a three-dimensional wireless sensor networks node localization algorithm based on multidimensional scaling anchor nodes, which is used to realize the absolute positioning of unknown nodes by using the distance between the anchor nodes and the nodes. The core of the proposed localization algorithm is a kind of repeated optimization method based on anchor nodes which is derived from STRESS formula. The algorithm employs the Tunneling Method to solve the local minimum problem in repeated optimization, which improves the accuracy of the optimization results. The simulation results validate the effectiveness of the algorithm. Random distribution of three-dimensional wireless sensor network nodes can be accurately positioned. The results satisfy the high precision and stability requirements in three-dimensional space node location.