【正文】 了一星期時(shí)間來對(duì)一般常用的小型直流電機(jī)進(jìn)行研究，研究它的傳遞函數(shù)以及控制方案，因?yàn)槿腴T是一件非常頭痛而艱巨的事情，當(dāng)我用自己搭載的模型向?qū)熣?qǐng)教時(shí)，導(dǎo)師告訴我我們所用的是步進(jìn)電機(jī)，而且從安全及現(xiàn)有條件的基礎(chǔ)上，由步進(jìn)電機(jī)驅(qū)動(dòng)器進(jìn)行驅(qū)動(dòng)，我的方案已經(jīng)偏離主題。但上述經(jīng)歷讓我懂得了很多的道理，無論是做事情還是做學(xué)問，比如，在進(jìn)行一件項(xiàng)目時(shí)，首先要查清楚我們所要使用的器件，以及別人能夠提供給我們的設(shè)備和技術(shù)要求，而不是單純的憑借經(jīng)驗(yàn)和自己的主觀意識(shí)。當(dāng)然，上述事例讓我學(xué)到了更多地知識(shí)，雖然對(duì)于本次畢設(shè)沒有很大幫助，但對(duì)于自己的知識(shí)儲(chǔ)備卻有很大的裨益。本次畢業(yè)設(shè)計(jì)，收獲還在于對(duì)仿真軟件上的使用上，比如我在設(shè)計(jì)恒流源時(shí)，使用了Multisim這一軟件，通過仿真，可以在設(shè)計(jì)之時(shí)，購買元件之前，發(fā)現(xiàn)問題，并可以很方便的修改，避免了很多的彎路，而且可以讓自己把精力放在電路以及算法的優(yōu)化上。在這里很感激這些軟件的開發(fā)商，還有Matlab/Simulink，難怪有說法是，使用這些工具是我們站在專家的基礎(chǔ)上進(jìn)行設(shè)計(jì)。另外，關(guān)于此次設(shè)計(jì)上，存在幾個(gè)有待改進(jìn)的地方，在論文中我都有提及以及建議，在這里我再次羅列補(bǔ)充一下，以方便讀者或者后續(xù)的研究者進(jìn)行改進(jìn)時(shí)有更好的方向，首先是PID控制的算法，現(xiàn)在的熱點(diǎn)和實(shí)用性的方案便是模糊PID控制，在畢設(shè)中我也曾經(jīng)參考過這方面的資料，但是因?yàn)榇蟛糠值木Χ挤旁诹藢W(xué)習(xí)dSPACE這一先進(jìn)平臺(tái)的學(xué)習(xí)上，后期已經(jīng)沒有精力進(jìn)行對(duì)算法進(jìn)行優(yōu)化。其次便是實(shí)驗(yàn)裝置的改進(jìn)上，本來我的畢業(yè)設(shè)計(jì)是軟件設(shè)計(jì)，但是實(shí)際操作中，發(fā)現(xiàn)我們的硬件有很大的提升空間，比如可以更改電機(jī)，因?yàn)椴竭M(jìn)電機(jī)本身的離散控制特點(diǎn)，所以將它作為伺服電機(jī)時(shí)，即使算法再好，控制的精度總會(huì)有些影響，其二是界面接觸的金屬并不是很容易拆卸和組裝，可以從設(shè)計(jì)上進(jìn)行修改，以方便我們可以很好的更換工件，讓我們的研究不僅僅是停留在學(xué)校的一個(gè)項(xiàng)目實(shí)驗(yàn)，而是使其具有更加廣泛的實(shí)際價(jià)值和學(xué)術(shù)交流的意義。致謝本研究及學(xué)位論文是在我的導(dǎo)師陳進(jìn)教授的親切關(guān)懷和悉心指導(dǎo)下完成的。他嚴(yán)肅的科學(xué)態(tài)度，嚴(yán)謹(jǐn)?shù)闹螌W(xué)精神，精益求精的工作作風(fēng)，深深地感染和激勵(lì)著我。在這里向我的指導(dǎo)老師陳進(jìn)教授表示感謝。同時(shí)還要感謝鄭璞老師，感謝其在本人畢業(yè)設(shè)計(jì)期間提供實(shí)驗(yàn)室，讓我節(jié)約了大量的時(shí)間來進(jìn)行工作，而不是疲于尋找可以使用的實(shí)驗(yàn)室上。尤其是我在測(cè)繪放大電路的電路板時(shí)，實(shí)驗(yàn)室的萬用表節(jié)省了我大量的時(shí)間。另外，感謝自動(dòng)化專業(yè)的所有教過以及幫助過我的老師，自從大三專業(yè)學(xué)習(xí)以來，他們給我的個(gè)人進(jìn)步提供了太多的幫助，比如本次的PID控制，多虧徐潔老師在運(yùn)動(dòng)控制課上的啟發(fā)。本次所用仿真軟件之一的Multisim，是周瑾老師曾經(jīng)教過我們使用的。原理框圖以及計(jì)算流程，是在上微機(jī)控制技術(shù)上胡志華老師給予的啟發(fā)，模擬電路的注意事項(xiàng)以及運(yùn)算放大器的計(jì)算和反饋電路計(jì)算，是張帆老師在高級(jí)維修電工培訓(xùn)時(shí)指導(dǎo)的內(nèi)容……感謝同寢室的洪通拉嘎同學(xué)，同專業(yè)的楊國(guó)棟同學(xué)，在我畢設(shè)進(jìn)行中遇到大的困難，頭痛愁苦時(shí)，他們給了我很大的鼓勵(lì)，并給了我很多建議；感謝葉世文同學(xué)，在我學(xué)習(xí)Matlab時(shí)提供了寶貴建議和幫助，讓我在短期內(nèi)熟悉了軟件的使用……在論文即將完成之際，我的心情無法平靜，從開始進(jìn)入課題到論文的順利完成，有多少可敬的師長(zhǎng)、同學(xué)、朋友給了我無言的幫助，在這里請(qǐng)接受我誠(chéng)摯的謝意!最后我還要感謝培養(yǎng)我長(zhǎng)大含辛茹苦的父母，謝謝你們! 此次畢設(shè)的完成，讓我對(duì)未來的工作充滿了很大的信心，有無比的勇氣面對(duì)未來的種種挫折，更學(xué)會(huì)了平和自己的心態(tài)。最后，再次對(duì)關(guān)心、幫助我的老師和同學(xué)表示衷心地感謝!參考文獻(xiàn):[1]（模擬部分）[M]. 北京：高等教育出版社, 2007[2]王正林等. MATLAB/Simulink與控制系統(tǒng)仿真（第2版）[M].北京：電子工業(yè)出版社，2008[3] Takemaya M，Wojtowicz J，Butelski K，et of dSPACE in contemporary design [J].Automaition in construction, 2003, 12(6):689695[4] dSPACE System First Work Steps For DS1103, DS1004, DS1005, DS1006, and Micro AutoBox[J]. Germany: dSPACE GmbH, 2007, [5]Paul Horowitz and Win field Hill，The Art of Electronics，2nd ed[M]., Cambridge University Press, 1989[6]David Johns, Ken Mart237。n. Analog Integrated Circuit Design[M].New York. John Wiley Sons inc.,1997[7][D].上海：上海第二工業(yè)大學(xué)，2011[8]Isermann R .Hardwareinloop for the design and testing of enginecontrol system. [J]Control Engineering Practice, 1997(7):643653[9]Richard C Dorf Robert H [M].謝紅衛(wèi)，：高等教育出版社，1997[10]Thomas , Roy , John Measurements (Fifth Edition) [M].Pearson Education, INC., 1993[11][M].北京：國(guó)防工業(yè)出版社，1997g an employment tribunal claimEmployment tribunals sort out disagreements between employers and employees.You may need to make a claim to an employment tribunal if: you don39。t agree with the disciplinary action your employer has taken against you your employer dismisses you and you think that you have been dismissed unfairly.For more information about dismissal and unfair dismissal, seeDismissal.You can make a claim to an employment tribunal, even if you haven39。tappealedagainst the disciplinary action your employer has taken against you. However, if you win your case, the tribunal may reduce any pensation awarded to you as a result of your failure to appeal.Remember that in most cases you must make an application to an employment tribunal within three months of the date when the event you are plaining about happened. If your application is received after this time limit, the tribunal will not usually accept it.If you are worried about how the time limits apply to you, take advice from one of the organisations listed underFurther help.Employment tribunals are less formal than some other courts, but it is still a legal process and you will need to give evidence under an oath or affirmation.Most people find making a claim to an employment tribunal challenging. If you are thinking about making a claim to an employment tribunal, you should get help straight away from one of the organisations listed underFurther help.If you are being represented by a solicitor at the tribunal, they may ask you to sign an agreement where you pay their fee out of your pensation if you win the case. This is known as adamagesbased agreement. In England and Wales, your solicitor can39。t charge you more than 35% of your pensation if you win the case.If you are thinking about signing up for a damagesbased agreement, you should make sure you39。re clear about the terms of the agreement. It might be best to get advice from an experienced adviser, for example, at a Citizens Advice Bureau. To find your nearest CAB, including those that give advice by , click onnearest CAB.For more information about making a claim to an employment tribunal, seeEmployment tribunals.The (lack of) air up there Watch mCayman Islandsbased Webb, the head of Fifa39。s antiracism taskforce, is in London for the Football Association39。s 150th anniversary celebrations and will attend City39。s Premier League match at Chelsea on Sunday.I am going to be at the match tomorrow and I have asked to meet Yaya Toure, he told BBC Sport.For me it39。s about how he felt and I would like to speak to him first to find out what his experience was.Uefa hasopened disciplinary proceedings against CSKAfor the racist behaviour of their fans duringCity39。s 21 win.Michel Platini, president of European football39。s governing b