In addition , the discrete mathematic models of the digital vehicle control system were obtained by introducing the discrete mathematic models of the typical elements in the digital control system and deducing the time continuous mathematic models in accordance with z transformation method 利用z变换方法把控制系统时间连续数学模型转换成离散数学模型，引入数字控制系统典型环节的数学模型，建立磁导航车体运动数字控制系统的离散数学模型。
The hardware design of the control system mainly includes the composing of the dsp controller , the realization of the peripheral interface circuit , etc . the system " main part is expatiated and the total structure is offered in the software design . it also improves the corresponding arithmetic and adopts many flexible methods . the control methods and realization is introduced in detail 控制系统硬件设计主要介绍tms320lf2407系统构成和外围接口电路的实现等；控制系统软件则重点阐述逆变器数字控制系统主要环节的设计，给出了软件的总体结构，并且对相应的算法进行改进，采用了各种灵活的编程措施。
The controller includes two control loops which are outer speed loop ( variable parameter pi adjustment ) and inner current loop ( single - chop current delta - control ) . in order to improve system performances , design of digital control system based on dsp is presented . the proportional parameter and integral parameter can be obtained through the design 整个系统采用变pi参数转速调节(外环)与单斩电流滞环调节(内环)相结合的双闭环控制方式,为了得到既快速又稳定的恒速系统,本文还给出了基于dsp的双凸极永磁电机数字控制系统的设计方案,通过此设计方案可以得到转速环的比例参数kp和积分参数ki的参考值。
Comparing with the digital control system , the current existing analog control system has much of flaws , such as bad control precision and a small dynamic range etc . and it cannot match good precision req uest for the control of seismic simulation shaking table . for digital control system , if a good control algorithm can be implemented , the control problem can be solved effectively 但对现有的模拟控制系统来说由于其存在控制精度差、动态范围小等缺点，对精度要求比较高的地震模拟来说，己不能满足要求，而数字控制系统只要选择合适的控制算法，就能有效的解决这些问题。
After we apply the design scheme of this paper to a three - phase asynchronous motor , the simulating experiment result indicates that the digital control system realizes the motor ' s stable running and fast response during the start - up and unexpected change in load ; moreover , it realizes the good dynamical performance 将本文的设计方案应用到一台实验用三相异步电动机上，仿真实验结果表明本文所设计的基于tms320f240dsp芯片的数字控制系统能够控制电机稳定运行，启动及负载突变时反应迅速，被试电机动态性能良好。
Finally , the principle of phase - locked - loop for speed control is discussed . the control methods of torque and magnetic levitation force are studied experimentally on a prototype bearingless motor . based on the analysis of shortcomings of the analog control system , a digital control system is proposed 分析了采用锁相环对电机转速进行闭环控制的原理；设计了磁悬浮力的模拟控制器并对磁悬浮血泵电机进行了实验研究；针对模拟控制系统存在的缺点，本文设计了一种数字控制系统。
The time of startup is less than 3 seconds . and what ' s more , the digital con trol system realizes the motor ' s correct commutation and smooth running . compared with a pure hardware bldcm controller , the terminal voltage waveform corresponding to the control system designed in this thesis is smoother and its control effect is even better than that of the pure hardware control system 将本文的研究设计方案具体应用到一台实验用无刷直流电动机上，实验结果表明本文所设计的基于tms320f240dsp芯片的数字控制系统能够控制电机顺利起动，起动时间不超过3秒，而且很好地实现了实验电机的正确换相和稳定运行，并且与纯硬件的无刷直流电机控制器的控制效果作了一个比较，本文设计的系统所对应的端电压波形更加平稳，其控制效果甚至要好于纯硬件的控制系统。
At the same time , this thesis systematically studies and develops the motion control card . according to the structure designing method , the complex motion control card system is broken down into the sub - system which is functionally independent , and the hardware circuit is designed for each sub - system 本文按照结构化的设计方法，把复杂的数字控制系统分成几个相对简单且独立的子系统，并分别设计相对应的硬件电路，在此过程中较详细的讨论了提高空间位置分辨率的方法，并提出实用的电路设计。
