0RGHOLQJDQG6LPXODWLRQRI)HHG6\VWHPRI

1XPHULFDO&RQWURO/DWKH%DVHGRQ0$7/$%


+DLPLQJ=KHQJ &KDQJ]KDR/L
6FKRRORI0HFKDQLFDO(QJLQHHULQJ 6FKRRORI0HFKDQLFDO(QJLQHHULQJ
1RUWK&KLQD(OHFWULF3RZHU8QLYHUVLW\ 1RUWK&KLQD(OHFWULF3RZHU8QLYHUVLW\
%DRGLQJ+HEHL&KLQD %DRGLQJ+HEHL&KLQD
KDLPLQJ]KHQJ#FRP #TTFRP


Abstract—,Q WKH LQGXVWU\ &1& PDFKLQH WRROV SOD\V D
LUUHSODFHDEOH UROH ,W QRW RQO\ UHDOL]HV WKH UDSLG LQGXVWULDO ,, &21752/2))(('6(5926<67(0)25180(5,&$/
SURGXFWLRQ EXW DOVR VDYHV PDQSRZHU DQG PDWHULDO UHVRXUFHV ,W &21752/0$&+,1(722/
LV WKH V\PERO RI PRGHUQL]DWLRQ$V DQ LPSRUWDQW SDUW RI &1& )HHG V\VWHP RI &1& PDFKLQH WRRO VHUYR FRQWURO LQFOXGH
PDFKLQH WRROV IHHG V\VWHP SOD\V D YHU\ LPSRUWDQW UROH RQ WKH
RSHQORRS FRQWURO DQG FORVHGORRS FRQWURO 7KH FORVHGORRS
SURFHVVLQJ SURFHVV ,W UHIHU WR WKH SUoduct’s quality problems.
FRQWUROFDQHIIHFWLYHO\IHHGEDFNGLVSODFHPHQWDQGYHORFLW\,W
$FFRUGLQJWRWKHSULQFLSOHRIPHFKDQLFDOG\QDPLFV,HVWDEOLVKD
PDWKHPDWLFDO PRGHO RI PDFKLQH WRRO IHHG GULYH V\VWHP DQG XVH DGMXVWV\VWHPDQGPDNHWKHV\VWHPPRUHDFFXUDWHWKURXJKWKH
6LPXOLQNG\QDPLFVLPXODWLRQWRROLQ0$7/$%WRFRQVWUXFWWKH
VLPXODWLRQ PRGHO RI WKH IHHG V\VWHP RI ODWKH :H FRQWDLQ WKH
VLPXODWLRQ FXUYHV RI WKH V\VWHP SHUIRUPDQFH$OVR , MRLQHG WKH
VSDFHPRGXOHDQDO\VLV7KHVHHIIRUWVRIIHUHIIHFWLYHIRXQGDWLRQIRU
WKHLPSURYHPHQWRI&1&PDFKLQHWRRO
Keywords—CNC machine tool; Feed system; MATLAB;
Simulation; Simulink
IHHGEDFNSDUDPHWHU7KHUHIRUHWKLVSDSHUPDLQO\GLVFXVVHVWKH
FORVHGORRSFRQWUROV\VWHP
&1& PDFKLQH WRRO IHHG V\VWHP LV JHQHUDOO\ GLYLGHG LQWR
WZRSDUWVRQHLVSDUWRIWKHVHUYRGULYHV\VWHPWKHRWKHULVWKH
PHFKDQLFDO WUDQVPLVVLRQ V\VWHP 7KH V\VWHP GLDJUDP LV
VKRZQLQ)LJXUH
,Q WKH ZKROH VHUYR FRQWURO ORRS VWUXFWXUH 7KH LQQHU ORRS
, ,1752'8&7,21
6HUYRV\VWHPLVDQLPSRUWDQWSDUWRI1&PDFKLQHWRRO,QD
FHUWDLQ H[WHQW VHUYR V\VWHP RI WKH VWDWLF DQG G\QDPLF
SHUIRUPDQFH GHWHUPLQH WKH &1& PDFKLQH WRRO DFFXUDF\
VWDELOLW\UHOLDELOLW\DQGHIILFLHQF\RIPDFKLQLQJ%DVHGRQ3,'
FRQWURO RI &1& PDFKLQH WRRO VHUYR DGMXVWLQJ FRQWUROOHU
SDUDPHWHUVLVWKHNH\WRWKH&1&V\VWHP0DQ\RFFDVLRQVDUH
XVLQJWKHVLPSOLILHGPRGHODQGWKHDFWXDORSHUDWLRQH[SHULHQFH
WR GHWHUPLQH WKH SDUDPHWHUV RI WKH UHJXODWRU 7KH VLPSOLILHG
PRGHO ZLOO JLYH WKH 3,' SDUDPHWHU WXQLQJ UHVXOW HUURU 7KLV
SDSHUSXWVWKHPDQXDOFDOFXODWLRQDQGXVH6LPXOLQNIRUV\VWHP
SDUDPHWHU RSWLPL]DWLRQ WRJHWKHU ZKLFK EDVHG RQ PRGHOLQJ
&1& PDFKLQH WRRO VHUYR V\VWHP 7KLV ZHOO LPSURYH WKH
V\VWHP SDUDPHWHU DGMXVWPHQW HIILFLHQF\ DFFXUDF\ $OVR WKLV
SURYLGH D WKHRUHWLFDO EDVLV IRU LPSURYLQJ WKH SHUIRUPDQFH RI
&1&PDFKLQHWRROVHUYRV\VWHP
____________________________________

978-1-47--/1/$31.00 ©201 IEEE
 
 

7KLVZRUNLVVXSSRUWHGE\1DWLRQDO1DWXUDO6FLHQFH)RXQGDWLRQRI&KLQD
LQFOXGH WKH GULYHQ $& VHUYR PRWRU 3060 ZKLFK LV
FRQWUROOHG E\ YHFWRU FXUUHQW ORRS DQG VSHHG ORRS :KLOH WKH
SRVLWLRQORRSLVRXWHUULQJ$PRQJWKHPFXUUHQWORRSLVLQQHU
WUDQVIRUPDWLRQ RI WKH FRQWUROOHG REMHFW WUDQVIHU IXQFWLRQ
ZKLFKLPSURYHVWKHV\VWHP$OVRLWWLPHO\VXSSUHVVLRQLQWHUQDO
LQWHUIHUHQFH RI WKH FXUUHQW ORRS DQG OLPLWV WKH PD[LPXP
FXUUHQW 7KLV DOORZLQJ WKH V\VWHP KDYH VXIILFLHQWO\ ODUJH
DFFHOHUDWLRQ WRUTXH DQG JXDUDQWHH WKH VDIH RSHUDWLRQ RI WKH
V\VWHP 7KH DFWLRQ RI WKH VSHHG ULQJ LV WKH DELOLW\ RI WKH
V\VWHPWRUHVLVWORDGGLVWXUEDQFHDQGUHVWUDLQWKHIOXFWXDWLRQRI
WKHYHORFLW\7KHIXQFWLRQRIWKHSRVLWLRQORRSLVWRJXDUDQWHH
WKHVWDWLFDQGG\QDPLFSHUIRUPDQFHRIWKHV\VWHP VRWKDWWKH
VHUYRV\VWHPFDQEHVWDEOHDQGKLJKSHUIRUPDQFHRSHUDWLRQ,Q
RUGHUWRLPSURYHWKHSHUIRUPDQFHRIWKHV\VWHPHYHU\OLQNKDV
WKHUHJXODWRU7KHFXUUHQWORRSDQGVSHHGORRSDUHDGMXVWHGE\
3,:KLOHWKHSRVLWLRQORRSLVDGMXVWHGE\3





 +HEHL 3URYLQFLDO 1DWXUDO 6FLHQFH )RXQGDWLRQ RI &KLQD
( )XQGDPHQWDO 5HVHDUFK )XQGV IRU WKH &HQWUDO 8QLYHUVLWLHV
06


 

)LJ &1&IHHGV\VWHPVWUXFWXUHGLDJUDP

LPSRUWDQWDSSOLFDWLRQILHOGLQFXUUHQWFRQWUROWHFKQRORJ\7KH
,,, 7+((67$%/,6+('2)0$7+(0$7,&$/02'(/2) &1& G\QDPLF FKDUDFWHULVWLF RI VHUYR V\VWHP FDQ EH DQDO\]HG E\
/$7+()(('6<67(0 6LPXOLQN PRGXOHLQ0$7/$%WRVHOHFWWKHH[FHOOHQWFRQWURO
 VWUDWHJ\ 7KH SUHPLVH RI WKH VLPXODWLRQ LV WKH PDWKHPDWLFDO
PRGHO 6R EHIRUH WKH VLPXODWLRQ WKHUH PXVW KDYH D
1RZDGD\V WKH UHVHDUFK RQ 6LPXODWLRQ DQG DQDO\VLV RI PDWKHPDWLFDOPRGHO7KHXVHRI6LPXOLQNWREXLOG&1&IHHG
VHUYR FRQWURO V\VWHP EDVHG RQ 0$7/$% KDV EHFRPH D QHZ V\VWHPPDWKHPDWLFDOPRGHODVVKRZQLQ)LJXUH



)LJ 0DWKHPDWLFDOPRGHORIQXPHULFDOFRQWUROIHHGLQJV\VWHP

A. Mechanical feed system device

7KHODWKH;GLUHFWLRQGLDJUDPRIWKHKLJKVSHHGDQGKLJK
SUHFLVLRQ IHHG V\VWHP RI &1& LV 6KRZQ LQ )LJXUH  7KH
VHUYRPRWRUWKURXJKWKHEHOWZKHHOGULYHVWKHEDOOVFUHZGULYH
H[HFXWLRQXQLWFDUULDJHWRROHWF:HFDQFRQYHUWWKHURWDU\
PRWLRQ RI WKH VHUYR PRWRU LQWR OLQHDU PRWLRQ DFWXDWRU ,W
FRQWUROVIHHGRIWKH WRRORQWKH ZRUNSLHFHFXWWLQJ IRUPDWLRQ
ZKLOH WKH FRQWURO V\VWHP UHDOL]H WKH FRQWURO RI PRYHPHQW
WKURXJK WKH IHHGEDFN VLJQDO RI WKH HQFRGHU ZKLFK FRQQHFWHG
ZLWKWKHEDOOVFUHZIRUGHWHFWLQJWKHSRVLWLRQ 
 )LJ 6FKHPDWLFGLDJUDPRI&1&/DWKH)HHG6\VWHP

)URP )LJXUH  ZH FDQ NQRZ WKH PHFKDQLFDO SDUW RI WKH
 PDFKLQH LV WKH DQJOH RI WKH PRWRU VKDIW 7KH RXWSXW LV WKH
GLVSODFHPHQWRIWKHZRUNLQJWDEOH7KHPHFKDQLFDOV\VWHPLVD

WZRRUGHURVFLOODWLQJOLQN,WVWUDQVIHUIXQFWLRQLV
 L Z
G s ˜
S s   [Z n s  Zn 


 ,Q WKH W\SH Z K LV WKH QDWXUDO IUHTXHQF\ RI WKH C. Speed loop control
Q
J ,Q WKH GHVLJQ RI WKH VSHHG ORRS WKH FXUUHQW ORRS LV
PHFKDQLFDOV\VWHPLQZKLFKWKH.LVWKHHTXLYDOHQWWRUVLRQDO VLPSOLILHGLQWRDQLQHUWLDOLQN7KHVSHHGORRSLV3,UHJXODWRU
ULJLGLW\ RI WKH V\VWHP DQG WKH J  LV WKH HTXLYDOHQW URWDWLRQDO DQGLWVWUDQVIHUIXQFWLRQLV
LQHUWLDRIEHQFKDQGEDOOVFUHZ TVS   
GVC  s  KVP
TVS
[ c LVUHODWLYHGDPSLQJUDWLRRIPHFKDQLFDOV\VWHP
 J Zn ,QWKLVIRUPXOD KVP LVWKHSURSRUWLRQDOJDLQRIWKLVOLQN TV 
c LV HTXLYDOHQW GDPSLQJ FRHIILFLHQW / LV WKH OHDG RI EDOO LV WKH WLPH FRQVWDQW RI WKLV OLQN LQWHJUDO $W WKLV WLPH WKH
VFUHZ,QVLPXODWLRQ RSHQORRSWUDQVIHUIXQFWLRQLV
KV K L KVP T 
J  u NP ˜ P ˈ GV  s ˜  VS
K C GTV s W V  W   s  
K  u Mm  rad ˈ )RU WKH W\SLFDO V\VWHPV RI WZR RUGHU FRQVLGHULQJ WKH
G\QDPLF SHUIRUPDQFH LQGH[ DQG WKH GLVWXUEDQFH UHMHFWLRQ
F Nm  rad  s ˈ SHUIRUPDQFH LQGH[ ZH FDQ XVH K  $FFRUGLQJ WR WKH
PLQLPXP FORVHGORRS DPSOLWXGH DQG IUHTXHQF\ SHDN YDOXH
ZQ rad  s Hz ˈ
FULWHULRQZHFDQFRQFOXGH
/ P TV hW V  W 

B. Current loop control K c Jhh  
KVP
&XUUHQWORRSLQFOXGLQJFXUUHQWUHJXODWRU63:0LQYHUWHU
FXUUHQW GHWHFWLRQ GHYLFH FXUUHQW IHHGEDFN ILOWHU DQG IRUZDUG
FKDQQHO ILOWHU ,Q RUGHU WR PHHW WKH UHTXLUHPHQWV RI KLJK
DFFXUDF\ DQG IDVW UHVSRQVH RI $& VHUYR V\VWHP +RO]HU
FXUUHQWVHQVRULVJHQHUDOO\XVHGLQFXUUHQWGHWHFWLRQ6RLWFDQ
EH VLPSOLILHG DV D SURSRUWLRQDO OLQN 7KH FXUUHQW VLJQDO LV
FRQYHUWHGLQWRYROWDJHVLJQDODIWHU+RO]HUFXUUHQWVHQVRU:H
FDQ XVH D ILUVWRUGHU ORZSDVV ILOWHU WR HOLPLQDWH WKH KLJK
IUHTXHQF\ FRPSRQHQWV 6R WKH FXUUHQW IHHGEDFN OLQN WUDQVIHU
IXQFWLRQLV
Kc Kc
h  KV K L W V  W  
D. Position loop control
7KH ODUJHU WKH SRVLWLRQ ORRS JDLQ KS  WKH VPDOOHU WKH
SRVLWLRQ WUDFNLQJ HUURU %XW WKH ,QIOXHQFH RI WKH G\QDPLF
SHUIRUPDQFHRIWKHVHUYRV\VWHPLVLQFUHDVHGDQGWKHVWDELOLW\
RIWKHV\VWHPLVZRUVHWRR7KHJDLQRISRVLWLRQORRSQRWRQO\
DIIHFWVWKHVWDELOLW\RIVHUYRV\VWHPV\VWHPULJLGLW\EXWDOVR
DIIHFWVWKHIHHGUDWHDQGVWHDG\HUURURIWKHPDFKLQH,WLVRQH
RIWKHEDVLFLQGH[HVRIVHUYRV\VWHP7KHVL]HRIWKH K S VHWWLQJ
G s
RC s   W i s   
:KLOHWKH W L LVWLPHFRQVWDQWRI5&ORZSDVVILOWHU
,QWKHDQDO\VLVRIFXUUHQWORRSG\QDPLFFKDUDFWHULVWLFVWKH
63:0LQYHUWHULVJHQHUDOO\VLPSOLILHGDVDILUVWRUGHULQHUWLD
OLQN7KHWLPHFRQVWDQW W PWM    f ' ,QWKHIRUPXOD f ' LVWKH
VKRXOG WDNH LQWR DFFRXQW WKH UHTXLUHPHQWV RI PDQ\ DVSHFWV
7KLVSDSHULVWRGHWHUPLQHWKHVL]HRIWKH K S WKURXJK6LPXOLQN
VLPXODWLRQDQGILQGWKHPRVWDSSURSULDWHJDLQ
,9 6,08/$7,21
7KH PRWRU SDUDPHWHUV DUH DV IROORZV 7KH UDWHG VSHHG LV
UPLQ 7KH UDWHG FXUUHQW LV $ 7KH UDWHG WRUTXH LV
WULDQJXODU FDUULHU IUHTXHQF\ RI 63:0 $PSOLILFDWLRQ IDFWRU
 N ˜ P 7KH PRWRU VKDIW PRPHQW RI LQHUWLD LV
RI63:0LQYHUWHULV
J kg ˜ m  7KH DUPDWXUH UHVLVWDQFH LV  :  7KH
8G 
K PWM WRUTXH FRHIILFLHQWY K L LV 7KH FRHIILFLHQW RI 63:0 LV
 $ '
 DQG WKH W PWM LV  PV 7KH WLPH FRQVWDQW RI FXUUHQW
,QWKH IRUPXOD U d LVRXWSXWYROWDJHDPSOLWXGHRI63:0
ORRS IHHGEDFN ILOWHULQJ W LV  PV 7KH WLPH FRQVWDQW RI
DQG A' LVWULDQJXODUZDYHDPSOLWXGH6RZHFDQFRQFOXGHWKH
YHORFLW\ORRSIHHGEDFNILOWHULQJ W Y LVV7KHFXUUHQWORRS
WUDQVIHUIXQFWLRQRILQYHUWHULV
YHORFLW\ULQJDQGSRVLWLRQORRSGHWHFWLRQFRHIILFLHQWDUHO
K PWM 
GPWM  s $FFRUGLQJWRWKHODVWVHFWLRQZHFDQNQRZWKHFDOFXODWHG
W PWM V  
&XUUHQWIHHGEDFNILOWHUFDQJHQHUDWHIHHGEDFNVLJQDOGHOD\
,QRUGHUWREDODQFHWKHUHWDUGDWLRQHIIHFWZHFDQMRLQDLQHUWLD
OLQN WKDW KDV WKH VDPH WLPH FRQVWDQW LQ WKH JLYHQ VLJQDO RI
FKDQQHO ,W FDQ PDNH WKH JLYHQ VLJQDO DQG IHHGEDFN VLJQDO
GHOD\LQWKHVDPHWLPH6RZHFDQJHWWKHSURSHUPDWFKLQJLQ
WLPHEHWZHHQWKHWZRDQGEULQJFRQYHQLHQFHWRWKHGHVLJQ

SDUDPHWHUV RI WKH FXUUHQW ORRS W L DQG . L UHVSHFWLYHO\ DUH
V DQG  7KH YHORFLW\ SDUDPHWHU TV DQG KVP 
UHVSHFWLYHO\DUHVDQG7KHFRHIILFLHQWRISRVLWLRQ
ORRS SURSRUWLRQDO UHJXODWRU LV GHWHUPLQHG E\ 0$7/$%
VLPXODWLRQ :H FDQ GHWHUPLQH WKH RSWLPDO SURSRUWLRQ
FRHIILFLHQW E\ DGMXVWLQJ WKH VLPXODWLRQ ,QFUHDVLQJ WKH K P 
JUDGXDOO\XQWLOWKHV\VWHPGLYHUJHQFHDQGWKHQUHGXFHG K P WR
DV\VWHPRIQRRYHUVKRRWZKLFKLVWKHILQDOVHWWLQJYDOXH
RIWKH1&IHHGV\VWHPWKDWLVEXLOWLQWKH6LPXOLQNPRGXOHLV
A. System simulation of seamless module VKRZQLQ)LJXUH
$IWHUWXQLQJWKHWKUHHULQJSDUDPHWHUVWKHVLPXODWLRQPDS


)LJ 6LPXODWLRQGLDJUDPRIQXPHULFDOFRQWUROIHHGV\VWHP

$IWHUWKH RSHUDWLRQWKH VWHSUHVSRQVH RIWKH V\VWHPDQG UHVSHFWLYHO\VKRZQLQ)LJXUHDQG)LJXUH

WKH GLVSODFHPHQW RI WKH RXWSXW RI WKH PHFKDQLFDO GHYLFH DUH



)LJ VWHSUHVSRQVHRIV\VWHP
)LJ 'LVSODFHPHQWGLDJUDPRIRXWSXWWDEOHRIPHFKDQLFDOGHYLFH

B. System simulation of gap module
9DULRXV FRPSRQHQWV RI WKH FRQQHFWLRQ LQ V\VWHP LV QRW
SHUIHFW 7KHUH LV D FHUWDLQ JDS ZKLFK RI WKH VL]H KDV FHUWDLQ
LQIOXHQFHRQWKHPRWRUDQGWKHV\VWHPRXWSXW7KHUHIRUHWKLV

SDSHU DGG FOHDUDQFH RI 6LPXOLQN PRGXOH RQ WKH PRWRU VKDIW
SDUWWRFRPSOHWHWKHLQIOXHQFHRIWKHJDSVL]H RQWKH V\VWHP
6LPXODWLRQ RI WKH 1& PDFKLQH WRRO IHHGLQJ V\VWHP DIWHU
MRLQLQJWKHJDSPRGXOHLVVKRZQLQ)LJXUH





)LJ 6\VWHPVLPXODWLRQGLDJUDPZLWKJDSPR
$FFRUGLQJWRWKHFRHIILFLHQWRIWKHDGMXVWPHQWJDSPRGXOH
WKH EHVW JDS VL]H LV PP $IWHU WKH IXQFWLRQ WKH VWHS
UHVSRQVH RI WKH V\VWHP DQG WKH GLVSODFHPHQW RI WKH RXWSXW
WDEOH RI WKH PHFKDQLFDO GHYLFH DUH VKRZQ LQ )LJXUH  DQG
)LJXUH

)LJ 7KHVWHSUHVSRQVHRIV\VWHPZLWKJDSPRGXOH
)LJ 'LVSODFHPHQWGLDJUDPRIRXWSXWWDEOHRIPHFKDQLFDOGHYLFHZLWKJDS
FDQ IRXQG WKDW ZLWK LQFUHDVLQJ JDS VL]H WKH V\VWHP UHVSRQVH
DQG GLVSODFHPHQW KDYH JUHDW FKDQJHV 7KHUHIRUH LW LV
LPSRUWDQWWRILQGRXWWKHJDSHUURURIWKHV\VWHPDQGPLQLPL]H
WKHJDSEHWZHHQWKHV\VWHPDQGWKHRXWSXW
9 &21&/86,21
7KHFRQWURORIIHHGVHUYRV\VWHPRI1&PDFKLQHWRROLVD
FRPSOLFDWHGV\VWHP ZKLFKLQYROYHV PDQ\SDUDPHWHUV,WFDQ
DFKLHYHDVWDEOHIDVWDQGDFFXUDWHFRQWUROV\VWHPE\DGMXVWLQJ
WKHVH SDUDPHWHUV UHDVRQDEO\ $OWKRXJK LW FDQ EH TXDOLWDWLYH
DQDO\VLVWKURXJKWKHFRQWUROWKHRU\LWLVDUHODWLYHO\GLUHFWDQG
HIIHFWLYH PHWKRG WR DQDO\]H WKH FRPSXWHU VLPXODWLRQ 7KLV
SDSHU XVH &1& PDFKLQH WRRO VHUYR V\VWHP PRGHOLQJ VHWWLQJ
WKH FXUUHQW DQG VSHHG ORRS RI WKH UHJXODWRU SDUDPHWHUV E\
FDOFXODWLQJ PHWKRG XVLQJ 6LPXOLQN VLPXODWLRQ WR GHWHUPLQH
 WKH SDUDPHWHUV RI WKH SRVLWLRQ ORRS DQG ILQG VXLWDEOH
SDUDPHWHUVWKHQ PDNH WKH V\VWHP UHDFK D VWHDG\ VWDWH 7KH
HIIHFW RI JDS VL]H RQ WKH RXWSXW RI WKH V\VWHP LV DOVR
LQIOXHQFHGE\WKHJDSPRGXOH7KHPRUHWKHJDSLVWKHVORZHU
WKH V\VWHP UHVSRQVH LV DQG WKH RXWSXW GLVSODFHPHQW LV DOVR
ODJJHG7KLV PHWKRGKDVVRPH UHIHUHQFHYDOXH IRUWKH WXQLQJ
RIWKH3,'FRQWUROSDUDPHWHUVRIKLJKHURUGHUV\VWHP 
5()(5(1&(6
>@ 6KX =KLELQJ /LX -XQTXDQ 6WXG\ RQ WKH PDWKHPDWLFDO PRGHO RI WKH
FORVHGORRS VHUYR V\VWHP>-@ -RXUQDO RI V\VWHP VLPXODWLRQ 

>@ =KRX <XDQVKHQ $& DQG '& VSHHG FRQWURO V\VWHP DQG 0$7/$%
VLPXODWLRQ>0@%HL-LQJ&KLQD3RZHU3UHVV
>@ <LQJ <XQKXD )DQ 6KXLNDQJ 'HVLJQ DQG 6LPXODWLRQ RI DGDSWLYH IX]]\
 3,'FRQWUROOHU>-@)LUHDQGFRPPDQGFRQWURO
>@ 'RQJ <XKRQJ 6KDR -XQSHQJ 0RGHOLQJ DQG 6LPXODWLRQ RI IHHG VHUYR
V\VWHPIRU&.QXPHULFDOFRQWUROPDFKLQHWRRO>-@-RXUQDORI6FLHQFHDQG
PRGXOH 7HFKQRORJ\RI+DUELQ8QLYHUVLW\
>@/LX-LQNXQ$GYDQFHG3,'FRQWURODQGLWV0$7/$%VLPXODWLRQ>0@%HL
,W FDQ EH REYLRXVO\ VHHQ IURP WKH ILJXUH WKH UHVSRQVH RI -LQJ(OHFWURQLFV,QGXVWU\3UHVV
WKH V\VWHP EHFRPH VORZV ZLWK D FHUWDLQ JDS DQG WKH >@ *X $Q /LX =KHQJ[XQ 6WXG\ RQ 0HFKDQLVP RI KLJK SUHFLVLRQ VHUYR
V\VWHP>-@0HFKDWURQLFV
GLVSODFHPHQW RI WKH PHFKDQLFDO GHYLFH RXWSXW WDEOH LV DOVR
HYLGHQWO\LQWKHODJSKHQRPHQRQ7KURXJKWKHH[SHULPHQWZH