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By Daizhong Su, Kai Xue, Shifan Zhu

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5) In Eq. 5 the operational frequency of component i under working condition j is represented as fij . Suppose that there is a matrix of weight of working condition including the probability of each q condition fj . The matrix is: T q f =  q fj  =  q f 1 q f 2 q f 3 q fn  . The equation of operational frequency for components: F = fq f . Therefore the equation of operational frequency for component i is: (6) (7) Fi = f ij q fj , i, j ∈ N . (8) The Parameter of Operational Order. The parameter of operational order Lz involves the inherent parameter of operational order of component and current parameter of operational order.

PWM complementary wave Fig. 6. Phase current wave when change speed Summary This paper reviews the development status and trends of motion controller, and then introduces the advantages and disadvantages of motion controllers, and gives the control strategy of BLDCM. The system builds a 32-bit CPU soft core control system based on FPGA through analyzing the motor operating principle and external circuit design, each module in the controller achieves all-digital function and executes function simulation and verification on this basis.

The accompanying tube stops motion after impacting the barrel in the front. To prevent high-pressure gas leaking, there are special dampening rings between the accompanying tube and barrel at the inlet. Firing gas circuit is in the rear 34 Advanced Design and Manufacture IV of bore. The open and close of the firing gas circuit is controlled by firing aerodynamic valve. Behind the firing gas circuit there is damping orifice, which allows the high-pressure gas slowly into the bore when the Pneumatic cannon is firing.

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Advanced design and manufacture IV by Daizhong Su, Kai Xue, Shifan Zhu

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