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stm32F103 TIM1输出7路PWM STM32F103ZET6总共有8个定时器，TIM1和TIM8是高级控制定时器，TIM2、3、4、5是通用定时器， TIM6和TIM7是基本定时器。 本例程实现高级控制定时器TIM1总共7个功能引脚输出PWM波形。(STM32F103ZET6 has 8 timers in total, TIM1 and TIM8 are advanced control timers. This routine implements an advanced control timer TIM1 that outputs PWM waveforms for a total of 7 function pins.)

MMA系列加速度计MMA7660数据采集与处理程序，是基于X128单片机(MMA series accelerometer MMA7660 data acquisition and processing procedures, is based on X128 microcontroller )

USB转串口驱动程序，可以用在笔记本电脑上，方便的通过串口给单片机下载程序！(USB-serial driver, can be used in notebook computers, convenient to the microcontroller through the serial port download!)

说明：  遥控接收程序,包括PDF的遥控接收码说明(Remote control receiver procedures, including the remote receive code instructions PDF)

基于stm32数字示波器 嵌入ucos操作系统 以及GUI显示界面(Based stm32 digital oscilloscope ucos embedded operating system and GUI display interface)

交流电动机的矢量控制（Transvector Contrl）理论，从理论上解决了交流电动机转矩的高性能控制问题。其基本思想是在普通的三相交流电动机上设法模拟直流电动机转矩控制的规律，在磁场定向坐标上，将电流矢量分解成产生磁通的励磁电流分量 和产生转矩的转矩电流分量 ，并使两分量互相垂直，彼此独立，然后分别进行调节。这样，交流电动机的转矩控制，从原理和特性上就与直流电动机相似了。因此，矢量控制的关键仍是对电流矢量的幅值和空间位置的控制。(AC motor vector control (Transvector Contrl) theory, control theory to solve the problem of high-performance AC motor torque. The basic idea is to try to simulate the DC motor torque control law in the ordinary three-phase AC electric motor in field-oriented coordinates, the current vector decomposed to produce the excitation current component of the magnetic flux generating a torque current component and torque, and two components perpendicular to each other, independently of each other, and then were adjusted. Thus, AC motor torque control, the principle and characteristics of the DC motor on and similar. Therefore, the key vector control is still the amplitude and spatial position of the current vector control.)

在没有虚拟领导者的情况下能够实现多智能体编队，并能够避免智能体之间的碰撞(Under no circumstances can the virtual leader of the multi-agent formation, and the ability to avoid collisions between agent)

一个用saber仿真的boost闭环控制电路(A boost with a saber simulation of closed-loop control circuit)

在传统反激变换器基础上，引入三电平技术，并针对传统反激三电平 DC-DC 变换器电源两端并联的分压电容不均 压的问题，提出了一种交错并联反激式三电平 DC-DC 变换器。该变换器具有电路拓扑简洁，输出只需电容滤波，减小输出滤波器， 提高了变换器功率密度等优点。深入分析了该变换器的工作原理及工作过程，推导了其输入输出关系，和传统的反激两电平变 换器相比，可以得出该并联交错三电平反激变换器能减小输出电容，降低功率开关管电压应力等结论。最后设计了闭环控制策略， 并基于 saber 对电路进行仿真，验证了该拓扑的正确性和输出电容小、功率开关管电压应力低等特点。(This paper, based on the traditional flyback converter, introduces three-level technology, and proposes a Interleaved flyback three-level DC-DC converter to solve the capacitor voltage divider uneven pressure problems of traditional three-level flyback DC-DC power converter. The converter has the advantages of simple topology, just capacitor filter output, reducing the output filter, improves the converter power density, etc. This paper deeply analyzes the working principle and the work process of the converter, derive the relationship between its input and output. Compared to the traditional two-level flyback converter, the Interleaved flyback three-level DCDC converter can reduce the output capacitance, reduce the power switch voltage stress. Finally design the closed-loop control strateg, and simulate circuit in saber. Verify the correctness of the topology and output capacitance, power switches and low voltage stress.)

基于凌阳61板的五层电梯模型C语言程序，经试验成功(Sunplus based on the five-story elevator plate 61 model C Language Program Following a successful trial,)