用c++编写嵌入式多任务操作系统Design and Implementation of Real Time Software for Control of Mechanical Systems by D.M. Auslander dma@me.berkeley.edu J.R. Ridgely jridgely@calpoly.edu J.D. Ringgenberg joeringg@ugcs.caltech.edu Dept. of Mechanical Engineering University of California Berkeley, CA 94720-1740 c 1997-2002, D.M. Auslander, J.R. Ridgely, J.D. Ringgenberg copyright ° ii c 1997-2002 by D.M. Auslander, J.R. Ridgely and J.D. Ringgenberg ° Contents 1 Mechatronics 1.1 A History of Increasing Complexity . . . . . . . . . . 1.2 Mechatronic System Organization . . . . . . . . . . 1.3 Ampliers and Isolation . . . . . . . . . . . . . . . . 1.4 Scope: The Unit Machine . . . . . . . . . . . . . . . 1.5 “Control” . . . . . . . . . . . . . . . . . . . . . . . . 1.6 Real Time Software . . . . . . . . . . . . . . .……