W ireless rem ote control system for tower crane based on M SP430 and nRF905：介紹了一種基于無線遙測技術的塔吊遙控系統，該系統以MSP430超低功耗l6位微控制器和無
線收發芯片nRF905為核心。系統采用軟件編碼和硬件譯碼的方式提高了系統的抗干擾能力，系統發
射器采用定時掃描、接收器采用無記憶輸出控制方式，提高了系統可靠性，該系統可廣泛應用于塔吊等
一般的工業遙控系統中。
function [U,center,result,w,obj_fcn]= fenlei(data)
[data_n,in_n] = size(data)
m= 2 ％ Exponent for U
max_iter = 100 ％ Max. iteration
min_impro =1e-5 ％ Min. improvement
c=3
[center, U, obj_fcn] = fcm(data, c)
for i=1:max_iter
if F(U)>0.98
break
else
w_new=eye(in_n,in_n)
center1=sum(center)/c
a=center1(1)./center1
deta=center-center1(ones(c,1),:)
w=sqrt(sum(deta.^2)).*a
for j=1:in_n
w_new(j,j)=w(j)
end
data1=data*w_new
[center, U, obj_fcn] = fcm(data1, c)
center=center./w(ones(c,1),:)
obj_fcn=obj_fcn/sum(w.^2)
end
end
display(i)
result=zeros(1,data_n) U_=max(U)
for i=1:data_n
for j=1:c
if U(j,i)==U_(i)
result(i)=j continue
end
end
end
