用DSP+F的PGA设计的自调解电机驱动装置的研究.pptVIP

MAPLD 2002 Implementation of Adaptive Digital Controllers on Programmable Logic Devices David Gwaltney, Ken King, Keary Smith NASA Marshall Space Flight Center Huntsville, AL david.gwaltney@msfc.nasa.gov Adaptive Control Adaptive control is used for the control of systems having dynamics which vary over time or with operating conditions In the types of controllers considered to be adaptive, Astrom and Wittenmark include Gain Scheduling, Model Reference Adaptive Control and Self-Tuning Regulators[1] This work is primarily concerned with the Self-Tuning Regulator developed by Astrom and Wittenmark Adaptive Control Adaptive Control Self-tuning regulators combine a linear controller with a parameter identification approach to provide a structure in which the gains of the controller are calculated on-line. Applications of interest are electromechanical actuators (EMA’s) currently in use on spacecraft, and those proposed for a power-by-wire system. For example; Aero Control Surface Positioning Thrust Vector Control Valve Positioning Motor-driven Pumps Translation systems for space-borne experiments Adaptive Control Why use adaptive control for actuators? Open literature and current observation indicate the vast majority of EMA controllers employ a linear control approach with fixed gains[2,3,4,5,6] Tuning may not be optimal due to uncertainty in system parameters, i.e. inertia, damping or load torque. Cannot accommodate changes in actuator dynamics due to wear and tear and operation at loads outside the expected range On-line adaptive control addresses these shortcomings and increases the “intelligence” of a closed loop control system. Improved control system performance in the face of unanticipated changes in actuator/mechanical system dynamics Self-tuning of actuator control loops System parameter identification can be used in a fault-detection and isolation scheme Implementation of Adaptive Control Actuator or subsystem-level digital controllers are frequently imple