摘要
基于已开发的ARM+DSP+FPGA架构的嵌入式控制器,开展了可重构伺服控制算法的研究,提出了一种包括速度和加速度前馈、PID反馈、摩擦补偿、螺距误差补偿、反向间隙补偿、积分钳位、陷波滤波、输出限制等功能在内的可重构伺服控制算法模型。并以数字PID控制器和陷波滤波器为重点从软件实现的角度分析并介绍了可重构伺服控制算法的实现方法。最后,通过相关实验对算法进行了验证。
In this paper,the reconfigurable servo control algorithm was researched based on the developed ARM ＋ DSP ＋ FPGA embedded architecture controller,and a reconfigurable servo control algorithm model was proposed.This algorithm included the functions of velocity and acceleration feed-forward,PID feedback,friction compensation,pitch error compensation,backlash compensation,integral clamping,notch filter and limit the output.Meanwhile,from the perspective of the software implementation,the proposed algorithm was analyzed and introduced by focusing on the implementation of digital PID controller and notch filters.Finally,the algorithm was verified by relevant experiments.
出处
《仪表技术与传感器》
CSCD
北大核心
2014年第6期113-115,119,共4页
Instrument Technique and Sensor
基金
广西大学博士启动基金(XBZ130393)
广西制造系统与先进制造技术重点实验室项目(11-031-12S03,13-051-09S05)
广西教育厅科研资助项目(LX2014006)
广西科学技术厅资助项目(桂科攻12118015-2A,11107002-26)
