A self-tuning adaptive control implementation by using a transputer-based parallel architecture

Abstract

In this paper the implementation of a self-tuning regulator, by using a mixed architecture based on a transputer network and DSP devices with transversal filter structure, is proposed. The hardware and software considered open new perspectives in the realisation of adaptive strategies for controlling a wide range of systems. The particular solution in implementation of the control algorithm is discussed in detail. Various applications are reported showing both the remarkable flexibility of the parallel architecture and the performances of the regulator. The proposed configuration allows us to control systems characterised by fast dynamics at a low cost and with reliable hardware support.

Keywords

Control systems adaptive control parallel architecture self-tuning regulators transputer

Get full access to this article

View all access options for this article.

References

Anwar, G. , Horowitz, R. and Tomizuka, M. 1988. 'Implementation of a MRAC for a two axis direct drive robot manipulator using a digital signal processor', Proc of the 1988 American Control Conference, Atlanta, USA, 658-659.

Åström, K.J. 1983. 'Theory and applications of adaptive control - a survey' , Automatica, 19, 471-486.

Åström, K.J. , Borisson, U. , Liung, L. and Wittenmark, B. 1977. 'Theory and applications of self-tuning regulators' , Automatica, 13, 457-476.

Åström, K.J. and Wittenmark, B. 1989. Adaptive control, Addison-Wesley Publishing Company, Reading, Massachusetts, USA.

D'Antone, I. , Fortuna, L. , Gallo, A. and Nunnari, G. 1988. 'IMS A100 digital signal processor in the simulation of discrete time control systems', Proc of the 1988 Summer Computer Simulation Conference, Seattle, USA, 125-129.

Jones, D.I. and Fleming, P.J. 1988. 'Real time control using OCCAM and Transputers' , IEE Workshop on parallel processing and control - the transputer and other architectures, University College of North Wales , Bangor, 8/1-8/17.

Menga, G. and Mosca, E. 1980. Advnces in control, Lainiotis, D.G. and Tzannes, N. S. (eds), D. Reidel Publishing Company, Dordrecht, Netherlands, 334-341.

Noll, P. 1982. 'The controllability of the plasma vertical position' , Int Rep JET, JDN/H(82)28.

Noll, P. , Aigle, R. , Browne, M.L. , Corbyn, D. , Eriksson, T. , Froger, C. , Huguet, M. , Niedermeyer, H. , Rebut, P.H. , Santagiustina, A. , Snnerup, L. , Watkins, J.R. and Wesson, J. 1985. 'Stabilisation of vertical position and control of plasma shape in JET', Proc of the 11th Symposium on Fusion Engineering, Austin, Texas, USA, paper 1AO1.

10.

Noll, P. , Browne, M.L. , Huart, M. , Piacentini, I. , Santagiustina, A. and Watkins, J.R. 1984. 'The JET plasma position and current control system' , Proc of the 13th Symposium on Fusion Technology , Varese, Italy, 503-509.