The Implementation of PC-Based Real-Time Digital Control Systems Using Pole-Placement Method

PC-Based極點安置即時數位控制系統之實現

柯德祥(Dershyang Ker)

《中華技術學院學報》 35期 (2006/12) Pp. 195-206

https://doi.org/10.7095/JCIT.200612.0195

摘要

本文以VisSim/OptimizePRO為系統發展環境，以數學方塊圖模式設計開發數位控制系統之極點安置演算法，應用PC為主控制器配合資料擷取介面卡，實現極點安置演算法於PC-Based即時數位控制系統。首先以一數位控制系統為例，推導極點安置演算法則，求得狀態回授之適當增益矩陣理論值；本文另外提出以VisSim/OptimizePRO動態更改參數使得成本函數不斷降低至容許值，無需理論推導，即可得到狀態回授之增益矩陣模擬值，並與理論值作比對，驗證其正確性，此法可省略複雜的理論推導。然後將此法應用於FB-33 控制系統，並配合資料擷取介面卡與動態連結函數庫，實現極點安置演算法於PC-Based 即時數位控制系統；並當數位取樣時間改變時，能快速地得到結果。

關鍵字

狀態回授 ； 極點安置 ； 資料擷取 ； 即時數位控制

並列摘要

The goal of this paper is to present a new approach to the pole-placement algorithm in digital control systems by using mathematic model blocks in VisSim/OptimizePRO software package environment. A digital design example, satellite attitude control system, based on the pole-placement algorithm is given. The theoretical state feedback controller can be obtained. An alternative approach using VisSim/OptimizePRO to automatically calculate the digital state feedback controller has been verified to be a very powerful method to avoid tedious theoretical design. The digital pole-placement controller can be easily obtained without the theoretical design. The calculation of the state feedback gains becomes rather easy when the sample times of digital control systems are varied. The satisfied results are shown in this paper.

並列關鍵字

State Feedback ； Pole Placement ； Data Acquisition ； Real-Time Digital Control