A FLEXIBLE SYSTEM FOR ADAPTIVE MOTION CONTROL

Motion control is a natural area for application of adaptive control. The computational requirements have however for a long time been a. bo ttleneck because of the short sampling periods required. The advent of digital signal processors have made it possible to remove this bottle neck. In this paper we will describe implementation of an adaptive con troller for motion control based on a DSP. The controller uses square root estimation and robust pole placement control. The system is capab le of sampling rates at several kHz. In motion control it is necessary to make sure that poorly damped oscillatory modes are not excited. Th is requires special attention to pre- and post sampling filters. A use r friendly man-machine interface has also been developed.