FPGA system-level based design of multi-axis ADRC controller

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• 作者：Momir R. Stanković ; ^a ; ^{momir_stankovic@yahoo.com} ; Stojadin M. Manojlović^a ; ^{colemanojle@yahoo.com} ; Slobodan M. Simić^a ; ^{simasimic01@gmail.com} ; Srđan T. Mitrović^a ; ^{srdjan.mitrovic@va.mod.gov.rs} ; ; Milica B. Naumović^b ; ^{milica.naumovic@elfak.ni.ac.rs} ;
• 关键词：ADRC ; Multi-axis control ; FPGA ; System generator ; Optimized design
• 刊名：Mechatronics
• 出版年：2016
• 出版时间：December 2016
• 年：2016
• 卷：40
• 期：Complete
• 页码：146-155
• 全文大小：2556 K
• 卷排序：40

文摘

Active disturbance rejection controller for multi-axis control platform is proposed. Robustness analysis of the considered controller in frequency domain is given. FPGA system level-based implementation of the ADRC algorithm is analyzed in detail. Experimental results show good dynamic and tracking performances.