A REAL-TIME DATA-DRIVEN CONTROL SYSTEM FOR MULTI-MOTOR-DRIVEN MECHANISMS

摘要

This paper proposes a real-time solution to data-driven control for multi-motor-driven mechanisms. The first contribution is that a complete real-time motion control platform is presented, i.e., all the physical controllers in both master and slave levels operate on their own real-time operating systems, and high-speed standard peripheral component interconnect bus interface guarantees an efficient access between the two levels and extensibility of the platform. As a second contribution, the proposed control system is implemented with a data-driven control method that enables the controller design without considering the dynamics model of the system, which highlights its flexibility to diverse controlled plants. Finally, an experimental illustration is presented to verify the proposed scheme, comparison results demonstrate its superior motion control performance.