Real-Time Multi-Processor for Adaptive Control Experiments

摘要

The objective of this project was to acquire instrumentation that will advance the state of the art in real time control and enhance the transition of new adaptive control techniques to DoD laboratories and industry. The instrumentation is portable in order to permit travel to DoD laboratories and industry to implement innovative controllers on their experimental testbeds. The key instrumentation is a special purpose multiprocessor configuration based on 4 Texas Instruments TMS320C40 60 MHz DSP processors and 4 DEC Alpha AXP 21164 500 MHz processors with 32 input channels and 32 output channels. The performance of this instrumentation extends the state of the art in real time computing for feedback control applications. A unique feature of this instrumentation is the fact that it is self contained and fully transportable to allow on Site research in DoD laboratories and industry. The principal instrumentation was supplied by dSPACE, Inc., a vendor of real time control processors. Of critical importance is their software interface to the Matlab real time C code generator as well as their convenient diagnostic and interface software. Their multiprocessor architecture allows real time computing capability for feedback control beyond anything else currently available.