Finite time stability control system with speed observer based on PC+FPGA
A stability control and limited time technology, applied in general control system, control/regulation system, program control, etc., can solve the problem of low performance of independent servo PID control and achieve the effect of precise tracking
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[0034] In order to make those skilled in the art better understand the technical solutions of the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. and features of the embodiments may be combined with each other.
[0035] The hardware structure of the system of the present invention is as follows figure 1As shown, the main logic control device of the present invention is the FPGA core control chip, and the main algorithms are the finite-time stability control method and the finite-time convergent velocity observer algorithm. PC+FPGA-based finite-time stability control system with velocity observer, including IPC1, FPGA motion controller 2, servo driver 3, industrial robot 4, Ethernet communication module 5, FPGA motion controller 2 including interpolation module 21 , real-time control module 22, encoder module 23, D / A output module 24, the upper computer of the industrial ro...
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