Advanced motion control of mechatronic systems via a high-speed dsp and a parallel processing transputer network

A system for implementing an advanced motion controller using a floating-point digital signal processor (DSP) and a transputer-based parallel processing system is presented. The discussion includes a brief look at the advantages of using DSPs in real-time control applications and the architecture for integrating DSPs with parallel processing transputer networks to enhance computing power. The main focus of this paper is on the design of a system that combines the Texas Instruments TMS320C30 floating-point DSP with a parallel processing system based on Intel i860 RISC processors and Inmos transputers to achieve excellent real-time response and superior computational power. The software of the system is hosted in the popular MATLAB program which furnishes a simple user interface and programming environment. The system is ideal for implementing advanced motion control experiments that require high-speed floating-point computations as well as fast sampling rates. In addition to real-time experiment, the system also includes a simulation package to allow rapid verification of the user's program and control algorithm. A complex adaptive motor control experiment is presented to illustrate the application of the system.

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