Studies on Digital-Controller Configuration Design and Its Synchronization Control Using Multiple Digital Signal Processors.

1.多处理器数字控制器及其同步方案建模每个处理器都需要遵守时间约束，以避免命令信号冲突，并且最好没有空转时间间隔。对反馈型和程序控制型控制器进行了研究并选择了适当的模型，重点是同步能力的验证。结果表明，从数字角度看，离散时间系统表示是合适的。我们采用增益矩阵模型进行状态反馈，采用离散时间传递矩阵模型进行程序控制。结果表明，鲁棒稳定性补偿方法在实际应用中还不够成熟。因此，我们研究/开发了一种新的更有用的稳定方法。对于单输入、单输出控制器，提出了一种共享内存和总线配置方案。我们进一步研究了各处理器之间的计算负载机制，提出了一种新的同步方式，以实现最小的吞吐量时间。结果也推广到多输入、多输出的情况。为了验证所提出的方案并在设计过程中使用，已经开发了几个配套的计算机软件工具：数字信号处理器、命令发生器、吞吐量估计器和混合模拟器。数字信号处理器命令发生器给出程序列表中编写的处理器命令，用于给定数字控制器的特性、配置和同步控制协议。吞吐量估计器评估给定控制程序的吞吐量效率。混合模拟器模拟那些数字控制系统，包括模拟工厂，A/D和D/A转换器和数字控制器。用户可以选择使用不同算法的不同类型的转换器，并且可以使用基本块将工厂建模为框图。少

1.Modeling Multi-Processor Digital Controllers and Their Synchronization SchemeEach processor is required to observe timing constraints to avoid command signal collision and is preferred not to have idling time intervals. Appropriate models have been investigated and selected for both feedback-type and program-controlled-type controllers with an emphasis on the verification of synchronization capabilities. It was concluded that discrete-time system representation is appropriate when viewed from digital side. We have adopted a gain matrix model for the state feedback and discrete-time transfer matrix model for program control. As a by-product, it was learned that robust stability compensation method is not mature enough for applications. Hence, we have investigated/developed a new and more useful stabilization method.2.Minimum Throughput-Time Configuration and Synchronization ControlFor single input and single output controllers, a shared memory and bus configuration was proposed. We ha … More ve investigated computational loading mechanism among each processor and proposed a new synchronization which achieves the minimum through-put time. The results were also extended to multiple-input and multiple-output cases.3.Verifying The Proposed SchemeSeveral supporting computer-software tools have been developed to verify those proposed schemes and also to be utilized in the process of design : Digital Signal Processor Command Generator, Throughput Estimator and Hybrid Simulator. Digital Signal Processor Command Generator gives program list written in the processor's command for a given digital-controller characteristics, the configuration and synchronization control protocol. Throughput Estimator evaluates throughput efficiency of a given control program. Hybrid Simulator simulates those digital control systems which include analog plant, A/D and D/A converters and digital controllers. Users can select different types of converters with different arithmetic employed and plants can be modeled as a block diagram using elementary blocks. Less