Civil Engineering Reference
In-Depth Information
FIGURE 3.10
Computer information flow for implementation.
FIGURE 3.11
Windowing scheme for data collection and estimation.
Communication between the PC and the PMAC using the dual-ported RAM is the fastest mode
possible, occurring within one PMAC servo cycle. As seen in the diagram above the PC can be used to
determine new controller gains for the PMAC based on the latest sensor information and estimation
calculations. The new controller gains are also passed transparently to the PMAC for use in the next
servo cycle via the dual-ported RAM. This arrangement allows each CPU to perform its tasks indepen-
dently, unhampered by the status of the other CPU. The PC performs calculations for estimation and
control, while the PMAC provides a high rate servo control.
3.8
Adaptive Grinding Process Control
The grinding process has been modeled and has been shown to be a continuously, time-varying system
(Ludwick et al., 1994). To better control the normal grinding force for the system, adaptive control methods
are applied building on the successful real-time grinding model with on-line parameter estimation. The
