固定小数点マイクロプロセッサに適した制御アルゴリズムの実装方法 : 変数変調デルタオペレーションのモデル規範型適応制御系への適用

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The methodology we propose for realizing energy and space saving model reference adaptive control system (MRACS) is based on pulse width modulation (PWM) with a modified delta operator. The dynamic calculation range is at least twice that of the conventional range in fixed-point arithmetic, making it very useful in mechatronic systems because complex control algorithms can be implemented in short word-length. The present paper is aimed at applying the methodology named VMM to MRACS and verify the availability of VMM. First, the outline of VMM is described. Next,the implementation procedures of MRACS based on the shift operator and VMM form are shown. Finally, both methodsare compared on the first-order system. In the case of a 16 bit word-length both responses are not different from those byusing floating-point arithmetic. In the case of an 8 bit word-length responses based on VMM are almost similar to those byusing floating-point arithmetic unlike the conventional method based on the shift operator. Thus, the availability of VMMwas made clear in the case of a short word-length.