Microcomputer Implementation of Digital Control
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Transcript of Microcomputer Implementation of Digital Control
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t
g( t )
t
g*(t )
A
f
|G(f)|
fm
-fm
A / T
f
|G*(f)|
fm
fm
-1
T1T
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A / T
|G*(f)|
f-1T
1T
2T
-2T
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-4 -3 -2 -1 0 1 2 3 4
|T Sinc( Tf )|
f-1T
1T
2T
3T
-2T
-3
T
T
-1T
1T
2T
3T
f
-2T
-3T
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Plant
DigitalFilter
HoldDevice Sampler
Continuous-Time Controller
Continuous-Time Plant
Plant
DigitalFilter
HoldDevice Sampler
Discrete-Time Plant
Discrete-Time Controller
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Analog Input
Digital Output
000 . . . 001
000 . . . 010
000 . . . 011
011 . . . 110
011 . . . 111
100 . . . 000
111 . . . 111
111 . . . 110
111 . . . 101
100 . . . 001
+V 1LSB
V Digital Input
Analog Output
000...
001
000...
010
000...
011
011...
110
011...
111
100..
.000
111..
.111
111...
110
111..
.101
100..
.001
+V 1LSB
V
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xg
t( )
x1 t( )
x2 t( )
x3 t( )
m1
m3
m2
f(t)
Shaking Table
a
Actuator
Shaking Table
x1..
x2..
m3
m2
m1
x3..
( t )
( t )
( t )
F( t)
xg..
( t )
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