| 摘要 |
Presented is a system and method for controlling an actuator in a multirate control system using an integrated upsampler and filter, comprising an incremental command limiter for changing a command from a first control system into a limited incremental command in a second control system, a lead-lag filter for filtering the limited incremental command to attenuate high frequencies, and a feed forward path for reducing phase loss in rate output signal at low frequencies. In embodiments, a command position signal received at the sampling rate of the first control system is interpolated into incremental command position signals at the sampling rate of the second control system. Position error signals and rate error signals from the devices being controlled are used as feedback to further stability the control loops. |
