The Impact of Computational Accuracy on the Quality of Direct Drive Control

Abstract

One of the main aspects of the control system development process for direct drives is the selection of the required computational accuracy while establishing its impact on the quality of the control. Understanding this relationship allows designers to consciously determine the system structure at the early stages of controller development, which enables the optimal usage of hardware resources. This paper analyzes the results of experimental research on the influence of computational accuracy on the quality of control of direct drives. During the carried-out research, several vector controllers with different computational precision were implemented using Field-Programmable Gate Arrays (FPGAs). The experiments were carried out on a dedicated research stand for testing direct drives. Test scenarios included position and trajectory monitoring under various torque loads. To assess the control quality, the measures based on the deviations from the value set by the controller were proposed. In this paper, the results of experiments have been presented in the form of values of the measures in relation to the computational accuracy. The obtained results proved that satisfactory drive operation parameters can be obtained despite the relatively low accuracy of calculations in the control algorithm.