Integrating computer architectures into the design of high-performance controllers

Modern control systems must typically perform real-time identification and control, as well as coordinate a host of other activities related to user interaction, on-line graphics, and file management. This paper discusses five global design considerations that are useful to integrate array processor, multimicroprocessor, and host computer system architectures into versatile, high-speed controllers. Such controllers are capable of very high control throughput, and can maintain constant interaction with the non-real-time or user environment. As an application example, the architecture of a high-speed, closed-loop controller used to actively control helicopter vibration will be briefly discussed. Although this system has been designed for use as the controller for real-time rotorcraft dynamics and control studies in a wind-tunnel environment, the controller architecture can generally be applied to a wide range of automatic control applications.