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Adaptive Control in Power PMAC
#1
what is it about the adaptive algorithm of the powerpmac ?is it LMS or LS?
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#2
It is close to LS with forgetting factor. Essentially, it identifies the hardware gain of the plant (only when there is a net desired accel.)
for a user defined period of time (Motor[x].Servo.EstTime), only considering data points with enough Dac input (Motor[x].Servo.MinDac)
in order to reduce the effect of the noisy input on the accuracy of estimation. You may find the details in the manuals.
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#3
i have no the card,can you tell me how does the adaptive algorithm work? when we use the adaptive algorithm, during the adjusting,it is to adjust the Pid parameters?thank you
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