Parallel Design of Feedback Control Systems Utilizing Dead Time for Embedded Multicore Processors

Yuta SUZUKI  Kota SATA  Jun'ichi KAKO  Kohei YAMAGUCHI  Fumio ARAKAWA  Masato EDAHIRO  

IEICE TRANSACTIONS on Electronics   Vol.E99-C   No.4   pp.491-502
Publication Date: 2016/04/01
Online ISSN: 1745-1353
DOI: 10.1587/transele.E99.C.491
Type of Manuscript: PAPER
Category: Electronic Instrumentation and Control
control system,  multicore,  parallelization,  dead time,  

Full Text: PDF>>
Buy this Article

This paper presents a parallelization method utilizing dead time to implement higher precision feedback control systems in multicore processors. The feedback control system is known to be difficult to parallelize, and it is difficult to deal with the dead time in control systems. In our method, the dead time is explicitly represented as delay elements. Then, these delay elements are distributed to the overall systems with equivalent transformation so that the system can be simulated or executed in parallel pipeline operation. In addition, we introduce a method of delay-element addition for parallelization. For a spring-mass-damper model with a dead time, parallel execution of the model using our technique achieves 3.4 times performance acceleration compared with its sequential execution on an ideal four-core simulation and 1.8 times on a cycle-accurate simulator of a four-core embedded processor as a threaded application on a real-time operating system.