DEVELOPMENT OF EMBEDDED CONTROLLER FOR SMALL SCALE DC MOTORS USING FPGA
V. GEETHA PRIYA P. LAKSHMI
motion control hardware and software
In this paper, a comprehensive method for the development of an embedded PID controller for the speed control of small scale dc motors using FPGA(Field Programmable Gate Array) is presented. The PID controller in FPGA is represented in terms of VHDL code. For choosing the controller parameters and system identification, MATLAB is used with the open loop step response of the motor with the same experimental setup which gives a better validation results. UART communication interface and glitch filter are also implemented along with the controller on the same FPGA which makes it efficient plug and play device. The simulation results are shown in Xilinx ISim for the PID controller. The hardware implementation is made in Xilinx Spartan 6 FPGA chip with 0.01s sample time and 5s as the settling time.
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