DEVELOPMENT OF EMBEDDED CONTROLLER FOR SMALL SCALE DC MOTORS USING FPGA
Article Sidebar
Published
May 28, 2019
Download
Statistic
Main Article Content
Abstract
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.
Article Details
References
[1] [1] Y. Cui, R. M. Voyles, and M. H. Mahoor, ReFrESH: A self-adaptive architecture for autonomous embedded systems, IEEE Int. Conf. Autom. Sci. Eng., pp. 850–855, 2013
[2] E. Fitzgerald, C. Kingsley, and S. D. Umans, Electric Machinery, Tata Mc Graw Hill, Sixth Edition.
[3] N. Thanh, K. N. Thanh, C. N. The, P. P. Hung, and H. H. Xuan,, Development of Fuzzy Logic Controller for DC Motor Using Personal Computer and Inexpensive Microcontroller, 13th International Conference on Control Automation Robotics & Vision (ICARCV), Singapore, pp. 1310-1314, December, 2014.
[4] [5] J. Dong, X. Yang, Q. Liu, Z. Wang and T. Wang, Design and implementation of CNC controllers using reconfigurable hardware,, IEEE International Conference on Control and Automation, Christchurch, pp. 1481-1486, 2009.
[5] Y. F. Chan, M. Moallem, and W. Wang, Design and Implementation of Modular,, IEEE Trans. On Ind. Electronics, vol. 54, no. 4, pp. 1898–1906, 2007.
[6] A. Astarloa, U. Bidarte, J. Lázaro, J. Andreu, and J. L. MartÃn, Configurable-System-on-Programmable-Chip for power electronics control applications, Proc. - 2008 Int. Conf. Reconfigurable Comput. FPGAs, pp. 169–174, 2008.
[7] [8] A. Thangavelu, M. V. Varghese, and M. V. Vaidyan, Novel FPGA based controller design platform for DC-DC buck converter using HDL Co-simulator and Xilinx System Generator, ISIEA 2012 - IEEE Symp. Ind. Electron. Appl., pp. 270–274, 2012
[8] S. Verma, K. Rajnish, D. Soni, H. Patel, and R. Singh, Real-Time Controller for Research and Development on ITER Ion Cyclotron Heating and Current Drive Source, IEEE Transactions on Nuclear Science, vol. 65, no. 2, pp. 814-820, 2018.
[9] [10] S. Hauck and D. André, Reconfigurable Computing - The Theory and practice of FPGA-based computing, Elsevier, Vol.1, 1st Edition, 2007.
[10] V. Subasri, K. Lavanya, and B. Umamaheswari, Implementation of Digital PID controller in Field Programmable Gate Array (FPGA), 2006 India Int. Conf. Power Electron., pp. 172–176, 2006.
[11] [12] S. Sánchez-Solano, a J. Cabrera, I. Baturone, F. J. Moreno-Velo, and M. Brox, FPGA implementation of embedded fuzzy controllers for robotic applications, FPGA implementation of embedded fuzzy controllers for robotic applications
[12] [13] S. J. S. Jung and S. S. K. S. S. Kim, Hardware Implementation of a Real-Time Neural Network Controller With a DSP and an FPGA for Nonlinear Systems, IEEE Trans. Ind. Electron., vol. 54, no. 1, pp. 265–271, 2007
[13] [14] M. Ã. MartÃnez Prado, J. RodrÃguez Reséndiz, D. C. Toledo Pérez, C. M. Torres Hernández, and G. Herrera Ruiz, [14] M. Ã. MartÃnez Prado, J. RodrÃguez Reséndiz, D. C. Toledo Pérez, C. M. Torres Hernández, and G. Herrera Ruiz, IntechOpen, pp. 57–82, 2017
[14] R. Cumplido, S. Jones, R. M. Goodall, and S. Bateman, A High-Performance Processor for Embedded Real-Time Control, IEEE Transactions on Control Systems Technology, vol. 13, no. 3, pp. 485-492, 2005.
[15] M. Kocur, S. Kozak, and B. Dvorscak, Design and Implementation of FPGA - Digital Based PID Controller, 15th International Carpathian Control Conference (ICCC), pp. 233–236, 2014.
[16] Z. A. Obaid, N. Sulaiman, M. H. Marhaban, and M. N. Hamidon,, Design and Implementation of FPGA-Based Systems -A Review,, Aust. J. Basic Appl. Sci., vol. 3, no. 4, pp. 3575–3596, 2009.
[17] [18] K. Astrom, PID controllers: Theory, design and tuning,, Instrument Society of America, 2nd Edition, 1995.
[2] E. Fitzgerald, C. Kingsley, and S. D. Umans, Electric Machinery, Tata Mc Graw Hill, Sixth Edition.
[3] N. Thanh, K. N. Thanh, C. N. The, P. P. Hung, and H. H. Xuan,, Development of Fuzzy Logic Controller for DC Motor Using Personal Computer and Inexpensive Microcontroller, 13th International Conference on Control Automation Robotics & Vision (ICARCV), Singapore, pp. 1310-1314, December, 2014.
[4] [5] J. Dong, X. Yang, Q. Liu, Z. Wang and T. Wang, Design and implementation of CNC controllers using reconfigurable hardware,, IEEE International Conference on Control and Automation, Christchurch, pp. 1481-1486, 2009.
[5] Y. F. Chan, M. Moallem, and W. Wang, Design and Implementation of Modular,, IEEE Trans. On Ind. Electronics, vol. 54, no. 4, pp. 1898–1906, 2007.
[6] A. Astarloa, U. Bidarte, J. Lázaro, J. Andreu, and J. L. MartÃn, Configurable-System-on-Programmable-Chip for power electronics control applications, Proc. - 2008 Int. Conf. Reconfigurable Comput. FPGAs, pp. 169–174, 2008.
[7] [8] A. Thangavelu, M. V. Varghese, and M. V. Vaidyan, Novel FPGA based controller design platform for DC-DC buck converter using HDL Co-simulator and Xilinx System Generator, ISIEA 2012 - IEEE Symp. Ind. Electron. Appl., pp. 270–274, 2012
[8] S. Verma, K. Rajnish, D. Soni, H. Patel, and R. Singh, Real-Time Controller for Research and Development on ITER Ion Cyclotron Heating and Current Drive Source, IEEE Transactions on Nuclear Science, vol. 65, no. 2, pp. 814-820, 2018.
[9] [10] S. Hauck and D. André, Reconfigurable Computing - The Theory and practice of FPGA-based computing, Elsevier, Vol.1, 1st Edition, 2007.
[10] V. Subasri, K. Lavanya, and B. Umamaheswari, Implementation of Digital PID controller in Field Programmable Gate Array (FPGA), 2006 India Int. Conf. Power Electron., pp. 172–176, 2006.
[11] [12] S. Sánchez-Solano, a J. Cabrera, I. Baturone, F. J. Moreno-Velo, and M. Brox, FPGA implementation of embedded fuzzy controllers for robotic applications, FPGA implementation of embedded fuzzy controllers for robotic applications
[12] [13] S. J. S. Jung and S. S. K. S. S. Kim, Hardware Implementation of a Real-Time Neural Network Controller With a DSP and an FPGA for Nonlinear Systems, IEEE Trans. Ind. Electron., vol. 54, no. 1, pp. 265–271, 2007
[13] [14] M. Ã. MartÃnez Prado, J. RodrÃguez Reséndiz, D. C. Toledo Pérez, C. M. Torres Hernández, and G. Herrera Ruiz, [14] M. Ã. MartÃnez Prado, J. RodrÃguez Reséndiz, D. C. Toledo Pérez, C. M. Torres Hernández, and G. Herrera Ruiz, IntechOpen, pp. 57–82, 2017
[14] R. Cumplido, S. Jones, R. M. Goodall, and S. Bateman, A High-Performance Processor for Embedded Real-Time Control, IEEE Transactions on Control Systems Technology, vol. 13, no. 3, pp. 485-492, 2005.
[15] M. Kocur, S. Kozak, and B. Dvorscak, Design and Implementation of FPGA - Digital Based PID Controller, 15th International Carpathian Control Conference (ICCC), pp. 233–236, 2014.
[16] Z. A. Obaid, N. Sulaiman, M. H. Marhaban, and M. N. Hamidon,, Design and Implementation of FPGA-Based Systems -A Review,, Aust. J. Basic Appl. Sci., vol. 3, no. 4, pp. 3575–3596, 2009.
[17] [18] K. Astrom, PID controllers: Theory, design and tuning,, Instrument Society of America, 2nd Edition, 1995.