Hardware Implementation of Model-Based Control Algorithm Using FPGA Technology

Róbert Krasňanský; Branislav Dvorščák

doi:10.15866/ireaco.v8i1.4265

Hardware Implementation of Model-Based Control Algorithm Using FPGA Technology

Róbert Krasňanský^(1*), Branislav Dvorščák⁽²⁾

^(*) Corresponding author

Authors' affiliations

DOI: https://doi.org/10.15866/ireaco.v8i1.4265

Abstract

In this paper an efficient algorithm for designing a model-based controller implemented on a Field Programmable Gate Array (FPGA) is proposed and tested. The controller design is based on the Internal Model Control (IMC) principle and PID tuning according to the Kuhn’s T-sum tuning rule. The controllers have been designed, functionally verified and implemented on the FPGA platform using the Xilinx Integrated Software Environment (ISE). The Very High Speed Integrated Circuits Hardware Development Language (VHDL) is used to create synthesizable control algorithms in a form suitable for hardware implementation. The practical application of proposed algorithms is illustrated by a test performed on a laboratory plant. Experimental results compared with the simulation ones show satisfactory closed-loop responses and justify using the FPGA technology for hardware implementation of complex control algorithms.
Copyright © 2015 Praise Worthy Prize - All rights reserved.

Keywords

DC Motor; FPGA; IMC; Robustness; VHDL Language

Full Text:

PDF

References

K. J. Astrom and B. Wittenmark, Computer Controlled Systems (Englewood Cliffs, Prentice-Hall, 1997).

Z. Yao, A survey of development of internal model control, Information and control, Vol. 29 (Issue 6): 526-531, 2000.

L. Pan, W. Wang, Modifying the DCS control performance and implement of robust IMC-PID controller, Test Technology and Automation, Vol. 2, pp.17-19, 2004.

C. Belfedal, T. Allaoui, S. Moreau, A. M. Denai, Control Speed of a Wind Electrical Power System, (2009) International Review of Automatic Control (IREACO), 2 (1), pp. 48-59.

Hêmin Golpîra, Hassan Bevrani, Ali Hessami Naghshbandy, A Survey on Coordinated Design of Automatic Voltage Regulator and Power System Stabilizer, (2010) International Review of Automatic Control (IREACO), 3 (2), pp. 172-182.

P. J. Ashenden, The Designer’s Guide to VHDL (Morgan Kaufmann, 1995).
http://dx.doi.org/10.1016/b978-1-55860-749-1.50036-0

E. Monmasson and M. N. Cirstea, FPGA Design Methodology for Industrial Control Systems-A Review, IEEE Transactions on Industrial Electronics, Vol. 54: 1824-1842, August 2007.
http://dx.doi.org/10.1109/tie.2007.898281

M. Morari and E. Zafiriou, Robust Process Control (Englewood Cliffs, Prentice-Hall, 1989).
http://dx.doi.org/10.1002/aic.690371216

D. E. Rivera, M. Morari, S. Skogestad, Internal model control: PID controller design, Industrial & Engineering Chemistry Process Design and Development, Vol. 25 (Issue 1): 252–265, 1986.
http://dx.doi.org/10.1021/i200032a041

Q. Wang, C. C. Hang and X. Yang, Single-loop controller design via IMC principles, Automatica, Vol. 37: 2041–2048, 2001.
http://dx.doi.org/10.1016/s0005-1098(01)00170-4

I-L. Chien, IMC-PID controller design – an extension, Selected Papers, 2nd International IFAC Symposium, pp. 147–152, Lyngby, Denmark, August 1988.

A. Sakly, A. Azzouna, A. Trimeche, A. Mtibaa, PD-like and PI-like Fuzzy Control Implementation using FPGA Technology, (2011) International Review of Automatic Control (IREACO), 4 (1), pp. 65-77.

Y. F. Chang, M. Moallem, and W. Wang, Efficient implementation of PID control algorithm using FPGA technology, Proceedings of 43 IEEE Conference On Decision and Control, vol. 5, pp. 4885–4890, Dec. 2004.
http://dx.doi.org/10.1109/cdc.2004.1429572

R. Krasňanský, B. Dvorščák and Š. Kozák, Hardware Realization of Embedded Control Algorithm on FPGA, Computation Tools 2014: The 5th International Conference on Computational Logics, Algebras, Programming, Tools, and Benchmarking, IARIA, pp. 13-18, Venice, Italy, May 25-29, 2014.

W. Zhao, B. H. Kim, A. C. Larson, and R. M. Voyles, FPGA implementation of closed-loop control system for small-scale robot, In ICAR’05: 12th International Conference on Advanced Robotics, pp. 70-77, Seattle, WA, July 2005.
http://dx.doi.org/10.1109/icar.2005.1507393

U. Kuhn, A practical tuning rule for PID controllers: the T-sum rule. (in German). Automatisierungstechnische Praxis, Vol. 37(Issue 5), pp. 10-16, 1995.

S. Kajan and M. Hypiusová, Labreg Software for Identification and Control of Real Processes in Matlab, Technical Computing Prague 2007: 15th Annual Conference Proceedings, pp. 71, Prague, Czech Republic, Nov. 2007.

M. Fikar, J. Mikleš, J. Process Modelling, Identification and Control 2 (STU Press, 2004).
http://dx.doi.org/10.1007/978-3-540-71970-0_6

L. Ch. Phillips and H. T. Nagle, Digital Control System Analysis and Design, (Prentice-Hall, Inc., Englewood Cliffs, NJ, 1984).

K. J. Astrom, Control System Design, Lectures notes (University of California, Santa Barbara, 2002).

Refbacks

There are currently no refbacks.

Username
Password
Remember me