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Hardware Implementation of Model-Based Control Algorithm Using FPGA Technology

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

(1) Institute of Automotive Mechatronics, Slovak University of Technology in Bratislava, Slovakia
(2) Institute of Automotive Mechatronics, Slovak University of Technology in Bratislava, Slovakia
(*) Corresponding author



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.
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DC Motor; FPGA; IMC; Robustness; VHDL Language

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