摘要
本文以电液位置伺服机械手第一关节为研究对象,设计了一种基于VHDL设计、FPGA实现的Fuzzy-PID控制器。分析了模糊(Fuzzy)自整定PID参数的模糊逻辑推理和控制器算法结构,根据自顶向下的流程,对Fuzzy-PID控制器进行了VHDL分层设计,详细说明了模糊逻辑推理、模糊自整定PID电路架构、数据缓存和I/O接口控制的设计原理,最后下载到FPGA芯片实现了Fuzzy-PID控制器。实验表明,FPGA作为单一控制器实现Fuzzy-PID控制算法是可行的和有效的。
The design of electro-hydraulic position servo Fuzzy self-tuning PID controller System based on VHDL and implemented by FPGA are presented in this paper.The fuzzy inference rules of fuzzy self tuning PID controller and the algorithm architecture of the controller are analyzed.The Fuzzy-PID controller is designed VHDL split-level.The design method of fuzzy logic inference,fuzzy self tuning PID algorithm circuit architecture,data cache and I/O interface control are introduced.Finally,this design is downloaded into a FPGA chip.The experiment proves the FPGA is feasible and effective as a single controller chip to realizing Fuzzy-PID control algorithm.
出处
《北京电子科技学院学报》
2009年第4期74-81,共8页
Journal of Beijing Electronic Science And Technology Institute
