基于FPGA的数字PID控制器研究

Digital PID Controller Based on FPGA

用常规的方法在FPGA上实现PID控制器,要消耗大量的乘法器、加法器和存储器,FPGA的硬件资源不能被合理地利用,而且能耗高。研究在FPGA上采用直接DA(DA-Ⅰ)及改进的DA(DA-Ⅱ)算法,实现数字PID控制器。DA-Ⅰ算法用的加法器、LUT单元和延时模块等,较常规方法要节省许多硬件资源;DA-Ⅱ算法,能进一步减少各单元模块的使用,并应用两级流水线技术,降低能耗。通过对DA-Ⅰ和DA-Ⅱ两种算法实现的PID控制器的比较,在硬件资源、处理速度、复杂程度和能耗等方面,探讨了改进后的PID控制器的性能。

The conventional method of achieving PID by FPGA consumes a lot of multiplier,adder and memory.FPGA hardware resources can not be reasonably used,and system holds high energy consumption.Research on using direct DA(DA-Ⅰ) and improved DA(DA-Ⅱ) algorithm by FPGA to realize the digital PID controller.Compared with the conventional method,DA-Ⅰ algorithm saves many hardware resources;because of using adder,LUT unit and time delay module etc,DA-Ⅱ algorithm can reduce the unit modules further and reduce energy consumption by the application of two stage pipeline technology.Through the comparison of PID controller by the DA-Ⅰ and DA-Ⅱ algorithm,discussed the improved PID controller performance about the hardware resource,processing speed,complexity and energy consumption etc.