基于FPGA的CMAC-PID控制器的研究

Study of CMAC-PID Controller Based on FPGA

CMAC是一种局部学习神经网络,结构简单,收敛速度快;PID是目前应用最为广泛的控制算法。结合二者的优点,采用并行方式形成CMAC-PID控制器,进行了Matlab仿真实验。基于VHDL设计该控制器,重点在于CMAC的在线学习算法实现和控制器模块的闭环仿真测试。在FPGA上实现了该控制器,实验结果表明,该控制器运算速度快、精度高,具有较强的抗干扰性,是实现IP控制模块或单片智能控制的一种新的有效途径。

CMAC is a type of local learning neural network with a simple architecture and a quick learning convergence. PID control algorithm is used for the widest range of application at present. Combining both of these advantages, the CMAC-PID controller is designed using the parallel mode and the Matlab simulation experiments are done. Controller is designed based on VHDL, the research keys are the implementation of the on-ine learning algorithm of CMAC and the closed-loop simulation test of the controller. The controller is implemented in the FPGA. The experiment results indicate that the controller has quick computing speed, high precision and better ability of anti-interfere. It is a new and efficient method to implement IP control module or intelligent control based on a single chip.