基于变论域模糊控制算法的仿真与FPGA优化实现

Variable Universe Fuzzy Control Algorithm Based Simulation and FPGA Optimization Design

针对单力臂模型的复杂动力学行为,设计了一种不依赖于被控对象的精确数学模型的变论域模糊控制器。在闭环系统中,角位移量的跟踪偏差和其变化率作为系统输入,并将控制器的初始论域设为[-3,3],其值可通过伸缩因子来调节。基于Matlab软件仿真,验证单力臂模型对预期指令的跟踪性能。另外,基于现场可编程门列阵(FPGA)硬件,采用移位操作和分段线性化两种方法对控制器进行优化。由此,无乘法器和片上内存零占用的设计结构显著降低了硬件资源负担。实验结果表明:本文所提变论域模糊闭环控制方法在精确度(低于0.02)、自适应性以及实时性等方面性能较优越,具有一定工程应用价值。

A variable universe fuzzy controller is designed to deal with the complex dynamic behavior of the singlearm model in this paper. This controller does not depend on the precise mathematical model of a controlled object. In the closed-loop system,the tracking deviation of angular displacement and its variation rate are used as system inputs.At the same time,the initial domain of the controller is set as[? 3,3],which can be changed by a scaling factor.Furthermore,a Matlab simulation verifies the tracking performance of the single-arm model to the expected command.In addition,the controller can be optimized by the methods of shift operation and piecewise linearization based on the field-programmable gate array(FPGA) hardware. Therefore,the structure design of a multiplier-free and zerofootprint of chip memory significantly reduces the burden of hardware resources. The experimental result shows that the proposed controller based on the variable universe fuzzy closed-loop control method is superior to several other methods in accuracy(less than 0.02),adaptability,and real-time efficiency. It can be further applied in the field of engineering.