适应于微型直流电机的模糊PID控制器FPGA实现

Implementation of Fuzzy PID Controller Based on FPGA for Micro DC Motor

微型直流电机因其体积尺寸小、响应速度快的特点,在紧凑空间领域被广泛研究。针对经典比例积分微分(PID)控制器采用单一固定参数对同一位置和不同位置进行控制时,存在因微型直流电机非线性参数时变特性导致控制性能差异的问题,设计了一种基于现场可编程门阵列(FPGA)的微型直流电机模糊PID控制器。采用单位置闭环控制,应用模糊控制对PID参数进行在线实时整定。首先,搭建了微型直流电机控制系统仿真模型进行仿真验证;其次,利用Verilog HDL硬件语言设计了模糊PID控制器IP核,并对其核心模块进行功能验证;最后,基于FPGA构建了实验平台并进行实验验证。仿真和实验结果均表明,此方案可实时在线整定PID参数,在单一位置下,超调量减小了8.33%,响应时间缩短了30ms,具有响应速度快、超调小和鲁棒性强的特点,验证了此方案的可行性与有效性。

The micro direct current(DC) motor is studied in tight space extensively for its small size and fast response.However,there is different performance caused by the time-varying nonlinear parameters of the micro DC motor,when traditional proportion integral differential(PID) controllers use a fixed parameter in the same position control and different.A fuzzy adaptive PID controller of micro DC motor is presented based on field programmable gate array(FPGA).The system adopts single position closed loop using fuzzy control to modulate PID parameters constantly.Firstly,a simulation model of micro DC motor is established and approached.Secondly,a fuzzy adaptive PID controller IP core described in Verilog HDL is designed and the kernel module has been verified.Finally,a platform based on FPGA is built and verified by experiments.Both simulation and experimental results show that this scheme can modulate PID parameters in real time.The overshoot is reduced by 8.33% and the response time is reduced by 30 ms at the same position.This scheme has the characteristics of fast response,small overshoot and good robustness,which verifies the feasibility and effectiveness of this scheme.