Fuzzy feedforward decoupling controller based on FPGA

Abstract

The invention relates to an FPGA-based fuzzy feed-forward decoupling controller. The technical solution is: multiple decoupling controllers are connected to each other, each decoupling controller is connected to the corresponding A / D conversion module and D / A conversion module, and each decoupling controller is connected to the clock, the upper Machine module, keyboard, LED display, reset button connection. Each decoupling controller consists of clock frequency division module, A / D conversion control module, error calculation module, address decoding module, fuzzy decoupling module, parameter input module, parameter display module, parameter setting module, numerical conversion module, PID It is composed of algorithm module, serial communication module, filter module and D / A control module, and the above modules are generated by hardware description language VHDL programming. The present invention uses multiple decoupling controllers for decoupling, and integrates multiple decoupling controllers into one FPGA chip, so the system is small in size, light in weight, low in power consumption and fast in processing speed.

Description

technical field [0001] The invention belongs to the technical field of decoupling controllers. In particular, it relates to an FPGA-based fuzzy feed-forward decoupling controller. Background technique [0002] The FPGA-based fuzzy feed-forward decoupling controller integrates multiple decoupling controllers into one FPGA chip. The controller has the characteristics of fast response and high flexibility due to the adoption of the design method of software thinking and hardware ; Due to the use of FPGA as the carrier, the volume of the controller is relatively small, and it can be easily embedded into other control systems; in the decoupling control, the fuzzy feed-forward decoupling algorithm based on deviation is used. The experimental results show that: the The controller has strong robustness and high reliability, and is an ideal control device. [0003] Currently, there are two methods of decoupling: software decoupling and hardware decoupling. Most of the decoupling m...

AI Technical Summary

Problems solved by technology

Most of the decoupling methods are realized by software, for example: "Embedded Learning Decoupling Controller" (CN1621979, 2005), this controller is an embedded learning decoupling controller, which is to eliminate more than two The coupling effect between the control loops is processed according to a certain decoupling algorithm, and then the corresponding actuators are coordinated and controlled, thereby eliminating the mutual coupling effect between the control loops. From the simulation results, the controller has a better control effect , but this technology is realized by software programming, and the instructions are serially run, so there is a certain lag phenomenon in the process of program execution, and the real-time performance is relatively poor, which cannot meet the requirements of the controlled object with relatively high speed requirements.

At present, hardware decoupling is usually achieved by mechanical means, for example: "Three-degree-of-freedom parallel decoupling mechanism (CN1462670, 2003) This device has a simple structure and is easy to operate, but it has disadvantages such as large volume and poor embeddability.

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