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The design of embedded control systems is rapidly change during the last decade. Guaranteeing the safety of these systems is a very challenging topic. It is possible to identify two main factors that are involved in the control of those systems: Hardware/Software (HW-SW) codesign and dynamic reconfiguration. Furthermore, the use of an embedded operating system associated with a functional module library...
This paper presents a remote DC motor control using embedded Linux and FPGA technologies. The proposed work is based on a codesign architecture where an embedded Linux operating system running on Beaglebone communicates to an FPGA via SPI protocol with master slave scheme. In this work an experimental PWM DC motor drive has been realized by using an arm-based platform supported by a Linux compatible...
Power Electronic converters and systems require precise timing control. Field Programmable Gate Array (FPGA) has the advantages of reconfigurability, determinism and precise timing control over other digital controllers. Models for real-time switching pulse generation for power electronic converters namely AC to DC, DC to AC, AC to AC, DC to DC converters are built using a real time environment-NI's...
This paper demonstrates the Field Programmable Gate Arrays (FPGAs) of design methodologies with a focus on motor drive applications. Motor is the heart of many industrial automation and motion/drive control applications, but major problem arise in controlling the speed of the motor. Brushless DC (BLDC) motor is new and reliable motor because it has high efficiency, high torque to power ratio, lower...
PID (Proportional - Integral - Derivative) controllers are the most widely used closed loop controllers due to their simplicity, robustness, effectiveness and applicability for much kind of systems. With the rapid development of technology, implementation of PID controller has gone several steps from using analog components in hardware to using some software-based program to execute PID instructions...
This paper deals with the position control of robot arm for material handling in product based manufacturing industries. The robot arm is designed using two DC servo motors coupled with quadrature encoder which provides mobility with two degrees of freedom. The end effector of the arm is a core and coil arrangement which is used to pick and place materials at desired position. PID controller is developed...
This paper proposed a speed controller design for a DC motor by using a FPGA chip and applies it on a wheeled robot. For the motor accelerating control, this paper proposed a hardware PI controller circuit module to achieve the accelerating control. On the motor decelerating control, this paper proposed a braked deceleration circuit module to improve the skid of tires when the wheel-type robot brakes...
With the characteristics of convenience and mobility, electric standing wheelchairs (ESW) enable patients to freely move and stand up. Being extensively utilized, electric wheelchairs have already been one of the indispensable medical rehabilitation devices. Without doubt, the increase of standing function on electric wheelchairs would be further beneficial to patients. The controller system of the...
In this paper we present the design, implementation and experimental validation of a FPGA based position servo controller for a DC motor with dry friction. VHDL and block diagram modules for trajectory generation, encoder signal decoding, PI controller and PWM control signal generation are described. The control system is implemented in the DE3 board of Terasic Technologies Inc using Quartus II environment...
The spreading of brushless DC (BLDC) motors has imposed the need for efficient and low cost motor control drives. In this paper, a low cost digital controller is presented. For experimental testing, the controller is implemented inside a field programmable gate array (FPGA) device. The developed design is validated in a modular fashion by logic simulation and experimental results are provided. The...
This work is mainly to implement a motion control IC for electric wheelchair based on the novel FPGA (Field Programmable Gate Array) technology, which a Nios ll soft core processor can be embedded into FPGA to construct an SoPC (System on a Programmable Chip) environment. This electric wheelchair herein is driven by two DC rim motors and a fuzzy controller is applied in speed loop of each motor drive...
Fuzzy-logic-based control (FLC) systems have emerged as one of the most promising areas for research in Applied Computational Intelligence. These systems operate with knowledge represented in a linguistic form (IF-THEN rules) that describes relations which are not precisely known, but those effects are intuitively understood by humans. This fundamental feature makes FLC a powerful tool for industrial...
This paper presents a novel hardware design methodology of digital control systems. For this, instead of synthesizing the control system using Very high speed integration circuit Hardware Description Language (VHDL), LabVIEW FPGA module from National Instrument (NI) is used to design the whole system that include analog capture circuit to take out the analog signals (set point and process variable)...
An FPGA-based custom interface for the control of a hybrid actuated micropositioning stage using a dSPACE rapid control prototyping system is presented in this paper. The interface comprises IO for precise sensing of positions, currents and voltages as well as algorithms for the control of the DC-motor and for the linearization of piezoelectric actuators in order to meet requirements for the positioning...
Design and analysis of Digital Proportional Integral Derivative (PID) controllers for digital motion control involving dc motors are well documented and commercial/industrial off-the-shelf solutions are readily available. Majority of the said controllers are designed to work with brushless dc motors. However, many existing two-axis and three-axis gimbaled systems work with conventional analog PID...
Electric motors are an integral part of industrial plants with no less than 5 billon motors built worldwide every year. Residential and commercial appliances such as refrigerators and air conditioning systems have been using conventional motor drive technology. The machines in these applications typically have low efficiencies and high maintenance. Brushless DC (BLDC) drives are known for higher efficiency,...
This article presents two different approaches of brushless dc motor torque control, PI and discontinuous sliding mode regulator. Algorithms were implemented on NI 7831R board consisted of Xilinx FPGA device and peripheral (A/D and D/A converters). Frequency analysis of motor current has been made to demonstrate the influence of using specific control algorithm on the motor power signal frequency...
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