计算机工程与应用 ›› 2009, Vol. 45 ›› Issue (36): 202-206.DOI: 10.3778/j.issn.1002-8331.2009.36.058

• 工程与应用 • 上一篇    下一篇

快速浮、定点PID控制器FPGA的研究与实现

段 彬,孙同景,李振华,梅高青,张光先   

  1. 山东大学 控制科学与工程学院,济南 250061
  • 收稿日期:2008-12-23 修回日期:2009-02-18 出版日期:2009-12-21 发布日期:2009-12-21
  • 通讯作者: 段 彬

Research and application on fast floating and fixed point PID controllers on FPGA

DUAN Bin,SUN Tong-jing,LI Zhen-hua,MEI Gao-qing,ZHANG Guang-xian   

  1. Department of Control Science and Engineering,Shandong University,Jinan 250061,China
  • Received:2008-12-23 Revised:2009-02-18 Online:2009-12-21 Published:2009-12-21
  • Contact: DUAN Bin

摘要: 提出了基于FPGA的快速PID控制器技术,采用流水线运算方法,具有高速、稳定、精确的实时控制性能,实现了速度和资源的优化匹配。研究并分析了位置式PID不同算式的特点,完成了浮、定点PID控制器的硬件实现,提出了溢出、饱和等问题的解决方法,单次运算时间分别达480 ns、120 ns,并对两种控制器的性能进行了分析和比较。设计了单精度浮点数和16位定点数之间的转换控制器,增强了浮点PID的普适性。设计了基于FPGA的全数字逆变焊接电源的实验平台。仿真和实验证明,浮、定点PID控制器均可在强电磁干扰的环境中高速、准确、可靠地运行,具有广泛的实用性。

关键词: 现场可编程门阵列(FPGA), 流水线, 浮点和定点PID控制器, 全数字逆变电源

Abstract: A new fast PID technique based on FPGA is introduced.The paper analyzes different PID formulas,adopts pipelining technique and discusses in detail correlative design questions of floating and fixed point PID controllers in FPGA,which only need 480 ns and 120 ns for one circle calculation.Conversion controllers between single-precision floating and sixteen bits fixed point numbers are designed to make floating point controller more usable.At last,the paper designs a hardware experiment platform of full digital inverter to validate the fast floating and fixed point PID controllers.The result indicates that the welding power source works well and the fast PID controllers based on FPGA can run fast enough and reliably,which can be used in a fast control system in big interference environment.

Key words: Field Programming Gate Array(FPGA), pipelining, floating and fixed point PID controllers, full digital inverter

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