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

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