Fuzzy PID Controllers Using FPGA Technique for Real Time DC Motor Speed Control

Moayed  Almobaied; Basil  Hamed

doi:10.4236/ica.2011.23028

Basil Hamed, Moayed Almobaied^*

Abstract: The design of intelligent control systems has become an area of intense research interest. The development of an effective methodology for the design of such control systems undoubtedly requires the synthesis of many concepts from artificial intelligence. The most commonly used controller in the industry field is the proportional-plus-integral-plus-derivative (PID) controller. Fuzzy logic controller (FLC) provides an alternative to PID controller, especially when the available system models are inexact or unavailable. Also rapid advances in digital technologies have given designers the option of implementing controllers using Field Programmable Gate Array (FPGA) which depends on parallel programming. This method has many advantages over classical microprocessors. In this research, A model of the fuzzy PID control system is implemented in real time with a Xilinx FPGA (Spartan-3A, Xilinx Company, 2007). It is introduced to maintain a constant speed to when the load varies.,The model of a DC motor is considered as a second order system with load variation as a an example for complex model systems. For comparison purpose, two widely used controllers “PID and Fuzzy” have been implemented in the same FPGA card to examine the performance of the proposed system. These controllers have been tested using Matlab/Simulink program under speed and load variation conditions. The controllers were implemented to run the motor as real time application under speed and load variation conditions and showed the superiority of Fuzzy-PID.

Keywords: DC Motor, Fuzzy Logic Control, PID Controller, Real Time, FPGA

Cite this paper: B. Hamed and M. Almobaied, "Fuzzy PID Controllers Using FPGA Technique for Real Time DC Motor Speed Control," Intelligent Control and Automation, Vol. 2 No. 3, 2011, pp. 233-240. doi: 10.4236/ica.2011.23028.

References

[1] S. Raghavan, “Digital Control for Speed and Position of a DC Motor,” MS Thesis, Texas A & M University Kingsville, 2005.

[2] Z. Xiu, and G. Ren, “Optimization Design of TS-PID Fuzzy Controllers Based on Genetic Algorithms,” 5th World Congress on Intelligent Control and Automation, Hangzhou, 2004, pp. 2476-2480.

[3] S. Z. He, S. Tan and F. L. Xu, “Fuzzy Self-Tuning of PID controllers,” Fuzzy Sets and Systems, Vol. 56, No. 1, 1993, pp. 37-46. doi: 10.1016/0165-0114(93)90183-I

[4] B. Lacevic, J. Velagic and N. Osmic, (2007). “Design of Fuzzy Logic Based Mobile Robot Position Controller Using Genetic Algorithm,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Zurich, 2007, pp. 1-6.

[5] Xilinx Company, “Programmable Logic Design,” 2006. http://www.xilinx.com/company/about/programmable

[6] Xilinx Company, “Spartan-3A Starter Kit Board User Guide,” 2007. http://www.xilinx.com/bvdocs/userguides/ug330

[7] L. A. Zadeh, “Fuzzy Sets,” Information and Control, Vol. 8, No. 3, 1965, pp. 338-353. doi:10.1016/S0019-9958(65)90241-X

[8] E. H. Mamdani, “Application of Fuzzy Algorithms for Control of Simple Dynamic Plant,” Proceedings of the IEEE, Vol. 121, No. 12, 1974, pp. 1585-1588.

[9] L.-X. Wang, “A Course in Fuzzy Systems and Control,” Prentice-Hall, Inc., Upper Saddle River, 1997.

[10] M.-Y. Shieh and T.-H. S. Li, “Design and Implementation of Integrated Fuzzy Logic Controller for Servo-Motor System,” Mechatronics, Vol. 8, No. 3, 1998, pp. 217-240. doi:10.1016/S0957-4158(97)00052-4

[11] J. Birkner et al., “A Very-High-Speed Field-Programmable Gate Array Using Metal-to-Metal Antifuse Programmable Elements,” Microelectronics Journal, Vol. 23, No. 7, 1992, pp. 561-568. doi:10.1016/0026-2692(92)90067-B

[12] S. Poorani, T. V. S. Urmila Priya, K. Udaya Kumar and S. Renganarayanan, “FPGA Based Fuzzy Logic Controller for Electric Vehicle,” Journal of the Institution of Engineers, Vol. 45 No. 5, 2005, pp. 1-14.

[13] T. Runghimmawan, S. Intajag and V. Krongratana, “Fuzzy Logic PID Controller Based on FPGA for Process Control,” IEEE International Symposium on Industrial Electronics, Vol. 2, No. 11, 2004, pp. 1495-1500.

[14] D. Zhang, et al., “Digital Anti-Windup PI Controllers for Variable-Speed Motor Drives Using FPGA and Stochastic Theory,” IEEE Transactions on Power Electronics, Vol. 21, No. 5, 2006, pp. 1496-1501. doi:10.1109/TPEL.2006.882342