Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2004.10.10.922

Hardware Implementation of an Intelligent Controller with a DSP and an FPGA for Nonlinear Systems  

김성수 (충남대학교 메카트로닉스공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.10, no.10, 2004 , pp. 922-929 More about this Journal
Abstract
In this paper, we develop control hardware such as an FPGA based general purposed intelligent controller with a DSP board to solve nonlinear system control problems. PID control algorithms are implemented in an FPGA and neural network control algorithms are implemented in a BSP board. An FPGA was programmed with VHDL to achieve high performance and flexibility. The additional hardware such as an encoder counter and a PWM generator can be implemented in a single FPGA device. As a result, the noise and power dissipation problems can be minimized and the cost effectiveness can be achieved. To show the performance of the developed controller, it was tested fur nonlinear systems such as a robot hand and an inverted pendulum.
Keywords
FPGA; VHDL; DSP; intelligent controller;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 M. Krips, T. Lammert, A. Kummert, 'FPGA implementation of a neural network for a real-time hand tracking system', Proceedings of the First IEEE International Workshop on Electronic Design, Test and Applications, pp. 313 317, 2002   DOI
2 김성수, 정슬, 'FPGA를 이용한 범용 모션 컴트롤러의 개발', 제어.자동화.시스템공학 논문지, 제10권 1호 pp.73-80, 2004   과학기술학회마을
3 H. T. Cho and S. Jung, 'Balancing and position control of an inverted pendulum on an X-V Plane using decentralized neural networks', Proceedings of the 2003 International Conference on Advanced Intelligent Mechatronics, pp. 181-186, 2003
4 M. Cristea, J. Khor, M. McCormick; 'FPGA fuzzy logic controller for variable speed generators', Proceedings of the 2001 IEEE International Conference on Control Applications, pp. 301 304, 2001   DOI
5 A. K. Oudjida et al, 'A reconfigurable counter controller for digital motion control application', Microelectronics Journal, vol. 28, no. 6-7,1997   DOI   ScienceOn
6 Oh et al, 'Design of a biped robot using DSP and FPGA', Proceeding 2002 FIRA Robot World Congress. 698-701   과학기술학회마을
7 A. Kongmunvattana, P. Chongstivatana, 'A FPGA-based behavioral control system for a mobile robot', The 1998 IEEE Asia-Pacific Conference on Circuits and Systems, pp. 759-762, 24-27, Nov, 1998   DOI
8 W. T. Miller, R. S. Sutton, and P. J. Werbos, 'Neural networks for control', The MIT Press, 1991
9 'LM628/LM629 precision motion controller', National Semiconductor Corporation, Nov, 1999
10 S. lung and T. C. Hsia, 'Neural network inverse control techniques for PD controlled robot manipulator', ROBOTICA, pp. 305-314, vol. 19, no 3, 2000   DOI   ScienceOn
11 H.- T. Cho and S. Jung, 'Neural network position tracking control of an inverted pendulum by an X-V table robot', IEEE/RSJ International Conference on Intelligent Robots and System, pp. 1210 - 1215, 2003   DOI
12 F. Thomas et al, 'Design and implementation of a wheel speed measurement circuit using field programmable gate arrays in a spacecraft', Microprocessors and Microsystems, pp. 553-560, 1999   DOI   ScienceOn