Model predictive controller design and implementation on FPGA with application to motor servo system

被引：56

作者：

Yang, Nan ^{[1
,2
]}

Li, Dewei ^{[1
,2
]}

Zhang, Jun ^{[1
,2
,3
]}

Xi, Yugeng ^{[1
,2
]}

机构：

[1] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China

[2] Minist Educ, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China

[3] Shanghai Jiao Tong Univ, Joint Inst UM SJTU, Shanghai 200240, Peoples R China

来源：

CONTROL ENGINEERING PRACTICE | 2012年 / 20卷 / 11期

基金：

美国国家科学基金会; 中国博士后科学基金;

关键词：

Model predictive control; FPGA; Field controller; Motor servo; Quadratic programming;

D O I：

10.1016/j.conengprac.2012.06.012

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, an integrated hardware and software design method is developed to implement an MPC algorithm on an FPGA chip. This makes it possible to achieve the long-desired goal of extending MPC algorithms to field control so as to deal with constraints effectively. To expedite the numerical procedure of solving quadratic programming (QP) in the MPC algorithm, a QP solver based on embedded chips is designed to exploit the flexibility and efficiency of FPGA chips. With a carefully devised software architecture, a universal platform is proposed to be facilely deployed to field control applications. To demonstrate the efficacy, a prototype system is built based on a Xilinx FPGA chip. It is then applied to a motor servo tracking control system and achieves satisfactory control performance. (C) 2012 Elsevier Ltd. All rights reserved.

引用

页码：1229 / 1235

页数：7

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