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

被引：57
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：
中国博士后科学基金; 美国国家科学基金会;
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
收藏
页码：1229 / 1235
页数：7
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