| Summary: | 碩士 === 國立交通大學 === 控制工程系 === 84 === The object of this thesis is to build the CMAC controller with
parallel computing capability via FPGA chip. This CMAC control
system combines parallelly the tranditional PD controller and
the CMAC contoller. We use the CMAC controller to improve
existing nonlinear control systems. In this paper, we use SIMD
computation architecture and the FPGA chips to solve the problem
in the simultaneous fetch and store of the data.The CMAC
controller designed has the ability to fetch or store two data
simultaneously. First, we transform the generalition algorithm
proposed by D.Ellision into physical circuits. We also determine
the specifications and parameters the circuits. Then we
implement CMAC by three FPGA chips and six 32k×8 SRAMs. The
FPGA chips are for the computation of the CMAC neural network.
The SRAMs store the weights of the CMAC neural network.
Secondly, we implement the PD controller by 8051 single-chip
computer. Then, we integrate the PD controller,the CMAC
controller,the HCTL-2016 and the AD7541A to construct the
overall CMAC control system. Finally, we apply the CMAC control
system to control the DC servomotor to verify our hardware and
software design .
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