FPGA Implementation of High-Speed Fuzzy Control Algorithm for DC Motor Position Control

• Main Authors: Hsiao-Ping Wang, 王孝平
• Other Authors: Chiang-Ju chien
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/80713732098385516981

碩士 === 華梵大學 === 電子工程學系碩士班 === 97 === Abstract In this thesis, a fuzzy controller which is implemented in an FPGA chip is used for the position control of DC motor. The digital circuit design for fuzzy controllers was widely studied in the literature with many applications. Compared with the existing works, this thesis will focus on the design issue of circuit operation speed and would like to realize a high speed fuzzy controller. To achieve this objective, we use the technique of parallel architecture, direct computation and combinational circuit for the design of controller. In order to simplify the operation of input firing, we adopt the triangular membership function as the fuzzy sets for antecedent part. Only those triggered fuzzy rules are used to calculate the firing strength when dealing with the fuzzy inference. For the consequent part of the fuzzy rule, the design parameters are stored as a ROM TABLE so that it can be easily achieved for fuzzy inference. Finally, the center average defuzzifier is used to construct the defuzzification. As the divider is the most important part of defuzzification, a special divider circuit structure is proposed so that only one clock computation time is required for the operation of division. In order to demonstrate the correctness and efficiency of the proposed fuzzy control circuit, we combine the fuzzy controller with feedback circuit, comparison circuit as well as driving circuit and implement the whole controller in a Xilinx spartan3 FPGA chip. The digital fuzzy controller is applied to the position tracking control of DC motors. According to the simulation and experimental results, we show that the presented fuzzy control circuit is feasible. Keywords：FPGA, fuzzy control, DC motor