http://scholars.ntou.edu.tw/handle/123456789/18070
標題: | Application of Embedded System to Intelligent Control Based on CMAC-SoPC | 作者: | Jih-Gau Juang Zong-Ru Yu |
公開日期: | 六月-2011 | 卷: | 58-60 | 起(迄)頁: | 2251-2256 | 來源出版物: | Applied Mechanics and Materials | 摘要: | This paper presents a control problem of a twin rotor MIMO system (TRMS) based on the system on programmable chip (SoPC). The control system utilizes the cerebellar model articulation controller (CMAC) as a compensator for PID control. The CMAC has fast learning capability that can provide real time compensation for PID controller. In the hardware implementation, HCTL-2016 is used to encode AB phase voltage into digital signals. Verilog HDL is utilized to encode program that can receive and trigger signals from HCTL-2016 on Altera Nios II FPGA. By coding the programmable chip control signal can be passed to the controller. The processed signal is converted by a D/A converter and is transferred into voltage. The command signal is then sent back to the TRMS to control its movement. Experimental results show that the hybrid CMAC-PID can control the TRMS to reach desired position and track specified trajectory efficiently. |
URI: | http://scholars.ntou.edu.tw/handle/123456789/18070 | ISBN: | 1662-7482 | DOI: | DOI: 10.4028/www.scientific.net/AMM.58-60.2251 |
顯示於: | 通訊與導航工程學系 |
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