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Design and Implementation of Nonlinear PID Controller Based on FPGA
Author(s): 
Pages: 64-67,74
Year: Issue:  9
Journal: Measurement & Control Technology

Keyword:  pump-controlled motor systemnonlinear PIDexponential function;
Abstract: The critical problem of driving force generation technology is how to realize the constant output speed of hydraulic variation speed pump-controlled motor system.The output speed of hydraulic variation speed pump-controlled motor system composed of variable displacement pump and constant displacement motor presents nonlinear wave.A nonlinear PID control algorithm whose parameter is an exponential function basing speed deviation and deviation rate,is proposed to realize its constant output speed.In fact,the exponential function is a new nonlinear function with self-correcting,which can reflect the change rule of PID controller parameters.The hardware completion of this algorithm is accomplished based on FPGA and the constant speed output control system of pump-controlled motor is designed by "FPGA + SOPC".Experiment results demonstrate that the largest speed fluctuation of pump-controlled motor system is 80 r/min,the largest response time of system is no more than 2.8 s,the instantaneous overshoot is less than 3.5%,and the control performance is stable with load mutation.These indexes satisfy the Ⅲ type of state power generation requirement.
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