SoPC Based Motor Controller Design Using New Optimal Output Feedback Variable Structure Control Theory
莊明軒、蔡耀文
E-mail: [email protected]
ABSTRACT
The system design on a programmable chip (SoPC) based on variable structure control (VSC) has already finished in this research. A new design technique of the optimal switching surface for variable structure systems is proposed. The optimal switching surface design technique guarantees that the system behavior in the sliding mode has asymptotical stability and good performance. A modified output feedback variable structure controller is given to assure the existence of the sliding mode. The state is not all available and no estimated state is required. We use the Complex Programmable Logic Device (CPLD) to realize these new variable structure controllers. Because of the mature development and easy acquirability of CPLD, we digitize this controller and develop it the Altera CPLD platform. The peripheral circuit and the controller is established in our new system on a programmable chip. It can shortens the time for manufacturing electronic circuits, and can also achieves the goal of a fast prototype. The variable structure controller will be realized by using this new SoPC defined control program. This VSC will be applied to the control of the motor.
The controllers have low cost and good performance. In additional, it can also reduce complex of the system.
Keywords : System on a programmable chip, Optimal switching surface, Variable structure systems, Complex programmable logic device
Table of Contents
COVER AUTHORIZATION LETTERS………iii ABSTRACT (CHINESE)………
……… v ABSTRACT (ENGLISH)………vi
ACKNOWLEDGMENT……… vii TABLE OF CONTENTS………
……… viii LIST OF FIGURES………x LIST OF TABLES………xiii ABBREVIATIONS AND SYMBOLS………
………xiv Chapter I INTRODUTION 1.1 Motivation………1 1.2 Literature Review……… 2 1.3 Organization of This Thesis………
……… 3 Chapter II NEW OPTIMAL SWITCHING SURFACES DESIGN AND OUTPUT FEEDBACK VARIABLE STRUCTURE CONTROLLER 2.1 An Optimal Switching Surface Design of Output Feedback Sliding Mode Control for Uncertain Variable Structure Systems……… 5 2.2 The System Model Description………5 2.3 Output Feedback Variable Structure Controller……… 6 2.4 Optimal Switching Surface Design……… 11 Chapter III SOPC BASED MOTOR CONTROLLER REALIZED ON CPLD HARDWARE PLATFORM 3.1 Introduce to CPLD………14 3.2 Introduce to Very High Speed Integrated Circuit Hardware Description Language (VHDL)………14 3.3 CPU Design……… 15 3.4 New CPU Instruction Sets and Functions………
…… 16 3.5 Description of the Subsystems………19 3.6 CPU Simulation………
……… 26 3.7 Introduce to Pulse Width Modulation (PWM)………27 3.8 PWM Circuit Simulation……
……… 31 Chapter IV SOPC BASED MOTOR CONTROLLER EXPERIMENT RESULTS 4.1 Realization of the Digital Controller………33 4.2 Speed Control Simulation………
… 35 4.3 Position Control Simulation………41 4.4 Experimental Hardware Circuit………
………48 4.5 Experimental Results of Speed Control………50 4.6 Experimental Results of Position Control……… 54 Chapter CONCLUTIONS………58 REFERENCE………59
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