Control System in Open-Source FPGA for a Self-Balancing Robot

Cerezo, Juan Ordóñez; Castillo, Encarnación; Plaza, José María

doi:10.3390/electronics8020198

Cited by 16 publications

(13 citation statements)

References 17 publications

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“…In addition, such methodology was elaborated, which performs on-line auto-tuning of the servo system with vibration monitoring. FPGA Spartan-3 Xilinx ISE-Xilinx -- [3] FPGA Altera MATLAB/Simulink -- [5] FPGA ICE40hx4k Lattice Open tool Empiric - [11] Raspberry Pi-FPGA ZYNQ 7 Xilinx Vivado-Xilinx -- [14] FPGA Spartan-3 Xilinx LabVIEW NI Empiric 0.1 ms [15] PC-Arduino Arduino MATLAB/Simulink pole assignment 60 ms [16] PC-Launchpad-Arduino Texas Instruments --50 ms [17] FPGA Max10 Altera NiosIIsoft -0.2 ms [26] Raspberry Pi-FPGA ZYNQ 7 Xilinx Vivado-Xilinx Fuzzy 5 ms…”

Section: Discussionmentioning

confidence: 99%

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A New Methodology for a Retrofitted Self-tuned Controller with Open-Source FPGA

Cruz-Miguel

García-Martínez

Rodríguez‐Reséndiz

et al. 2020

Sensors

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Servo systems are feedback control systems characterized by position, speed, and/or acceleration outputs. Nowadays, industrial advances make the electronic stages in these systems obsolete compared to the mechanical elements, which generates a recurring problem in technological, commercial and industrial applications. This article presents a methodology for the development of an open-architecture controller that is based on reconfigurable hardware under the open source concept for servo applications. The most outstanding contribution of this paper is the implementation of a Genetic Algorithm for online self tuning with a focus on both high-quality servo control and reduction of vibrations during the positioning of a linear motion system. The proposed techniques have been validated on a real platform and form a novel, effective approach as compared to the conventional tuning methods that employ empirical or analytical solutions and cannot improve their parameter set. The controller was elaborated from the Graphical User Interface to the logical implementation while using free tools. This approach also allows for modification and updates to be made easily, thereby reducing the susceptibility to obsolescence. A comparison of the logical implementation with the manufacturer software was also conducted in order to test the performance of free tools in FPGAs. The Graphical User Interface developed in Python presents features, such as speed profiling, controller auto-tuning, measurement of main parameters, and monitoring of servo system vibrations.

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Section: Discussionmentioning

confidence: 99%

“…For this project, it is proposed to use the DSP resources of the FPGA ICE40UP5K. The implementation of the PID module in FPGA is obtained according to Section 3, see Equation (5). Therefore, 2 registers are used at the input of the error to make the delays of this signal.…”

Section: Reconfigurable Hardware Descriptionmentioning

confidence: 99%

A New Methodology for a Retrofitted Self-tuned Controller with Open-Source FPGA

Cruz-Miguel

García-Martínez

Rodríguez‐Reséndiz

et al. 2020

Sensors

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“…T s a k (11) We can evaluate its maximum absolute value considering the bounded interval 0 ≤ δt k < T s as:…”

Section: The Principle Of the Mt Methodsmentioning

confidence: 99%

“…They offer possibilities for integrating complex hardware systems and their interfaces into a single FPGA chip. FPGA devices have reached a high maturity level in terms of performance, power consumption, and cost, which makes them suitable for different application fields [2] that involve sensor systems [3,4], control systems [5,6], haptic interfaces [7,8], robotics [9][10][11], and other advanced electronic devices for signal processing and communications, e.g., [12][13][14][15]. They can also be useful for advanced velocity estimation methods, since they can easily be designed for custom signal conditioning and provide fast dedicated digital logic [16].…”

Section: Introductionmentioning

confidence: 99%

The Improved Division-Less MT-Type Velocity Estimation Algorithm for Low-Cost FPGAs

Hace

2019

Electronics

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Advanced motion control applications require smooth and highly accurate high-bandwidth velocity feedback, which is usually provided by an incremental encoder. Furthermore, high sampling rates are also demanded in order to achieve cutting-edge system performance. Such control system performance with high accuracy can be achieved easily by FPGA-based controllers. On the other hand, the well-known MT method for velocity estimation has been well proven in practice. However, its complexity, which is related to the inherent arithmetic division involved in the calculus part of the method, prevents its holistic implementation as a single-chip solution on small-size low-cost FPGAs that are suitable for practical optimized control systems. In order to overcome this obstacle, we proposed a division-less MT-type algorithm that consumes only minimal FPGA resources, which makes it proper for modern cost-optimized FPGAs. In this paper, we present new results. The recursive discrete algorithm has been further optimized, in order to improve the accuracy of the velocity estimation. The novel algorithm has also been implemented on the experimental FPGA board, and validated by practical experiments. The enhanced algorithm design resulted in improved practical performance.

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“…The statement takes into account the advantages of using the FPGA as a controller. For example, FPGAs are flexible devices that have the ability of reconfigurable parallel processing [4,5] and, it is precisely the aforementioned aspect that allows the realization of a system of logical operations in parallel, which considerably reduces the computation time [6]. Finally, the FPGA has a comparatively simpler design cycle to be managed and requires less manual intervention [7,8].…”

Section: Introductionmentioning

confidence: 99%

FPGA-Based Architecture for Sensing Power Consumption on Parabolic and Trapezoidal Motion Profiles

et al. 2020

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The objective of this work is to design and implement a scalable Field-Programmable Gate Array (FPGA)-based motion control system for DC servo motors using a parabolic velocity profile for industrial applications. The implementation in this device allows the obtaining of a fast, flexible and low-cost system. The system is divided into control, communication and closed-loop coupling. The work also addresses a comparative analysis of the most used profiles, the trapezoidal and parabolic. The comparison is made considering the energy consumption of both profiles. As a consequence of the comparison made, the velocity profile can be selected to reduce production costs by saving energy and reducing wear on machinery. The discrete models of the velocity profiles are obtained through numerical methods that permit the control blocks to be implemented in an FPGA. To reduce maintenance costs and energy consumption in servo mechanisms, the derivation of the acceleration or jerk of the motor is shown. A Graphic User Interface (GUI) is presented, which allows monitoring the position, velocity and angular acceleration of the motor shaft. In addition, the developed interface supports modification of parameters of the final position and maximum velocity in the motor. The delivered current is compared, evaluating its decrease using a parabolic velocity profile. Finally, the experimental results are illustrated.

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Control System in Open-Source FPGA for a Self-Balancing Robot

Cited by 16 publications

References 17 publications

A New Methodology for a Retrofitted Self-tuned Controller with Open-Source FPGA

A New Methodology for a Retrofitted Self-tuned Controller with Open-Source FPGA

The Improved Division-Less MT-Type Velocity Estimation Algorithm for Low-Cost FPGAs

FPGA-Based Architecture for Sensing Power Consumption on Parabolic and Trapezoidal Motion Profiles

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