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FPGA based modified fuzzy PID controller for pitch angle of bench-top helicopter
Other Title(s)
استخدام لوحة FPGA لتصميم منظومة سيطرة من نوع الكسب-التكاملي-التفاضلي المضبب المعدل للسيطرة على زاوية انقلاب الطائرة المروحية
Author
al-Dayr, Ammar Abd al-Shahid Abd al-Hamid
Source
The Iraqi Journal of Electrical and Electronic Engineering
Issue
Vol. 8, Issue 1 (30 Jun. 2012), pp.12-24, 13 p.
Publisher
University of Basrah College of Engineering
Publication Date
2012-06-30
Country of Publication
Iraq
No. of Pages
13
Main Subjects
Topics
Abstract AR
في هذا البحث تم تقليل عدد القواعد المستخدمة لبناء منظومة الكسب-التكاملي-التفاضلي المضبب و ذلك من خلال بناء منظومة كسب-تفاضلي مضبب على حدة و بناء منظومة الكسب-التكاملي المضبب على حدة ثم ربط المنظومتين معا.
كما تم استبدال منظومة الكسب-التكاملي المضبب بكسب تفاضلي مضبب و إضافة مركم عند الإخراج لتقليل تعقيد المنظومة الكلية.
تم بناء المنظومة المقترحة باستخدام لوحة FPGA و تم اختبارها للسيطرة على زاوية انقلاب الطائرة المروحية.
أثبتت النتائج المستحصلة أن استخدام منظومة السيطرة من نوع الكسب-التكاملي-التفاضلي المضبب المعدل يكون فعلا مقارنة مع استخدام الكسب-التكاملي-التفاضلي التقليدي.
كما تم مقارنة النتائج المستحصلة عملا مع النتائج النظرية وقد أثبتت تطابقا ملحوظا في كلا الحالتين.
Abstract EN
Fuzzy PID controller design is still a complex task due to the involvement of a large number of parameters in defining the fuzzy rule base.
To reduce the huge number of fuzzy rules required in the normal design for fuzzy PID controller, the fuzzy PID controller is represented as Proportional-Derivative Fuzzy (PDF) controller and Proportional-Integral Fuzzy (PIF) controller connected in parallel through a summer.
The PIF controller design has been simplified by replacing the PIF controller by PDF controller with accumulating output.
In this paper, the modified Fuzzy PID controller design for bench-top helicopter has been presented.
The proposed Fuzzy PID controller has been described using Very High Speed Integrated Circuit Hardware Description Language (VHDL) and implemented using the Field Programmable Gate Array (FPGA) board.
The bench-top helicopter has been used to test the proposed controller.
The results have been compared with the conventional PID controller and Internal Model Control Tuned PID (IMC-PID) Controller.
Simulation results show that the modified Fuzzy PID controller produces superior control performance than the other two controllers in handling the nonlinearity of the helicopter system.
The output signal from the FPGA board is compared with the output of the modified Fuzzy PID controller to show that the FPGA board works like the Fuzzy PID controller.
The result shows that the plant responses with the FPGA board are much similar to the plant responses when using simulation software based controller
American Psychological Association (APA)
al-Dayr, Ammar Abd al-Shahid Abd al-Hamid. 2012. FPGA based modified fuzzy PID controller for pitch angle of bench-top helicopter. The Iraqi Journal of Electrical and Electronic Engineering،Vol. 8, no. 1, pp.12-24.
https://search.emarefa.net/detail/BIM-342698
Modern Language Association (MLA)
al-Dayr, Ammar Abd al-Shahid Abd al-Hamid. FPGA based modified fuzzy PID controller for pitch angle of bench-top helicopter. The Iraqi Journal of Electrical and Electronic Engineering Vol. 8, no. 1 (2012), pp.12-24.
https://search.emarefa.net/detail/BIM-342698
American Medical Association (AMA)
al-Dayr, Ammar Abd al-Shahid Abd al-Hamid. FPGA based modified fuzzy PID controller for pitch angle of bench-top helicopter. The Iraqi Journal of Electrical and Electronic Engineering. 2012. Vol. 8, no. 1, pp.12-24.
https://search.emarefa.net/detail/BIM-342698
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p 23-24
Record ID
BIM-342698