Sem stauffer FPGA stands for Field Programmable Gate Arrays
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Sem stauffer FPGA stands for Field Programmable Gate Arrays
Yves Stauffer Semester Project June 2004EPFL - ASL8th semester project summary (12 hours week)38149Analog PI I) module} m Stauffer, MicroengineeringAs Sem stauffer FPGA stands for Field Programmable Gate Arrays ssistant I: Samir BouơbdaỉỉahAssistant 2 : Daniel BnrnierProfessor:Roland SiegyxartFlying robots are an increasing center of interest. In order to achieve success in this novel domain control has to be perfectly mastered. In this context the ASL wanted to develop a fully analog motor PID (Proportion Sem stauffer FPGA stands for Field Programmable Gate Arrays al Integral Derivative) controller. Initially FPAA was supposed to be used, but it turned out that this fairly recent technology was not yet ready forSem stauffer FPGA stands for Field Programmable Gate Arrays
such challenging tasks.The chosen design is composed of two independent modulesCommand module:Is receiving a digital (I2C) speed command and outputs Yves Stauffer Semester Project June 2004EPFL - ASL8th semester project summary (12 hours week)38149Analog PI I) module} m Stauffer, MicroengineeringAs Sem stauffer FPGA stands for Field Programmable Gate Arrays ed later to create the PWNI Finally, it is able to drive four different PID modulesPIP module:Is performing the PID control, the PWM generation and the motor powering. Then it also reads and filters the motor's speed.Note that the two modules have been built in a way that all the values (Kp4,d. the Sem stauffer FPGA stands for Field Programmable Gate Arrays filter gain. ...) can be changed and tuned easily. Furthermore there is a possibility to work in open-loop as well And one can also operate the H-bndgSem stauffer FPGA stands for Field Programmable Gate Arrays
e (used to drive the motor) in two different modes. In one mode the possibility of reversing the motor's direction of rotation is disabled (i.e. only Yves Stauffer Semester Project June 2004EPFL - ASL8th semester project summary (12 hours week)38149Analog PI I) module} m Stauffer, MicroengineeringAs Sem stauffer FPGA stands for Field Programmable Gate Arrays response (right)The left part of figure 1 is the open-loop response The motor is commanded to go from 0 rpm to 3500 rpm. The step signal is the command and the curve is the motors speed converted in equivalent voltage. Observe the steady state error.The right part of figure 1 is the same experiment Sem stauffer FPGA stands for Field Programmable Gate Arrays performed in closed loop with "optimal** PID values. Observe that the steady-state goes to zero, however the rise time is slightly the sameSimulationSem stauffer FPGA stands for Field Programmable Gate Arrays
s of both cases were done, and exactly the same curves were obtained Thus the command module and PID module are working correctly.Conclusion:It was shYves Stauffer Semester Project June 2004EPFL - ASL8th semester project summary (12 hours week)38149Analog PI I) module} m Stauffer, MicroengineeringAs Sem stauffer FPGA stands for Field Programmable Gate Arrays module1June 2W4Yves StaufferSemester ProjectTable of content1INTRODUCTION......................................................................71.1My project-----------------------------------------------------------------------71.2lloss (bis report is organized13 PĨD control: short overview 81.41 P Sem stauffer FPGA stands for Field Programmable Gate Arrays AA2THE DESIGN......................................................................112.1Goals 112.2P1D and FPAA?......................................Sem stauffer FPGA stands for Field Programmable Gate Arrays
............................1123 The chosen solution 12Yves Stauffer Semester Project June 2004EPFL - ASL8th semester project summary (12 hours week)38149Analog PI I) module} m Stauffer, MicroengineeringAsYves Stauffer Semester Project June 2004EPFL - ASL8th semester project summary (12 hours week)38149Analog PI I) module} m Stauffer, MicroengineeringAsGọi ngay
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