FPGA tabanlı otomatik kontrol sistemleri geliştirme

Abstract

In this thesis, controller design is studied on a Field Programmable Gate Array (FPGA), which has the capabilities of reprogrammability and parallel processing. The PID and SMC have been chosen as controllers in this study because many control studies are based on PID for years and the SMC is known as a robust control method. In this study, the PID and SMC have been applied on a cylindrical robot manipulator (RPP) whose nominal dynamic equation is known. To accomplish this, Matlab Xilinx System Generator toolbox plays an important role in the control design on an FPGA device. In this thesis, FPGA-based PD and SMC controllers are designed by using Matlab Xilinx System Generator tool for the chosen robot system. Also, these results have been compared with those generated in Matlab/Simulink. Xilinx Artix-7 XC7A100T FPGA is selected as target model and Vivado 2014.4 software is utilized for synthesis. The tracking performances of the presented control schemes, implemented in Matlab/Simulink and implemented on the FPGA, are compared. Robustness and good trajectory tracking the performance of the system on FPGA are demonstrated.