Design And Application Of FPGA Based Predictive Controller

Predictive control is a class of optimization control algorithms which predicts the future outputs by using a plant model. This algorithm can explicitly deal with constrained multi-input, multi-output control problems with good robustness and low requirement on model precision, and therefore received wide attention. In recent years, predictive control applications continue to expand. To meet the requirements such as low-cost, small size, and real-time, embedded predictive controller has become a new research hotspot.FPGA technology is a rapid growing embedded solution, whose functionality is achieved by logic combinations. It absorbs the advantages of traditional software and hardware solutions, and has more flexibility. The user may optimize processor architecture according to the characteristics of specific applications, to achieve optimal performance. FPGA technology is widely used in image and signal processing fields. In this thesis, the features of FPGA system are combined with predictive control, in order to design an embedded predictive controller with limited resources, which also meets real application requirements.This thesis focuses on design and application of predictive control on FPGA, including the following aspects:1) FPGA based predictive controller hardware design. Design hardware modules to improve operational performance by utilizing the characteristics of FPGA systems, including hardware floating-point matrix arithmetic units and the equality quadratic programming solver; analyze the performance improvement brought by the E-QP solver; and provide brief solutions for further enhancement.2) Field support software for FPGA based predictive controller. Design a field support software for FPGA-based predictive controller with parameter simulation and update features to solve the difficulties in finding the optimal parameters and downloading parameters to controller in field application environment. This software can show the control effect of the parameters intuitively, and easily download parameters to field controllers.3) Applications of FPGA based predictive controller. Introduce the embedded predictive controller to motor tracking system and reverse-osmosis desalination system, adjust and optimize the controller according to the specific application environment. The experiment results reveal the adventages of FPGA based predictive controller comparing to traditional controllers, displaying a broad prospect of embedded predictive controller.