Journal
CONTROL ENGINEERING PRACTICE
Volume 20, Issue 11, Pages 1229-1235Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2012.06.012
Keywords
Model predictive control; FPGA; Field controller; Motor servo; Quadratic programming
Funding
- National Science Foundation of China [60934007, 61074060]
- China Postdoctoral Science Foundation Special Support [201003272]
- Innovation Program of Shanghai Municipal Education Commission [11ZZ20, 11CXY08]
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In this paper, an integrated hardware and software design method is developed to implement an MPC algorithm on an FPGA chip. This makes it possible to achieve the long-desired goal of extending MPC algorithms to field control so as to deal with constraints effectively. To expedite the numerical procedure of solving quadratic programming (QP) in the MPC algorithm, a QP solver based on embedded chips is designed to exploit the flexibility and efficiency of FPGA chips. With a carefully devised software architecture, a universal platform is proposed to be facilely deployed to field control applications. To demonstrate the efficacy, a prototype system is built based on a Xilinx FPGA chip. It is then applied to a motor servo tracking control system and achieves satisfactory control performance. (C) 2012 Elsevier Ltd. All rights reserved.
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