Application of Embedded System to Intelligent Control Based on CMAC-SoPC

Abstract:

This paper presents a control problem of a twin rotor MIMO system (TRMS) based on the system on programmable chip (SoPC). The control system utilizes the cerebellar model articulation controller (CMAC) as a compensator for PID control. The CMAC has fast learning capability that can provide real time compensation for PID controller. In the hardware implementation, HCTL-2016 is used to encode AB phase voltage into digital signals. Verilog HDL is utilized to encode program that can receive and trigger signals from HCTL-2016 on Altera Nios II FPGA. By coding the programmable chip control signal can be passed to the controller. The processed signal is converted by a D/A converter and is transferred into voltage. The command signal is then sent back to the TRMS to control its movement. Experimental results show that the hybrid CMAC-PID can control the TRMS to reach desired position and track specified trajectory efficiently.

• Periodical: Applied Mechanics and Materials (Volumes 58-60)
• Pages: 2251-2256
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.58-60.2251
• Online since: June 2011
• Authors: Jih Gau Juang, Zong Ru Yu
• Keywords: CMAC, Intelligent Control, Neural Network (NN), PID Control, SOPC, Stability Analysis

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