Commande par FPGA : de la modélisation à l’implémentation

Abstract

In a world where electro-mechanical systems are more and more complex has come an increasingly need of performances for this kind of applications. The evolution of digital technologies gives a set of components that can meet these requirements. Over the last years the development of electronic computer-aided design softwares has made FPGAs good candidates to enhanced the performances of controllers. Once the model is described mathematically, the development process can start. It is possible to use an high level graphical model to generates HDL code by using the Matlab/Simulink Toolbox HDL Coder. First a classical PID controller is developped. Then a modern control technique is designed. FPGAs’computational ability is used to perform the required matrix multiplications. We also propose the model-based design as an other modeling approach. The model-based design methodology as well as the development of a reusable and flexible components’ library give models that can be both simulated and synthetized. A PID controller with distributed arithmetic gives great performances and presents a time to market equivalent to xPC Target for instance. The use of distributed arithmetic in the state space context has shown its limits. One reason for that result is that the system use is not « computational-friendly ». Also it has been shown that the resolution of converters has a great impact on the system stability and more particularly on the states estimation. Finally a library has been developped that enables the end-user to focus on the system level design. The massive use of flexible and reusable components associated with model-based design reduces significantly the time to market.

Date	6 Jun 2012
Original language	French
Awarding Institution	École de technologie supérieure
Supervisor	Christian Belleau (Supervisor)