论文标题
高加壁模糊pi控制器硬件的提案
Proposal of a Takagi-Sugeno Fuzzy-PI Controller Hardware
论文作者
论文摘要
这项工作为现场可编程门阵列（FPGA）上的智能控制系统提供了专用硬件。智能系统被表示为高加木烟雾fuzzy-pi控制器。该实现使用与混合位格式方案（定点和其他浮点）相关的完全并行策略。提出了两种硬件设计；第一个使用单个时钟周期处理体系结构，另一个使用管道方案。通过使用机器人操纵器的非线性控制系统模拟测试了位精度。实施硬件的区域，吞吐量和动态功耗用于验证和比较该提案的结果。结果得出的结果允许该提案硬件可以在具有高通量，低功率和超低延迟限制的多种应用中使用，例如机器人操纵器的传送，触觉互联网，工业4.0的工业自动化等。
This work proposes dedicated hardware for an intelligent control system on Field Programmable Gate Array (FPGA). The intelligent system is represented as Takagi-Sugeno Fuzzy-PI controller. The implementation uses a fully parallel strategy associated with a hybrid bit format scheme (fixed-point and other floating-point). Two hardware designs are proposed; the first one uses a single clock cycle processing architecture, and the other uses a pipeline scheme. The bit accuracy was tested by simulation with a non linear control system of a robotic manipulator. The area, throughput, and dynamic power consumption of the implemented hardware are used to validate and compare the results of this proposal. The results achieved allow that the proposal hardware can use in several applications with high-throughput, low-power and ultra-low-latency restrictions such as teleportation of robot manipulators, tactile internet, industrial automation in industry 4.0, and others.
