Real time TRMS control using FPGA and hybrid PID vontroller

This study uses the Altera FPGA Cyclone II research and development circuit board as a system on programmable chip (SOPC) for a twin rotor MIMO system (TRMS). Although the frequency can be matched by division process but mismatch cases happened frequently. The decoder IC-HCTL-2016 and VERILOG HDL are applied to implement controller on the FPGA and solve the mismatch frequency problem. The processes are based on TRMS HEDS-9100 optical incremental encoder and through the decoding of the FPGA combined with SOPC. PID control is used in controller design. Genetic algorithms (GA) are utilized to search optimal PID parameters for positioning and tracking control of the TRMS. Fuzzy controller is used as compensator to improve output performance and reduce the total error. The proposed control scheme can perform set-point control and trajectory tracking control successfully.