Title :
Semi-automatic implementation of control algorithms in ASIC/FPGA
Author :
Petko, Maciej ; Karpiel, Grzegorz
Author_Institution :
Dept. of Robotics & Machine Dynamics, AGH Univ. of Sci. & Technol., Krakow, Poland
Abstract :
In the paper, a procedure of semi-automatic hardware implementation of control algorithms is presented. Important role in this procedure plays generator of ASIC/FPGA synthesisable code from Simulink model. Virtual prototyping of entire mechatronic system is possible, including bit and cycle-accurate simulation of hardware-implemented controller in Simulink. As a case study, nonlinear PID control of prismatic robot link with friction is described.
Keywords :
application specific integrated circuits; circuit simulation; control system analysis computing; field programmable gate arrays; robots; simulation languages; three-term control; virtual prototyping; ASIC; FPGA; Simulink model; application specific integrated circuits; field programmable gate arrays; friction; hardware implementation; hardware implemented controller; mechatronic system; nonlinear PID control; prismatic robot link; semi-automatic implementation; synthesisable code; virtual prototyping; Application specific integrated circuits; Automatic control; Control systems; Costs; Field programmable gate arrays; Friction; Hardware; Mechatronics; Robots; Virtual prototyping;
Conference_Titel :
Emerging Technologies and Factory Automation, 2003. Proceedings. ETFA '03. IEEE Conference
Print_ISBN :
0-7803-7937-3
DOI :
10.1109/ETFA.2003.1247738
