CN101901016A - Programmed temperature-rising controller adopting fuzzy PID for SOPC - Google Patents
Programmed temperature-rising controller adopting fuzzy PID for SOPC Download PDFInfo
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Abstract
The invention relates to a fuzzy PID programmed temperature-rising controller for an SOPC, which belongs to the field of chemical process control of catalysis, energy and the like. The controller is characterized in that a Nios II soft-core processor is combined with an FPGA IP core for realizing the fuzzy PID controller, wherein the FPGA IP core is used for realizing the fuzzy PID control, and the Nios II soft-core processor is used for realizing the programmed temperature-rising control. The FPGA IP core adopts the Verilog HDL description fuzzy PID algorithm and combines the fuzzy rules with the PID algorithm. The programmed temperature-rising control of the Nios II soft-core processor calls the IP core of the fuzzy PID controller to obtain output control quantity, and output to an execution part which is a solid relay through PWM control. The input of the controller uses three keys to set the section temperature and section time, 1 bit in a 7-bit dip switch is used for controlling the working state of the controller, and the other 6 bits are used for inputting the section number, thereby providing a special interface and facilitating the constitution of a control device. The interface of the controller is simple, and the control performance is in line with engineering requirements, thereby being applicable to control occasions with fast temperature control and programmed temperature rising, and being easy to storing and processing a large amount of data.
Description
Technical field
The present invention relates to a kind of SOPC (System On Programmable Chip, programmable system on chip) programmed temperature-rising controller, be particularly related to programmed temperature-rising controller based on the SOPC fuzzy control of FPGA IP kernel (Field Programmable Gate Array, field programmable gate array).
Background technology
Temperature programme is applied in catalysis derived energy chemical control field usually, based on the SOPC temperature programme control system block diagram of FPGA IP kernel as shown in Figure 1.The controlling object temperature range of temperature programme is wider, usually spend thousands of degree from tens, sensor of the present invention adopts K type thermopair, the temperature range of measuring is 0～1300 ℃, corresponding normalization voltage range is 1～5V, 12 analog to digital conversion (A/DC) are converted to digital quantity with voltage analog, as the input of controller.The PWM of controller (PulseWidth Modulation, width modulation) control output is used for the break-make of pilot relay, and the relay other end connects the 220V AC power and is used to control the intensification object.7 toggle switchs and 3 buttons are used for the State Control and the parameter setting of programmed temperature-rising controller.The temperature programme control procedure is a plurality of temperature sections that are made of heat up section and constant temperature zone, its controlling object (for example, micro-reactor) feature is that programming rate is fast, generally has hysteresis quality, time variation, characteristics such as non-linear, wants continuous several hrs even hundreds of hour the working time of temperature programme.The controller of FPGA is controlled to be main flow with PID at present, does not find to be applied to the programmed temperature-rising controller of FPGA up to now as yet.6 sections temperature programme control effects of the fuzzy controller of FPGA of the present invention as shown in Figure 2, the intensification non-overshoot of this controller, tracking lag is not more than 8 seconds, steady-state error is zero, there is not the problem that makes program " race flies " because of the mutability interference, the controller travelling speed can rise to more than 50 megahertzes calmly on the fpga chip index, is applicable to be rapidly heated or the control occasion of temperature programme requirement, is easy to mass data storing and processing.
Summary of the invention
The invention provides programmed temperature-rising controller based on a kind of SOPC fuzzy of FPGAIP nuclear.
Technical scheme of the present invention is as follows:
The present invention finishes on FPGA EP2C35F672 sheet, and the programmed temperature-rising controller structure as shown in Figure 3.
This controller comprises FPGAIP nuclear and two major parts of Nios II soft-core processor, wherein FPGAIP nuclear is realized fuzzy control with logical language Verilog HDL, and Nios II soft-core processor realizes that with the C language parameter setting and the IP kernel that need in the temperature programme control call.When Nios II soft-core processor calls this IP kernel, need transmitting control parameters and controlled quentity controlled variable.Wherein controlled variable is two-way, and processor both can be write IP kernel with it, can read the IP kernel related register again and obtain current controlled variable.Two other part is that data acquisition drives and the PWM controlling and driving, and wherein to drive be the data that processor is used for obtaining the Current Temperatures actual measured amount in data acquisition, the PWM controlling and driving is that processor is used for the break-make of pilot relay, thereby controls controlled device.Concrete feature is as follows:
1. realize the FPGAIP nuclear of fuzzy control.The fpga logic language description of this IP kernel is made up of Fuzzy PID and two parts of data communication interface.Wherein control algolithm adopts fuzzy rule to combine with pid algorithm, and data communication interface adopts dedicated bus interface signal and HAL isomery layer to drive the data transmission between the controller controlled variable of realization bottom IP kernel and application layer Nios II processor.Shared 230 logical blocks of fuzzy controller IP kernel.
2. the Nios II soft-core processor of temperature programme control.Temperature programme control needs the warm c of section
i, when section t
i, 3 parameters of temperature hop count n (abbreviation hop count) describe (0＜i≤n) wherein.In multi-segment program intensification control procedure, if when hop count is n, the T.T. of temperature programme control is:
Nios II soft-core processor main task has two, and one is that 3 parameter c are set
i, t
i, n, another is the IP kernel that calls fuzzy control.This processor has two kinds of inputs, and first kind is the switching value input of 7 toggle switchs, wherein 1 bit switch amount (most significant digit S
7) input is used for the switching that temperature programme control operation and parameter are provided with two states, S
6～S
16 bit switch amounts inputs be used to set hop count, its maximum set value is n≤2
6(64 sections), second kind is 3 button input K
100, K
10, K
1, be used for setting the warm c of section
iT during with section
iTwo parameters, the input setup parameter is that this processor is provided with state in parameter and carries out.When this processor is operated in running status, the intensification control program calls the fuzzy controller IP kernel, it is write the temperature measured value of Current Temperatures setting value and current input, read the controlled quentity controlled variable that this IP kernel calculates then, export to the solid-state relay of temperature control executive component by PWM control.These shared 4960 logical blocks in controller compiling back.
Control unit interface of the present invention is succinct, and control performance meets engine request, is applicable to the control occasion of fast temperature control and temperature programme, is easy to mass data storing and processing.
Description of drawings
Fig. 1 is based on the SOPC temperature programme control system synoptic diagram of FPGAIP nuclear.
Fig. 2 programmed temperature-rising controller control effect (6 temperature sections).
Programmed temperature-rising controller structure on Fig. 3 FPGA sheet.
Fig. 4 parameter setting program process flow diagram.
Fig. 5 temperature programme control flow chart.
Embodiment
The FPGAIP nuclear of fuzzy control of the present invention, implementation step is described below:
1. the structure of the FPGAIP of fuzzy control nuclear: the input of the fuzzy control of this IP kernel has 5 controlled variable, is respectively ratio k
p, integration k
i, differential k
d, desired temperature, temperature measured value, output is the controlled quentity controlled variable to Nios II soft-core processor.IP kernel inside is made up of fuzzy control and two parts of data communication interface.
2.IP the fuzzy of nuclear control: utilize logical language Verilog HDL to describe fuzzy reasoning table respectively and preserve filename fuzzy.v and pid control algorithm,,, obtain 3 controlled variable k earlier by searching fuzzy reasoning table at each control cycle
p, k
i, k
dVariable quantity, find the solution by pid algorithm again and draw controlled quentity controlled variable, and be saved in the registers group of parallel organization, carry out the preparation that data are provided when calling this IP kernel for the temperature programme processor.
3. data communication interface: data communication interface is used for data transfer between fuzzy control and Nios II soft-core processor.Nios II soft-core processor provides Avalon bus interface at SOPC Builder, transmit the demand of parameter according to controller, at first data communication interface is selected 8 special-purpose bus interface signals of definition, be clock signal clk, reset signal rst, address signal addr, chip selection signal cs, read control signal read_n, write control signal write_n, reading data signal read_data, write data signal write_data.Then fuzzy control is regarded as the underlying device of a processor, the HAL of programming apparatus (Hardware Abstraction Layer, hardware description layer) code is realized application program and underlying device data transfer.
The Nios II soft-core processor implementation step of temperature programme control of the present invention is described below:
(1) the Nios II soft-core processor duty control of temperature programme control.This processor has the operation and the parameter of temperature programme control that two duties are set.These two duties are by 1 bit switch amount (most significant digit S in 7 toggle switchs
7) input controls realization, when switching value is 1 (S
7Be ON) time, this processor is that parameter is provided with state, is 0 (S
7Be OFF) time, this processor is the running status of temperature programme control.
(2) the parameter setting of Nios II soft-core processor controller.Parameter is provided with process flow diagram as shown in Figure 4.(S when processor is operated in parameter state is set
7Be OFF), in order to simplify circuit, with 3 button K
100, K
10, K
1The warm c of expression section respectively
iT during with section
iHundred, ten, individual position of parameter, the data area that each key assignments is represented is 0～9, and the scope of the temperature value of acquisition is 0～999 ℃, and the scope of time value is 0～999 minute.Processor obtains parameter value by interrupt mode according to the number of times of pressing of each button of input, if represent 3 button K respectively with x, y, z
100, K
10, K
1The number of times of pressing, the computing method that then obtain the input parameter value are xyz=x * 100+y * 10+z.The number of times of pressing is continuously represented this numeral that increases progressively.For example, the warm c of first (i=1) section
1Be 800 ℃, at this moment, press K continuously
100Key 8 times, K
10, K
1Motionless (default value is 0), then processor obtain the section a warm c1 be 8 * 100+0 * 10+0=800 ℃.When temperature section when the i-1 section switches to the i section, stir 6 toggle switchs the binary value of its expression equated with Current Temperatures section i value, represent the preceding paragraph i-1 end of input simultaneously.When processor response button interrupts, read the parameter value c of the binary value of toggle switch setting as present segment i
iAnd t
iPreserve and use.When the State Control toggle switch switched to OFF, then the binary value of 6 toggle switchs was current hop count n, and multi-segment program intensification this moment parameter setting is all over.
(3) temperature programme of Nios II soft-core processor controller control.The temperature programme control flow chart as shown in Figure 5.(S when this processor is operated in the running status of temperature programme control
7Be ON), the temperature measured value that the intensification control program will be read to import at each control cycle calculates heating rate and Current Temperatures expectation value during according to the gentle section of section.When processor calls the fuzzy controller IP kernel by the intensification control program, write the temperature measured value of Current Temperatures setting value and current input, read the controlled quentity controlled variable that IP kernel calculates then, export to the solid-state relay of temperature control execution unit by PWM control.
Claims (1)
1. the programmed temperature-rising controller of SOPC fuzzy control, this controller comprises FPGA IP kernel and two major parts of Nios II soft-core processor, wherein FPGAIP nuclear is realized fuzzy control with logical language Verilog HDL, and Nios II soft-core processor realizes that with the C language parameter setting and the IP kernel that need in the temperature programme control call; When Nios II soft-core processor calls this IP kernel, need transmitting control parameters and controlled quentity controlled variable; Wherein controlled variable is two-way, and processor both can be write IP kernel with it, can read the IP kernel related register again and obtain current controlled variable; Two other part is that data acquisition drives and the PWM controlling and driving, and wherein to drive be the data that processor is used for obtaining the Current Temperatures actual measured amount in data acquisition, and the PWM controlling and driving is that processor is used for the break-make of pilot relay, thereby controls controlled device; It is characterized in that following steps:
The FPGAIP nuclear of fuzzy control:
1) structure of the FPGAIP nuclear of fuzzy control: the input of the fuzzy control of this IP kernel has 5 controlled variable, is respectively ratio k
p, integration k
i, differential k
d, desired temperature, temperature measured value, the controlled quentity controlled variable of exporting to Nios II soft-core processor of the fuzzy control of this IP kernel; IP kernel inside is made up of fuzzy control and two parts of data communication interface;
2) fuzzy of IP kernel control: utilize logical language Verilog HDL to describe fuzzy reasoning table respectively and preserve filename fuzzy.v and pid control algorithm,,, obtain 3 controlled variable k earlier by searching fuzzy reasoning table at each control cycle
p, k
i, k
dVariable quantity, find the solution by pid algorithm again and draw controlled quentity controlled variable, and be saved in the registers group of parallel organization, carry out the preparation that data are provided when calling this IP kernel for the temperature programme processor;
3) data communication interface: data communication interface is used for data transfer between fuzzy control and Nios II soft-core processor; Nios II soft-core processor provides Avalon bus interface at SOPC Builder, transmit the demand of parameter according to controller, at first data communication interface is selected 8 special-purpose bus interface signals of definition, be clock signal clk, reset signal rst, address signal addr, chip selection signal cs, read control signal read_n, write control signal write_n, reading data signal read_data, write data signal write_data; Then fuzzy control is regarded as the underlying device of a processor, the hardware description layer identification code of programming apparatus is realized application program and underlying device data transfer;
The Nios II soft-core processor of temperature programme control:
(1) the Nios II soft-core processor duty control of temperature programme control; This processor has the operation and the parameter of temperature programme control that two duties are set; These two duties are by 1 bit switch amount (most significant digit S in 7 toggle switchs
7) input controls realization, when switching value is 1 (S
7Be ON) time, this processor is that parameter is provided with state, is 0 (S
7Be OFF) time, this processor is the running status of temperature programme control;
(2) the parameter setting of Nios II soft-core processor controller;
(S when processor is operated in parameter state is set
7Be OFF), with 3 button K
100, K
10, K
1The warm c of expression section respectively
iT during with section
iHundred, ten, individual position of parameter, the data area that each key assignments is represented is 0～9, and the scope of the temperature value of acquisition is 0～999 ℃, and the scope of time value is 0～999 minute;
Processor obtains parameter value by interrupt mode according to the number of times of pressing of each button of input, if represent 3 button K respectively with x, y, z
100, K
10, K
1The number of times of pressing, the computing method that then obtain the input parameter value are xyz=x * 100+y * 10+z; The number of times of pressing is continuously represented this numeral that increases progressively; When temperature section when the i-1 section switches to the i section, stir 6 toggle switchs the binary value of its expression equated with Current Temperatures section i value, represent the preceding paragraph i-1 end of input simultaneously; When processor response button interrupts, read the parameter value c of the binary value of toggle switch setting as present segment i
iAnd t
iPreserve and use; When the State Control toggle switch switched to OFF, then the binary value of 6 toggle switchs was current hop count n, and multi-segment program intensification this moment parameter setting is all over;
(3) temperature programme of Nios II soft-core processor controller control; (S when this processor is operated in the running status of temperature programme control
7Be ON), the temperature measured value that the intensification control program will be read to import at each control cycle calculates heating rate and Current Temperatures expectation value during according to the gentle section of section; When processor calls the fuzzy controller IP kernel by the intensification control program, write the temperature measured value of Current Temperatures setting value and current input, read the controlled quentity controlled variable that IP kernel calculates then, export to the solid-state relay of temperature control execution unit by PWM control.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103522526A (en) * | 2013-09-30 | 2014-01-22 | 西安交通大学 | Multi-layer co-extrusion die head intelligent temperature control system and control method thereof |
| CN103603820A (en) * | 2013-11-25 | 2014-02-26 | 浪潮电子信息产业股份有限公司 | Fan control method based on NUMA computer system structure |
| CN104460764A (en) * | 2014-11-28 | 2015-03-25 | 广东工业大学 | Extruder cylinder temperature control method based on pseudo removal control type fuzzy PID |
| CN105595149A (en) * | 2015-12-21 | 2016-05-25 | 江苏新美星包装机械股份有限公司 | Method for controlling sterilization temperature of sterilization machine |
| CN106647597A (en) * | 2016-10-11 | 2017-05-10 | 南京工业大学 | PLC (programmable logic controller) multi-stage temperature control method for fluidized bed catalytic combustion electric heating furnace |
| CN111130523A (en) * | 2019-12-14 | 2020-05-08 | 上海电机学院 | IP core of H bridge drive circuit based on system on chip |
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| WO2009139990A1 (en) * | 2008-05-12 | 2009-11-19 | Ge Fanuc Intelligent Platforms, Inc. | Method and system for a bumpless pid controller switch |
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2010
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103522526A (en) * | 2013-09-30 | 2014-01-22 | 西安交通大学 | Multi-layer co-extrusion die head intelligent temperature control system and control method thereof |
| CN103522526B (en) * | 2013-09-30 | 2016-01-13 | 西安交通大学 | A kind of Multi-layer co-extrusion die head intelligent temperature control system and control method thereof |
| CN103603820A (en) * | 2013-11-25 | 2014-02-26 | 浪潮电子信息产业股份有限公司 | Fan control method based on NUMA computer system structure |
| CN104460764A (en) * | 2014-11-28 | 2015-03-25 | 广东工业大学 | Extruder cylinder temperature control method based on pseudo removal control type fuzzy PID |
| CN105595149A (en) * | 2015-12-21 | 2016-05-25 | 江苏新美星包装机械股份有限公司 | Method for controlling sterilization temperature of sterilization machine |
| CN106647597A (en) * | 2016-10-11 | 2017-05-10 | 南京工业大学 | PLC (programmable logic controller) multi-stage temperature control method for fluidized bed catalytic combustion electric heating furnace |
| CN111130523A (en) * | 2019-12-14 | 2020-05-08 | 上海电机学院 | IP core of H bridge drive circuit based on system on chip |
| CN111130523B (en) * | 2019-12-14 | 2023-08-04 | 上海电机学院 | H bridge drive circuit's IP core based on system on chip |
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Application publication date: 20101201 |