Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
Hardware Implementation of Linear Unconstrained Model Predictive Control Using FPGA
Submission Author:
Alceu Bernardes Castanheira de Farias , DF
Co-Authors:
Alceu Bernardes Castanheira de Farias, André Murilo, Renato Lopes
Presenter: Alceu Bernardes Castanheira de Farias
doi://10.26678/ABCM.COBEM2019.COB2019-1003
Abstract
Due to the impact that Model Predictive Control (MPC) has caused in both industry and academia, mainly motivated by its capability of handling the constraints of a control problem in a systematic way, many studies have been held recently in order to improve and accelerate MPC controllers, making it possible to apply them to systems with faster dynamics and higher sampling periods. One of these solutions, proposed in the literature of embedded control systems, corresponds to the usage of Field Programmable Gate Arrays (FPGAs), logic devices that contain reconfigurable hardware and are capable of accelerating algorithms by implementing them in the most parallel way possible. Regarding these informations, this work proposes the implementation of a linear unconstrained MPC controller embedded in FPGA, the first step needed for the implementation of the linear constrained MPC controller, using manually developed (RTL implementation) algorithms in VHDL and floating-point arithmetic units, and thus approaching a different methodology for developing such controllers, that usually are implemented using automatic generation tools (High Level Synthesis or HLS) and fixed-point arithmetic modules.
Keywords
Control Systems, Embedded Systems, Model Predictive Control, FPGAs
