الفهرس 
BACKGROUND AND LITERATURE REVIEWOnly 14 pages are availabe for public view
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Abstract
The enormous advancement in modern techniques of embedded control system has led to a massive change in most of scientific and practical fields. Whereas the applications are extended depend on intelligent control systems.
Currently, many intelligent control system applications are implemented on general-purpose processors such as Pentiums. In some cases, applications are implemented on digital signal processors (DSPs), and in extreme cases (when economics permit) applications can be implemented in application-specific integrated circuits (ASICs). With the advent of FPGA, it has become an alternative to the implementation of intelligent control system on ASIC as it provides speed comparable to an ASIC and is easily reconfigurable. Since in FPGA, Hardware design techniques such as parallelism and pipelining techniques are supported, also FPGA minimizes the time-to-market, cost, enables rapid prototyping of complex algorithms and simplifies debugging and verification. FPGAs also provide a compromise between the special-purpose ASIC hardware and general purpose processors. Therefore, FPGAs are an ideal choice for implementation of real time intelligent control system.
The DC motors are used in various applications such as Industries, Robotics etc. DC drives, because of their simplicity, ease of application, reliability and favorable cost have long been a backbone of industrial applications. DC drives are less complex with a single power conversion from AC to DC. DC motors have a long tradition of use as adjustable speed machines and a wide range of options have evolved for this purpose. In these applications, the motor should be precisely
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controlled to give the desired performance. Many varieties of control schemes such as proportional integral (PI), fuzzy logic controller (FLC) and adaptive fuzzy logic control (AFLC) have been developed for speed control of DC motors.
AFLC requires many computations. Hence, implementations of this highly complex control algorithm depend on the personal computer systems in most studies. The major goal of this research is to suggest an improved AFLC to reduce the computational complexity of different sets of an AFLC algorithm. FPGAs provide a possible solution to this issue. Embedded system can now be developed in a simple way, allowing the user to design and hardware reconfigurable by using software (code design program) in one chip of the FPGA. Code design programs which increasing the programmable, flexibility of the designed digital system to reduce the development time and to enhance the system performance.
Design and Implement of the Intelligent Controllers on FPGA is done to be suitable to control the speed of DC motor system. Trying to benefit from the parallelism and pipelining of FPGA and in the same time trying to reduce the computational complexity and increase the speed of the computation as soon as possible. The work presented focuses on the key issues of implementing an embedded control system on FPGA. In this thesis, the work described here throws light on the various key issues concerned with designing and implementing an intelligent controller on an FPGA like:
Reducing the computational complexity,
Increasing the speed of computation and
Reducing the turnaround time for design.
This work is considered the basic structure of the design and implementation of an adaptive controllers for an industrial process control, and highlight on the importance of the usage of FPGA in the industrial process.
The results in this study are proposing in three main topics. First, the whole system is modeled and tested by Real-Time Simulation using LabVIEW control design and simulation. Second the Hardware-in-the-loop real time is tested using LabVIEW program. (i) The computer (PC) is used as a practical model of DC motor which simulated by using LabVIEW.(ii) The controllers are implemented using
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VHDL code (Bit file) and are downloaded into the target FPGA device (Spartan-3E kit) using Xilinx ISE pack 11.1i. Finally, Complete Hardware real time is implemented where both DC motor and controllers are real processed.
Based on the experimental results obtained in this thesis, the performance of this improved controller has been successfully validated with good performance results under different operating conditions.
This thesis is divided into the following chapters:
Chapter 1 gives a general introduction of the field of intelligent control system and FPGA technology. Shows some of literature reviews about FPGA and Intelligent Control. It describes the objectives of this thesis, finally it describes the thesis outlines.
Chapter 2 describes the mathematical model of a separately excited DC motor. Also, a practical model is presented by using the method of system identification technique. The driving circuits of the DC motor are presented.
Chapter 3 discusses the DC motor speed control under traditional control system e.g. Proportional and Integrator (PI) controller and its implementation on FPGA kit, Fuzzy Logic Control (FLC) and Adaptive Fuzzy Logic Control (AFLC) structure and their implementation on FPGA. The described for an improved AFLC performance and DC motor speed control performance. This design is coded in VHDL and Xilinx ISE, which are used for synthesis and implementation of controller on the Spartan-3E FPGA starter kit. It presents the stability of FLC.
Chapter 4 presents a review of literature of Hardware in the Loop (HIL) systems.
It consists of the advantages of a HIL. This chapter also includes LabVIEW as a graphical program presentation. It presents the overall system of HIL simulation in two parts; one of them is the DC motor which will simulate using LabVIEW. The other part is the real process which representing in the implementation of speed controllers.
Chapter 5 presents the simulation, HIL and complete hardware results of DC motor speed control under different control algorithms that have been discussed in chapter 3. The corresponding practical results are presented and discussed to show their advantages for control speed of DC motor. Chapter 6 concludes the thesis with the suggestion for future works.
Appendix (A) describes the hardware components and the software tools which are used to design and implement the proposed controllers.
Appendix (B) shows the VHDL code architecture of some components of the proposed controllers.