基于 FPGA 的倒立摆模糊 PID 控制器设计实现

在 FPGA 上设计部署模糊自适应 PID 算法，并针对典型的自动控制对象——直线倒立摆完成稳摆控制，以验证该算法的硬件可实现性。在直线倒立摆模型基础上，运用模糊控制理论对 PID 参数进行自适应整定，再根据模糊 PID 处理过程，结合离散 PID 算法，采用半查表加半计算方式，在 Quartus II 及 Modelsim 平台上完成 Verilog HDL 的硬件编程设计与仿真。通过 Simulink 仿真比较可知，模糊自适应 PID 相对于经典 PID 控制的响应性能指标更优，最后基于 EP4CE6E22C8N 芯片，以较少的资源开销实现了控制器设计。基于 FPGA的模糊自适应 PID 控制器能够充分利用该器件特性，凸显模糊自适应 PID 算法优势，实现对倒立摆的实时控制。

The Design of Fuzzy-PID Controller of Inverted Pendulum Based on FPGA

For designing and deploying the self-adaptive fuzzy PID algorithm on FPGA，which can achieve the stable control for the typical automatic control object - linear inverted pendulum to verify the hardware implementation of this algorithm，fuzzy control theory is applied to self-adaptive PID parameter setting to solve the stability control of nonlinear inverted pendulum on the basis of the in? verted pendulum model in this paper. Then，according to the fuzzy PID processing course and the discrete incremental PID algorithm，the hardware programming design and simulation of Verilog HDL are completed by using the method of half-lookup table and half-calculation on Quartus II and Modelsim platform. With the Simulink simulation，the comparison results show that the fuzzy self-adaptive PID is better than the classic PID control in response performance index. Finally，the controller is designed based on EP4CE6E22C8N chip with less cost. The self-adaptive fuzzy PID controller can make full use of the characteristics of the device，highlight the advantages of the algorithm，and realize real-time control of inverted pendulum.