B. HAMED ET AL.

Copyright © 2011 SciRes. ICA

240

7. References control the speed of DC motor due to its advantages over

the traditional PID controller. The control scheme was

modeled and designed in VHDL. It was simulated and

synthesized using the Xilinx Foundation package and

implemented into a Xilinx Spartan 3-A FPGA (Figure

27). The experiments show that the dynamic response of

a system using the proposed controller is better when

compared to a classical PID, and Fuzzy controller. Also

these controllers have been tested using Matlab/Simulink

program under speed and load variation conditions. The

comparison results showed that the Fuzzy-PID controller

was the best controller.

[1] S. Raghavan, “Digital Control for Speed and Position of a

DC Motor,” MS Thesis, Texas A & M University Kings-

ville, 2005.

[2] Z. Xiu, and G. Ren, “Optimization Design of TS-PID

Fuzzy Controllers Based on Genetic Algorithms,” 5th

World Congress on Intelligent Control and Automation,

Hangzhou, 2004, pp. 2476-2480.

[3] S. Z. He, S. Tan and F. L. Xu, “Fuzzy Self-Tuning of PID

controllers,” Fuzzy Sets and Systems, Vol. 56, No. 1,

1993, pp. 37-46. doi: 10.1016/0165-0114(93)90183-I

[4] B. Lacevic, J. Velagic and N. Osmic, (2007). “Design of

Fuzzy Logic Based Mobile Robot Position Controller

Using Genetic Algorithm,” IEEE/ASME International

Conference on Advanced Intelligent Mechatronics, Zu-

rich, 2007, pp. 1-6.

[5] Xilinx Company, “Programmable Logic Design,” 2006.

http://www.xilinx.com/company/about/programmable

[6] Xilinx Company, “Spartan-3A Starter Kit Board User

Guide,” 2007.

http://www.xilinx.com/bvdocs/userguides/ug330

[7] L. A. Zadeh, “Fuzzy Sets,” Information and Control, Vol.

8, No. 3, 1965, pp. 338-353.

doi:10.1016/S0019-9958(65)90241-X

[8] E. H. Mamdani, “Application of Fuzzy Algorithms for

Control of Simple Dynamic Plant,” Proceedings of the

IEEE, Vol. 121, No. 12, 1974, pp. 1585-1588.

Figure 25. Digital optical encoder. [9] L.-X. Wang, “A Course in Fuzzy Systems and Control,”

Prentice-Hall, Inc., Upper Saddle River, 1997.

[10] M.-Y. Shieh and T.-H. S. Li, “Design and Implementa-

tion of Integrated Fuzzy Logic Controller for

Servo-Motor System,” Mechatronics, Vol. 8, No. 3, 1998,

pp. 217-240. doi:10.1016/S0957-4158(97)00052-4

, 1992, pp. 561-568.

[11] J. Birkner et al., “A Very-High-Speed

Field-Programmable Gate Array Using Metal-to-Metal

Antifuse Programmable Elements,” Microelectronics

Journal, Vol. 23, No. 7

doi:10.1016/0026-2692(92)90067-B

Figure 26. PWM modelsim signal.

[12] S. Poorani, T. V. S. Urmila Priya, K. Udaya Kumar and S.

Renganarayanan, “FPGA Based Fuzzy Logic Controller

for Electric Vehicle,” Journal of the Institution of Engi-

neers, Vol. 45 No. 5, 2005, pp. 1-14.

[13] T. Runghimmawan, S. Intajag and V. Krongratana,

“Fuzzy Logic PID Controller Based on FPGA for Process

Control,” IEEE International Symposium on Industrial

Electronics, Vol. 2, No. 11, 2004, pp. 1495-1500.

[14] D. Zhang, et al., “Digital Anti-Windup PI Controllers for

Variable-Speed Motor Drives Using FPGA and Stochas-

tic Theory,” IEEE Transactions on Power Electronics,

Vol. 21, No. 5, 2006, pp. 1496-1501.

doi:10.1109/TPEL.2006.882342

Figure 27. Spartan-3A, Xilinx company.