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FPGA-based adaptive backstepping fuzzy control for a micro-positioning Scott-Russell mechanism

机译：基于FPGA的微定位Scott-Russell机构自适应模糊控制

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摘要

This paper utilizes the field programmable gate array (FPGA) and Nios II embedded processor technologies to design a controller IC for a micro-positioning Scott-Russell (SR) mechanism, which is driven by a piezoelectric actuator (PA) and its hysteresis phenomenon is described by Bouc-Wen hysteresis model. For the controller design, the adaptive backstepping fuzzy control (ABFC) method is developed to compensate the PA's hysteresis and achieve the motion tracking control. The fuzzy logic method (FLM) is utilized to find the best adaptation gain of the adaptation law and control gain of the stabilization controls. This ABFC controller method can improve the transient and asymptotic tracking performances, and make the SR mechanism keep good working performance when external disturbances is added in the control system. Finally, we successfully apply the system-on-a-programmable-chip (SoPC) technologies to develop the motion controller IC, and achieve the advantages of reduced space, high performance and low cost.
机译：本文利用现场可编程门阵列（FPGA）和Nios II嵌入式处理器技术来设计用于微定位Scott-Russell（SR）机制的控制器IC，该控制器IC由压电致动器（PA）驱动，其磁滞现象为由Bouc-Wen磁滞模型描述。对于控制器设计，开发了自适应反步模糊控制（ABFC）方法来补偿PA的磁滞并实现运动跟踪控制。利用模糊逻辑方法（FLM）来找到自适应律的最佳自适应增益和稳定控制的控制增益。这种ABFC控制器方法可以改善瞬态和渐近跟踪性能，并在控制系统中添加外部干扰时使SR机构保持良好的工作性能。最后，我们成功地应用了可编程芯片系统（SoPC）技术来开发运动控制器IC，并达到了减小空间，高性能和低成本的优点。

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