Implementation of a Phase Lead Controller on an FPGA Target

Author

Parede, Jean-yves ; Guerin, Francois ; Gorka, Marc

Author_Institution

GREAH-UFR Sci. et Tech., Le Havre

Volume

1

fYear

2006

fDate

9-13 July 2006

Firstpage

205

Lastpage

210

Abstract

The purpose of this paper is the implementation of a digital phase lead controller on an FPGA Xilinx target XC2s300E. Two identical digital controllers are integrated in two visual servoing which are intended to ensure the angular positioning of a CCD camera according to two degrees of freedom named pan and tilt. This camera constitutes the sensor of an indirect visual servoing. The digital phase lead controllers uses a quadratic structure. The main focus of the work presented in this paper, lies in the implementation of the VHDL programming technique which uses a library of functions not standardized to date. The parameters of the recurrence equation associated to the quadratic structure are coded with twelve bits in fixed point format and can be easily modified

Keywords

CCD image sensors; digital control; field programmable gate arrays; hardware description languages; image motion analysis; position control; CCD camera; FPGA Xilinx target XC2s300E; FPGA target; VHDL programming technique; angular positioning; digital phase lead controller; phase lead controller; recurrence equation; visual servoing; Charge coupled devices; Charge-coupled image sensors; DC motors; Difference equations; Digital cameras; Digital control; Encoding; Field programmable gate arrays; Transfer functions; Visual servoing; FPGA; VHDL; fixed point encoding; phase lead controller; synthesis;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2006 IEEE International Symposium on

Conference_Location

Montreal, Que.

Print_ISBN

1-4244-0496-7

Electronic_ISBN

1-4244-0497-5

Type

conf

DOI

10.1109/ISIE.2006.295593

Filename

4077924