Fuzzy Logic Hardware Implementation for Pneumatic Control of One DOF Pneumatic Robot

被引：0

作者：

Ramos-Arreguin, Juan-Manuel ^{[1
]}

Guillen-Garcia, Emmanuel ^{[1
]}

Canchola-Magdaleno, Sandra ^{[1
]}

Pedraza-Ortega, Jesus-Carlos ^{[1
]}

Gorrostieta-Hurtado, Efren ^{[1
]}

Aceves-Fernandez, Marco-Antonio ^{[1
]}

Ramos-Arreguin, Carlos-Alberto ^{[1
]}

机构：

[1] Univ Autonoma Queretaro, Fac Informat, Delegacion Santa Rosa Ja 76230, Queretaro, Mexico

来源：

ADVANCES IN SOFT COMPUTING - MICAI 2010, PT II | 2010年 / 6438卷

关键词：

FPGA; Hardware; Fuzzy Logic; pneumatic; Robot;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The pneumatic actuators can be a useful way to control the position of a manipulator robot, instead of an electrical actuator. The major problem with pneumatic actuators is the compressibility of the air, due to the fact that the mathematical model is a system formed by a set of highly non-linear equations then a simple PID control is not enough to control the robot position, and fuzzy logic is a good option. This work is focused on the hardware implementation of Fuzzy logic algorithm into FPGA system. This paper also presents a methodology to implement a pneumatic control using fuzzy logic, into a FPGA device, which is the main contribution of this work. The air flow is controlled with a pulse width modulation, applied to the pneumatic electro-valve, with 25 ms of period.

引用

页码：500 / 511

页数：12

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