Semi-automatic implementation of control algorithms in ASIC/FPGA

摘要

In the paper, a procedure of semi-automatic hardware implementation of control algorithms is presented. Important role in this procedure plays generator of ASIC/FPGA synthesisable code from Simulink model. Virtual prototyping of entire mechatronic system is possible, including bit and cycle-accurate simulation of hardware-implemented controller in Simulink. As a case study, nonlinear PID control of prismatic robot link with friction is described.