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在这下了一个据说是PID程序，在硬件上实测，怎么也调不好，我是用来控制电机位置。
不知这两个是什么用，有兴趣的朋友分析下！
PATERN_I : in std_logic_vector(iDataWidith - 1 downto 0);
PATERN_ESTIMATION_I : in std_logic_vector(iDataWidith - 1 downto 0);
-----------------------------------------------------------------------------------------------------------------------
-------------------------------------------------------------------------------
-- Title : Digital PID Controller
-- Project :
-------------------------------------------------------------------------------
-- File : pid_controller.vhd
-- Author : Tomasz Turek <tomasz.turek@gmail.com>
-- Company : SzuWar ZOO
-- Created : 12:56:06 20-07-2010
-- Last update: 23:01:16 07-10-2010
-- Platform : Xilinx ISE 10.1.03
-- Standard : VHDL'93/02
-------------------------------------------------------------------------------
-- Description:
-- PID CONTROLLER
--
-- ___________ ___
-- | | | |
-- |-->| KP Gain |------------------------>| + |
-- | |___________| | |
-- | | |
-- | ___________ | |
-- | | -iDelayD | | |
-- | |--| Z |<--| | |
-- | | |___________| | | |
-- | | ___ | | |
-- | | | | | | | _________
-- _______ ___________ | ___________ |------->| - | | | | | |
-- | | | | | | | | |-----|-->| + |-->| correct |
-- | error |-->| KM Gain |--|-->| KD Gain |---------->| + | | | |_________|
-- |_______| |___________| | |___________| |___| | |
-- | | |
-- | ____ | |
-- | | -1| | |
-- | |--| Z |<---| | |
-- | | |____| | | |
-- | | ___ | | |
-- | | | | | | |
-- | ___________ |-->| + | | | |
-- | | | | |----|-------->| + |
-- |-->| KI Gain |----->| + | | |
-- |___________| |___| |___|
--
-------------------------------------------------------------------------------
-- Copyright (c) 2010 SzuWar ZOO
-------------------------------------------------------------------------------
-- Revisions :
-- Date Version Author Description
-- 12:56:06 20-07-2010 1.0 aTomek Created
-- 19:29:34 04-10-2010 1.1 aTomek Created
-------------------------------------------------------------------------------
library IEEE;
use IEEE.STD_LOGIC_1164.ALL;
use IEEE.STD_LOGIC_ARITH.ALL;
use IEEE.STD_LOGIC_UNSIGNED.ALL;
entity pid_controller is
generic
(
-- size of input and output data --
iDataWidith : integer range 8 to 32 := 8;
-- proportionally gain --
iKP : integer range 0 to 7 := 3; -- 0 - /2, 1 - /4, 2 - /8, 3 - /16, 4 - /32, 5 - /64, 6 - /128, 7 - /256
-- integral gain --
iKI : integer range 0 to 7 := 2; -- 0 - /2, 1 - /4, 2 - /8, 3 - /16, 4 - /32, 5 - /64, 6 - /128, 7 - /256
-- differential gain --
iKD : integer range 0 to 7 := 2; -- 0 - /2, 1 - /4, 2 - /8, 3 - /16, 4 - /32, 5 - /64, 6 - /128, 7 - /256
-- master gain --
iKM : integer range 0 to 7 := 1; -- 0 - /1, 1 - /2, 2 - /4, 3 - /8 , 4 - /16, 5 - /32, 6 - /64 , 7 - /128
-- delay between samples of error --
iDelayD : integer range 1 to 16 := 10;
-- 0 - controller use derivative of PATERN_I and PATERN_ESTIMATION_I, 1 - controller use error to work --
iWork : integer range 0 to 1 := 1
);
port
(
CLK_I : in std_logic;
RESET_I : in std_logic;
-- error --
ERROR_I : in std_logic_vector(iDataWidith - 1 downto 0);
-- threshold阈值 --
PATERN_I : in std_logic_vector(iDataWidith - 1 downto 0);
-- current sample采样 --
PATERN_ESTIMATION_I : in std_logic_vector(iDataWidith - 1 downto 0);
-- correction修改 --
CORRECT_O : out std_logic_vector(iDataWidith - 1 downto 0)
);
end entity pid_controller;
architecture rtl of pid_controller is
-------------------------------------------------------------------------------
-- functions --
-------------------------------------------------------------------------------
-- purpose: make a std_logic_vector of size c_size and build from c_value --
function f_something ( constant c_size : integer; signal c_value : std_logic) return std_logic_vector is
variable var_temp : std_logic_vector(c_size - 1 downto 0);
begin -- function f_something --
var_temp := (others => c_value);
return var_temp;
end function f_something;
-- examples:
-- f_something(c_size => 3 , c_value => 'Z') == "ZZZ"
-- f_something(c_size => 3 , c_value => '1') == "111"
-- ...
-------------------------------------------------------------------------------
-- types --
-------------------------------------------------------------------------------
-- delay register --
type type_sr is array (0 to iDelayD - 1) of std_logic_vector(iDataWidith - 1 downto 0);
-------------------------------------------------------------------------------
-- signals --
-------------------------------------------------------------------------------
signal v_error : std_logic_vector(iDataWidith - 1 downto 0);
signal v_error_KM : std_logic_vector(iDataWidith - 1 downto 0);
signal v_error_KP : std_logic_vector(iDataWidith - 1 downto 0);
signal v_error_KD : std_logic_vector(iDataWidith - 1 downto 0);
signal v_error_KI : std_logic_vector(iDataWidith - 1 downto 0);
signal t_div_late : type_sr;
signal v_div : std_logic_vector(iDataWidith - 1 downto 0);
signal v_acu_earl : std_logic_vector(iDataWidith - 1 downto 0);
signal v_acu : std_logic_vector(iDataWidith - 1 downto 0);
signal v_sum : std_logic_vector(iDataWidith - 1 downto 0);
begin -- architecture rtl --
-- choice source of input data --
v_error <= ERROR_I when iWork = 1 else
conv_std_logic_vector(signed(PATERN_I) - signed(PATERN_ESTIMATION_I) , iDataWidith) when iWork = 0 else
(others => '0');
-- master gain execute by shift of iKM bits to the right --
v_error_KM <= v_error when iKM = 0 else
f_something(c_size => iKM , c_value => v_error(iDataWidith - 1)) & v_error(iDataWidith - 1 downto iKM) when iKM > 0 else
(others => '0');
-- proportionally gain execute by shift of (iKP - 1) bits to the right --
v_error_KP <= f_something(c_size => iKP + 1 , c_value => v_error_KM(iDataWidith - 1)) & v_error_KM(iDataWidith - 1 downto iKP + 1);
-- derivative gain execute by shift of (iKD - 1) bits to the right --
v_error_KD <= f_something(c_size => iKD + 1 , c_value => v_error_KM(iDataWidith - 1)) & v_error_KM(iDataWidith - 1 downto iKD + 1);
-- integral gain execute by shift of (iKI + 1) bits to the right --
v_error_KI <= f_something(c_size => iKI + 1 , c_value => v_error_KM(iDataWidith - 1)) & v_error_KM(iDataWidith - 1 downto iKI + 1);
DI00: process (CLK_I) is
begin -- process DI00
if rising_edge(CLK_I) then
-- synchronous reset --
if RESET_I = '1' then
t_div_late <= (others => (others => '0'));
v_div <= (others => '0');
v_acu <= (others => '0');
v_acu_earl <= (others => '0');
else
-- delay register --
t_div_late <= v_error_KD & t_div_late(0 to iDelayD - 2);
-- difference between samples --
v_div <= conv_std_logic_vector(signed(v_error_KD) - signed(t_div_late(iDelayD - 1)) , iDataWidith);
-- integration of error --
v_acu <= conv_std_logic_vector(signed(v_error_KI) + signed(v_acu_earl) , iDataWidith);
-- sum of N - 1 samples of error --
v_acu_earl <= v_acu;
end if;
end if;
end process DI00;
-- first stage of adder --
v_sum <= conv_std_logic_vector(signed(v_acu) + signed(v_div) , iDataWidith);
-- correction and second stage of adder --
CORRECT_O <= conv_std_logic_vector(signed(v_error_KP) + signed(v_sum) , iDataWidith) when RESET_I = '0' else
(others => '0');
end architecture rtl; |
阿莫论坛20周年了！感谢大家的支持与爱护！！
知道什么是神吗？其实神本来也是人，只不过神做了人做不到的事情 所以才成了神。 （头文字D, 杜汶泽）
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发表于 2011-12-29 12:39:29
