FPGA EMBEDDED PD CONTROL OF A 1 DOF MANIPULATOR WITH A PNEUMATIC ACTUATOR

Ramos-Arreguin Juan-Manuel, Tovar-Arriaga Saul, Vargas-Soto Jose-Emilio, and Aceves-Fernandez Marco-Antonio

Keywords

FPGAbased controller, pneumatic controller, PD control, embedded control

Abstract

Solutions based on field programmable gate array (FPGA) technology have gained relevance in industrial applications for position and speed control of electrical actuators. However, FPGA-based controllers have a broad scope of applications using pneumatic components such as the development of robotic manipulators with pneumatic actuators. The novelty of this work is the implementation of a pneumatic PD control embedded into an FPGA, which is applied to move a one-degree-of-freedom robot manipulator. As a result, a PD control embedded in FPGA was used to control the pneumatic actuator manipulator with satisfactory behaviour.

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