基于SOPC的模糊PID程序升温控制系统
|
摘要
固体氧化物燃料电池、多晶硅太阳能电池等化工新材料以高性能、高附加值和高科技使得催化、能源等相关化工生产和实验在我国的能源开发中占有很重要的地位。随着计算机技术和集成电路技术的日趋发展,化工领域的自动控制装置从二次仪表监控装置的单一形式逐渐扩展为以芯片为核心的控制器装置的更多产品形式,智能控制水平日益提高。本文采用基于FPGA的可编程片上系统SOPC开发技术,设计了一种微反装置的模糊PID程序升温控制系统。
在化工领域的程序升温控制中,控制对象通常为微反装置,这种装置普遍属于具有时滞、时变和非线性等特征的控制对象。针对控制对象的特点,在FPGA环境中嵌入NiosⅡ软核微处理器,应用SOPC技术完成模糊PID控制器IP核、程序升温控制器和控制系统平台三个方面的设计。引入IP核技术设计模糊PID控制器,主要包括运用硬件描述语言实现控制功能,定义并行结构寄存器及定义Avalon总线接口三个部分的设计,模糊PID控制器IP核的设计有利于分离具有复用性的核心控制算法。在程序升温控制设计中,进行NiosⅡ软核微处理器配置,编写设定温度段参数、程序升温控制、中断方式的按键响应三个任务函数。在此基础上,构建控制系统平台,其中输入模块驱动接口,主要包括12位数模转换器、按键和拨码开关,输出模块驱动接口包括PWM IP核,RS232串行通信。该系统平台利用设计的接口资源可以实现数据采集、升温段参数设置、PWM方式输出控制及数据通信等多任务。
整个控制系统在一片FPGA内部完成,并成功的通过整机调试,系统的阶跃升温控制测试和多段程序升温控制运行测试过程中具有线性上升时间段可控,跟踪平稳,超调量小,抗干扰能力强,输出控制稳定,满足程序升温控制设计要求。
Solid oxide fuel cells, polycrystalline silicon solar cells and other chemical new materials, with their high performance, high added value, and high technology, make the chemical production and experimentation of catalysis and energy play an important role in national energy development. With the development of computer technology and IC technology, automatic control system in chemical industry extends the secondary instrument monitoring device to the control device with the core of chip. The level of intelligent control is increasing. A fuzzy PID temperature programming control system designed for microractor, which using SOPC technology based on FPGA, is proposed in this paper.
In the area of chemical industry, the controlled object is usually microreactor, with the characteristics of time delay, time varying and nonlinear. According to the characteristics of the controlled object, Nios II software microprocessor is embedded in FPGA and SOPC technology are used for three designs, fuzzy PID IP core, temperature programming controller and control system platform. The design of fuzzy PID controller by introducing IP technology includes three elements, describing the control function by hardware language, defining parallel registers and Avalon bus interfaces. The design of fuzzy PID IP core is conducive to separation of the core algorithm with reusability. In the design of temperature programming control, the Nios II soft microprocessor is configurated, and there task functions are composed, including parameter setting, programmed temperature control and key interrupt response. On this basis, the control system platform is completed by driving input interfaces and output interfaces, the input module includes 12 bit A/D converter, keys and toggles, and the output module includes PWM IP core, RS232 serial communication. The interface design of the system platform can be used for data acquisition, temperature parameter setting, PWM output control and data communications, etc.
The whole control system is completed on a chip of FPGA and the tests are successful. The tests of the step response and the programmed temperature control response of the system show that, the rising time can be controlled, the tracking is smooth, the overshoot is small, the anti-interference ability is strong, and the output is stable. All performances can meet the requirements of process control experiment.
在化工领域的程序升温控制中,控制对象通常为微反装置,这种装置普遍属于具有时滞、时变和非线性等特征的控制对象。针对控制对象的特点,在FPGA环境中嵌入NiosⅡ软核微处理器,应用SOPC技术完成模糊PID控制器IP核、程序升温控制器和控制系统平台三个方面的设计。引入IP核技术设计模糊PID控制器,主要包括运用硬件描述语言实现控制功能,定义并行结构寄存器及定义Avalon总线接口三个部分的设计,模糊PID控制器IP核的设计有利于分离具有复用性的核心控制算法。在程序升温控制设计中,进行NiosⅡ软核微处理器配置,编写设定温度段参数、程序升温控制、中断方式的按键响应三个任务函数。在此基础上,构建控制系统平台,其中输入模块驱动接口,主要包括12位数模转换器、按键和拨码开关,输出模块驱动接口包括PWM IP核,RS232串行通信。该系统平台利用设计的接口资源可以实现数据采集、升温段参数设置、PWM方式输出控制及数据通信等多任务。
整个控制系统在一片FPGA内部完成,并成功的通过整机调试,系统的阶跃升温控制测试和多段程序升温控制运行测试过程中具有线性上升时间段可控,跟踪平稳,超调量小,抗干扰能力强,输出控制稳定,满足程序升温控制设计要求。
Solid oxide fuel cells, polycrystalline silicon solar cells and other chemical new materials, with their high performance, high added value, and high technology, make the chemical production and experimentation of catalysis and energy play an important role in national energy development. With the development of computer technology and IC technology, automatic control system in chemical industry extends the secondary instrument monitoring device to the control device with the core of chip. The level of intelligent control is increasing. A fuzzy PID temperature programming control system designed for microractor, which using SOPC technology based on FPGA, is proposed in this paper.
In the area of chemical industry, the controlled object is usually microreactor, with the characteristics of time delay, time varying and nonlinear. According to the characteristics of the controlled object, Nios II software microprocessor is embedded in FPGA and SOPC technology are used for three designs, fuzzy PID IP core, temperature programming controller and control system platform. The design of fuzzy PID controller by introducing IP technology includes three elements, describing the control function by hardware language, defining parallel registers and Avalon bus interfaces. The design of fuzzy PID IP core is conducive to separation of the core algorithm with reusability. In the design of temperature programming control, the Nios II soft microprocessor is configurated, and there task functions are composed, including parameter setting, programmed temperature control and key interrupt response. On this basis, the control system platform is completed by driving input interfaces and output interfaces, the input module includes 12 bit A/D converter, keys and toggles, and the output module includes PWM IP core, RS232 serial communication. The interface design of the system platform can be used for data acquisition, temperature parameter setting, PWM output control and data communications, etc.
The whole control system is completed on a chip of FPGA and the tests are successful. The tests of the step response and the programmed temperature control response of the system show that, the rising time can be controlled, the tracking is smooth, the overshoot is small, the anti-interference ability is strong, and the output is stable. All performances can meet the requirements of process control experiment.
引文
[1]王立新,李新,许志宏等.钢铁厂煤气合理利用的探讨[J].过程工程学报.2001,1(2)：193-196.
[2]郑亚锋,赵阳,辛峰.微反应器研究及展望[J].化工进展.2004,23(5)：461-467.
[3]范青武,王普,张亚庭等.一种新的模态自协调微反温控策略[J].仪器仪表学报.2006,27(6)：564-566.
[4]张雅,向虎,郭芳瑞等.RBF网络模型参考自适应控制在温度控制中的仿真研究[J].系统仿真学报.2008,20(2)：429-432.
[5]Flrence Xaumier. Experimental Application of nonlinear model predictive control temperature control of an industrial semi-batch pilot-plant reactor[J]. Journal of process control, 2002,12(6):687-693.
[6]Qi Qian, Huang Wei, He Qiang et al. The Nine-point controller[C]. The third IEEE conference on industrial electronics and applications, Singapore,2008:645-648.
[7]刘素芹,刘新平,戚平等.PID与模糊控制算法的比较及其改进[J].控制工程.2003,10(1)：51-52，93
[8]李兰英等Nios Ⅱ嵌入式软核SOPC设计原理及应用[M].北京：北京航空航天大学出版社,2006.
[9]张军,彭宣戈.嵌入式系统硬件抗干扰技术[J].微计算机信息.2006,22(5-2)：16-17,112.
[10]傅光宁,葛思擘,王燕飞等.基于ARM+FPGA的可重构控制器设计及其在加载系统中的应用[J].微电子学与计算机.2006,23(7)：28-30.
[11]潘松,黄继业.EDA技术实用教程[M].北京：科学出版社,2006.
[12]刘昌华.论EDA技术的现在与未来[J].世界电子元器件.2007(8)：42-45.
[13]舒斌,吴建,仲志燕.基于单片机和FPGA的远程温度监控系统[J].现代电子技术,2008(17)：127-129.
[14]凌朝东,洪华峰,李国刚等.基于NIOS Ⅱ的便携式远程医疗监护器硬件平台的设计[J].仪器仪表学报,2008,29(2)：336-341.
[15]潘松,黄继业,曾毓.SOPC技术实用教程[M].北京：清华大学出版社,2005.
[16]Xiong Guohai. Digital clock design based on Nios[C]. Processing in the eighth international conference on signal, Beijing,2006(1):16-20.
[17]Liu Jingmeng, Liao Min, Chen Weihai, Xu Dong. Research on inverter based on Nios II and system design[C]. The Forth IEEE conference on industrial electronics and applications, Xi'an, 2009:1441-1446.
[18]Al Rayahi, O.A., Khalid, M.A.S., UWindsor Nios Ⅱ:A soft-core processor for design space exploration[C]. The IEEE international conference on electro/information technology, Windsor, 2009:451-457.
[19]Han Qi, Zheng Jiang, Jia Wei. IP reusable design methodology[C]. The proceedings of the forth international conference,2001:756-759.
[20]宋廷强 刘川来 李思昆 胡乃平.SoC设计中的IP核复用技术研究[J].青岛科技大学学报(自然科学版),2003,24(3)：260-263.
[21]Astarloa A., Lazaro J., Bidarte U, et al. Run time reconfigurable hardware software architecture for PID motor control IP cores[C]. The thirty-second annual conference on IEEE industrial electronics, Paris,2006:3105-3110.
[22]Liu Jingmeng, Liao Min, Chen Weihai, et al. Research on inverter based on Nios II and system design[C]. The forth IEEE conference on industrial electronics and applications, Xi'an,2009: 1441-1446.
[23]蒋媛.基于FPGA的嵌入式系统综述[J].科技广场,2008(7)：243-244.
[24]章智慧,白瑞林,沈宪明.面向SOPC Builder的用户自定义IP核开发[J].自动化仪表,2006,27(9)：23-26.
[25]Yongxiang Wang, Lide Wang, Wenqing Liu. Design and implementation of MVB controler using SOPC technology[C]. The Second IEEE conference on industrial electronics and applications, Harbin,2007:2666-2669.
[26]Ziting Wang, Haili Guo, Yan Sun. Design of VGA image controller based on SOPC technology. International conference on new trends in information and service science, Beijing,2009:825-827.
[27]杨素英,张忠贤,李垂君.九点控制器在电阻炉温控制的研究与仿真[J].控制工程,2007,14(7)：57-60.
[28]王建校,危建国SOPC设计基础与实践[M].西安：西安电子科技大学出版社,2006.
[29]孙恺,程世恒Nios系统开发设计与应用案例.北京：北京航空航天大学出版社,2007.
[30]褚振勇,齐亮,田红心等FPGA设计及应用[M].西安：西安电子科技大学出版社,2006.
[31]章丽萍,周凤星.基于EP1C3T144的最小系统开发板设计[J].武汉科技大学学报,2007,30(33)：293-295.
[32]江国强SOPC技术与应用[M].北京：机械工业出版社,2006.
[33]Zuo Zhen, Tang Guilin, Dong Zhi, et al. Design and realization of the hardware platform based on the Nios soft-core processor[C]. The eighth international conference on electronic and measurement and instruments, Xi'an,2007,4:865-869.
[34]Borgonovo,D. Heldwein,M.L. Mussa,S.A. Application of the NIOS Ⅱ processor-FPGA on the digital control of a single-phase PFC rectifier[C]. The eleventh workshop on control and modeling for power electronics, Zurich,2008:1-7.
[35]Alcalde A, Ortmann M.S, Mussa S.A. NIOS II processor implemented in FPGA:An application on control of a PFC Converter[C]. The IEEE conference on power electronics specialists, Rhodes, 2008:4446-4451.
[36]孙恺,王田苗,魏洪兴等.嵌入式CPU软核综述[J].计算机工程,2006,32(7)：6-9.
[37]Nios II Processor Reference Handbook. Altera Corporation,2009.
[38]周立功SOPC嵌入式系统基础教程[M].北京：北京航空航天大学出版社,2009.
[39]Nios II Software Developer's Handbook. Altera Corporation,2009.
[40]Nios II Hardware Development Tutorial. Altera Corporation,2009.
[41]Plavec, F., Fort, B., Vranesic, Z.G., Brown, S.D.. Experiences with soft-core processor design[C]. The nineteenth IEEE international parallel and distributed processing symposium,2005: 167b-167b.
[42]袁海林.基于Nios II的高速图像采集系统的设计[J].电子器件,2007,30,(4)：1329-1331.
[43]刘源,孙兆伟,刘树学.小卫星星载电子系统协同仿真技术研究[J].系统仿真学报.2009,21(5)：1332-1335.
[44]Xiong Guohai. Digital clock design based on Nios[C]. The eighth international conference on signal processing, Beijing,2006,1:16-20.
[45]Chia-Feng Juang, Jung-Shing Chen. Water bath temperature control by a recurrent uzzy controller and its FPGA implementation[C]. The IEEE transactions on industrial electronics, 2006,53(3):941-949.
[46]Ying-Shieh Kung, Ming-Hung Tsai. FPGA-based speed control IC for PMSM drive with adaptive fuzzy control[J]. The IEEE transactions on power electronics,2007,22(6):2476-2486.
[47]Prabakar, T.N., Lakshminarayanan, G., Anilkumar, K.K.. FPGA based asynchronous pipelined multiplier with intelligent delay controller[C]. The international SoC design conference, Busan, 2008,1:304-309.
[48]何伟,张玲.消除CPLD/FPGA器件设计中的毛刺[J].重庆大学学报.2002,25(12)：69-73.
[49]Yuen Fong Chan, Moallem,M., Wei Wang. Design and implementation of modular FPGA-Based PID controllers[J]. The IEEE transactions on industrial electronics,2007,54(4):1898-1906.
[50]刘金琨.先进PID控制MATLAB仿真[M].北京：电子工业出版社,2004.
[51]V.Tipsuwanporn,T.Runghimmawan,S.Intajag,et al.Fuzzy logic PID controller based on FPGA for process control[J].International symposium on industrial electronics,Ajaccio,2004:1495-1500.
[52]Lima Joao,Menotti Ricardo,Cardoso Joao M P, et al. A methodology to design FPGA-based PID controllers[C]. The IEEE international conference on systems, man and cybernetics, Taipei,2006: 2577-2583.
[53]夏宇闻Verilog数字系统设计教程[M].北京：北京航空航天大学出版社,2005.
[54]Chia-Feng Juang, Chao-Hsin Hsu. Temperature control by chip-implemented adaptive recurrent fuzzy controller designed by evolutionary algorithm[J]. IEEE transactions on circuits and systems Ⅰ:Regular papers,2005,52(11):2376-2384.
[55]Chia-Feng Juang, Jung-Shing Chen. Water bath temperature control by a recurrent fuzzy controller and Its FPGA Implementation[J]. IEEE transactions on industrial electronics, 2006,53(3):941-949.
[56]丁鸣艳,李文,李延新等.一种在线推理模糊控制器算法的设计与实现[J].控制工程.2005,12(5)：436-437,441.
[57]肖云,汪庆年,胡泳芬等.在线推理式自校正模糊控制器的原理及应用[J].南京大学学报(工科版).2002,24(3)：32-34.
[58]Sameep Singh, Kuladip S.Rattan. Implementation of a fuzzy logic controller on an FPGA using VHDL[C]. The 22nd international conference of the north American on fuzzy information processing society, Chicago,2003:110-115.
[59]王志刚,师奕兵.基于DSP+FPGA结构的高速数据采集模块.仪器仪表学报,2003,24(4)：80-81.
[60]许亚男,高清维,翟寄文等.基于MAX197的高精度数据采集系统[J].电子技术.2009(6)：22-23.
[61]彭建,刘跃.固态继电器及应用中的一些问题的探讨[J].贵州工业大学学报,2000,29(6)：64-70.
[62]Yang Xu, Min Xiang. Design a new type PWM peripherals in Nios Ⅱ[C]. WRI world congress on computer science and information engineering, Los Angeles,2009,2:442-446.
[63]姚渭箐,周伟.基于FT2232H的USB-RS232转换模块设计[J].电子设计工程.2009,17(7)：4-6.
[64]李杨,孙玉国,金鑫.基于嵌入式逻辑分析仪的FPGA测试[J].仪器仪表学报.2006,27(6)：2372-2373.
[65]田野,张威,高亮等.基于AVR的CAN总线通信协议分析技术[J].云南民族大学学报(自然科学版).2007,16(1)：52-54.
[66]陈庆伟,高金山,王亚庭.基于NIOS Ⅱ的CPU调试系统设计技术研究[J].微电子学与计算机.2008,25(5)：99-103.
[2]郑亚锋,赵阳,辛峰.微反应器研究及展望[J].化工进展.2004,23(5)：461-467.
[3]范青武,王普,张亚庭等.一种新的模态自协调微反温控策略[J].仪器仪表学报.2006,27(6)：564-566.
[4]张雅,向虎,郭芳瑞等.RBF网络模型参考自适应控制在温度控制中的仿真研究[J].系统仿真学报.2008,20(2)：429-432.
[5]Flrence Xaumier. Experimental Application of nonlinear model predictive control temperature control of an industrial semi-batch pilot-plant reactor[J]. Journal of process control, 2002,12(6):687-693.
[6]Qi Qian, Huang Wei, He Qiang et al. The Nine-point controller[C]. The third IEEE conference on industrial electronics and applications, Singapore,2008:645-648.
[7]刘素芹,刘新平,戚平等.PID与模糊控制算法的比较及其改进[J].控制工程.2003,10(1)：51-52，93
[8]李兰英等Nios Ⅱ嵌入式软核SOPC设计原理及应用[M].北京：北京航空航天大学出版社,2006.
[9]张军,彭宣戈.嵌入式系统硬件抗干扰技术[J].微计算机信息.2006,22(5-2)：16-17,112.
[10]傅光宁,葛思擘,王燕飞等.基于ARM+FPGA的可重构控制器设计及其在加载系统中的应用[J].微电子学与计算机.2006,23(7)：28-30.
[11]潘松,黄继业.EDA技术实用教程[M].北京：科学出版社,2006.
[12]刘昌华.论EDA技术的现在与未来[J].世界电子元器件.2007(8)：42-45.
[13]舒斌,吴建,仲志燕.基于单片机和FPGA的远程温度监控系统[J].现代电子技术,2008(17)：127-129.
[14]凌朝东,洪华峰,李国刚等.基于NIOS Ⅱ的便携式远程医疗监护器硬件平台的设计[J].仪器仪表学报,2008,29(2)：336-341.
[15]潘松,黄继业,曾毓.SOPC技术实用教程[M].北京：清华大学出版社,2005.
[16]Xiong Guohai. Digital clock design based on Nios[C]. Processing in the eighth international conference on signal, Beijing,2006(1):16-20.
[17]Liu Jingmeng, Liao Min, Chen Weihai, Xu Dong. Research on inverter based on Nios II and system design[C]. The Forth IEEE conference on industrial electronics and applications, Xi'an, 2009:1441-1446.
[18]Al Rayahi, O.A., Khalid, M.A.S., UWindsor Nios Ⅱ:A soft-core processor for design space exploration[C]. The IEEE international conference on electro/information technology, Windsor, 2009:451-457.
[19]Han Qi, Zheng Jiang, Jia Wei. IP reusable design methodology[C]. The proceedings of the forth international conference,2001:756-759.
[20]宋廷强 刘川来 李思昆 胡乃平.SoC设计中的IP核复用技术研究[J].青岛科技大学学报(自然科学版),2003,24(3)：260-263.
[21]Astarloa A., Lazaro J., Bidarte U, et al. Run time reconfigurable hardware software architecture for PID motor control IP cores[C]. The thirty-second annual conference on IEEE industrial electronics, Paris,2006:3105-3110.
[22]Liu Jingmeng, Liao Min, Chen Weihai, et al. Research on inverter based on Nios II and system design[C]. The forth IEEE conference on industrial electronics and applications, Xi'an,2009: 1441-1446.
[23]蒋媛.基于FPGA的嵌入式系统综述[J].科技广场,2008(7)：243-244.
[24]章智慧,白瑞林,沈宪明.面向SOPC Builder的用户自定义IP核开发[J].自动化仪表,2006,27(9)：23-26.
[25]Yongxiang Wang, Lide Wang, Wenqing Liu. Design and implementation of MVB controler using SOPC technology[C]. The Second IEEE conference on industrial electronics and applications, Harbin,2007:2666-2669.
[26]Ziting Wang, Haili Guo, Yan Sun. Design of VGA image controller based on SOPC technology. International conference on new trends in information and service science, Beijing,2009:825-827.
[27]杨素英,张忠贤,李垂君.九点控制器在电阻炉温控制的研究与仿真[J].控制工程,2007,14(7)：57-60.
[28]王建校,危建国SOPC设计基础与实践[M].西安：西安电子科技大学出版社,2006.
[29]孙恺,程世恒Nios系统开发设计与应用案例.北京：北京航空航天大学出版社,2007.
[30]褚振勇,齐亮,田红心等FPGA设计及应用[M].西安：西安电子科技大学出版社,2006.
[31]章丽萍,周凤星.基于EP1C3T144的最小系统开发板设计[J].武汉科技大学学报,2007,30(33)：293-295.
[32]江国强SOPC技术与应用[M].北京：机械工业出版社,2006.
[33]Zuo Zhen, Tang Guilin, Dong Zhi, et al. Design and realization of the hardware platform based on the Nios soft-core processor[C]. The eighth international conference on electronic and measurement and instruments, Xi'an,2007,4:865-869.
[34]Borgonovo,D. Heldwein,M.L. Mussa,S.A. Application of the NIOS Ⅱ processor-FPGA on the digital control of a single-phase PFC rectifier[C]. The eleventh workshop on control and modeling for power electronics, Zurich,2008:1-7.
[35]Alcalde A, Ortmann M.S, Mussa S.A. NIOS II processor implemented in FPGA:An application on control of a PFC Converter[C]. The IEEE conference on power electronics specialists, Rhodes, 2008:4446-4451.
[36]孙恺,王田苗,魏洪兴等.嵌入式CPU软核综述[J].计算机工程,2006,32(7)：6-9.
[37]Nios II Processor Reference Handbook. Altera Corporation,2009.
[38]周立功SOPC嵌入式系统基础教程[M].北京：北京航空航天大学出版社,2009.
[39]Nios II Software Developer's Handbook. Altera Corporation,2009.
[40]Nios II Hardware Development Tutorial. Altera Corporation,2009.
[41]Plavec, F., Fort, B., Vranesic, Z.G., Brown, S.D.. Experiences with soft-core processor design[C]. The nineteenth IEEE international parallel and distributed processing symposium,2005: 167b-167b.
[42]袁海林.基于Nios II的高速图像采集系统的设计[J].电子器件,2007,30,(4)：1329-1331.
[43]刘源,孙兆伟,刘树学.小卫星星载电子系统协同仿真技术研究[J].系统仿真学报.2009,21(5)：1332-1335.
[44]Xiong Guohai. Digital clock design based on Nios[C]. The eighth international conference on signal processing, Beijing,2006,1:16-20.
[45]Chia-Feng Juang, Jung-Shing Chen. Water bath temperature control by a recurrent uzzy controller and its FPGA implementation[C]. The IEEE transactions on industrial electronics, 2006,53(3):941-949.
[46]Ying-Shieh Kung, Ming-Hung Tsai. FPGA-based speed control IC for PMSM drive with adaptive fuzzy control[J]. The IEEE transactions on power electronics,2007,22(6):2476-2486.
[47]Prabakar, T.N., Lakshminarayanan, G., Anilkumar, K.K.. FPGA based asynchronous pipelined multiplier with intelligent delay controller[C]. The international SoC design conference, Busan, 2008,1:304-309.
[48]何伟,张玲.消除CPLD/FPGA器件设计中的毛刺[J].重庆大学学报.2002,25(12)：69-73.
[49]Yuen Fong Chan, Moallem,M., Wei Wang. Design and implementation of modular FPGA-Based PID controllers[J]. The IEEE transactions on industrial electronics,2007,54(4):1898-1906.
[50]刘金琨.先进PID控制MATLAB仿真[M].北京：电子工业出版社,2004.
[51]V.Tipsuwanporn,T.Runghimmawan,S.Intajag,et al.Fuzzy logic PID controller based on FPGA for process control[J].International symposium on industrial electronics,Ajaccio,2004:1495-1500.
[52]Lima Joao,Menotti Ricardo,Cardoso Joao M P, et al. A methodology to design FPGA-based PID controllers[C]. The IEEE international conference on systems, man and cybernetics, Taipei,2006: 2577-2583.
[53]夏宇闻Verilog数字系统设计教程[M].北京：北京航空航天大学出版社,2005.
[54]Chia-Feng Juang, Chao-Hsin Hsu. Temperature control by chip-implemented adaptive recurrent fuzzy controller designed by evolutionary algorithm[J]. IEEE transactions on circuits and systems Ⅰ:Regular papers,2005,52(11):2376-2384.
[55]Chia-Feng Juang, Jung-Shing Chen. Water bath temperature control by a recurrent fuzzy controller and Its FPGA Implementation[J]. IEEE transactions on industrial electronics, 2006,53(3):941-949.
[56]丁鸣艳,李文,李延新等.一种在线推理模糊控制器算法的设计与实现[J].控制工程.2005,12(5)：436-437,441.
[57]肖云,汪庆年,胡泳芬等.在线推理式自校正模糊控制器的原理及应用[J].南京大学学报(工科版).2002,24(3)：32-34.
[58]Sameep Singh, Kuladip S.Rattan. Implementation of a fuzzy logic controller on an FPGA using VHDL[C]. The 22nd international conference of the north American on fuzzy information processing society, Chicago,2003:110-115.
[59]王志刚,师奕兵.基于DSP+FPGA结构的高速数据采集模块.仪器仪表学报,2003,24(4)：80-81.
[60]许亚男,高清维,翟寄文等.基于MAX197的高精度数据采集系统[J].电子技术.2009(6)：22-23.
[61]彭建,刘跃.固态继电器及应用中的一些问题的探讨[J].贵州工业大学学报,2000,29(6)：64-70.
[62]Yang Xu, Min Xiang. Design a new type PWM peripherals in Nios Ⅱ[C]. WRI world congress on computer science and information engineering, Los Angeles,2009,2:442-446.
[63]姚渭箐,周伟.基于FT2232H的USB-RS232转换模块设计[J].电子设计工程.2009,17(7)：4-6.
[64]李杨,孙玉国,金鑫.基于嵌入式逻辑分析仪的FPGA测试[J].仪器仪表学报.2006,27(6)：2372-2373.
[65]田野,张威,高亮等.基于AVR的CAN总线通信协议分析技术[J].云南民族大学学报(自然科学版).2007,16(1)：52-54.
[66]陈庆伟,高金山,王亚庭.基于NIOS Ⅱ的CPU调试系统设计技术研究[J].微电子学与计算机.2008,25(5)：99-103.