FPGA BASED HIL CO-SIMULATION OF 2DOF-PID CONTROLLER TUNED BY PSO OPTIMIZATION ALGORITHM

In this paper, the Two Degree of Freedom – Proportional Integral Derivative (2DOF-PID) controller has been analyzed and realized using Field Programmable Gate Array (FPGA). The controller parameters have been determined based on Particle Swarm Optimization (PSO) algorithm. These parameters have been employed to implement the controller in discrete-time model using MATLAB/Simulink platform. The implementation of the controller is extended to employ the Xilinx System Generator (XSG) platform. This platform is necessary for validating the digital model of the controller and support to implement the controller in hardware using FPGA. Finally, the FPGA based 2DOFPID
controller was used in Hardware In Loop (HIL) co-simulation. Both simulation and experimental results emphasize the effectiveness of 2DOF-PID controller for tracking reference input and rejecting the disturbance. Keywords: 2DOF-PID, PSO, XSG, FPGA, HIL co-simulation

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