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Mr. Mohan S*, Dr. Kamala J**
*Master of Engg, Department of ECE, College of Engineering, Anna University, Chennai-25.
**Faculty of Electronics and Communication, College of Engineering, Anna University, Chennai-25.
Abstract:--A Novel Delta Sigma (ΔΣ) Control System Processor is for the D/A converter are both removed. For this reason, ΔΣ
a new technology and architecture for digital control system. Control based signal processing has been widely investigated in the
laws can be efficiently implemented with one-bit signals at both the context of finite-impulse-response (FIR) filters [2], [3], infinite-
input and output of the system. Delta Sigma modulation is used to impulse-response (IIR) filters [4], audio processing [5], and
shape either analogue or multi-bit digital signals into 1-bit format at control system processing [6].
very high sampling frequencies. This 1-bit format contains all the
useful information of the input. Thus making it possible to perform
ΔΣ-based control systems can be implemented as software
digital signal processing directly control to any physical device. The running on existing digital processors, but this does not result in a
delta sigma control system processor utilizes 1-bit processing with cost effective solution, particularly when taking the 1-bit feature
the direct benefit of making multi-bit multiplication operations into consideration. This paper describes a novel, ΔΣ-based control
redundant. A simple conditional- negate-and-add (CNA) unit is used system processor for very demanding control applications and its
for operations in control law implementations. One bit architecture performance, hardware cost, and maximum sampling rates are
for processor results in less hardware and very high sampling rate. compared to other digital controllers, either standalone (including
The proposed architecture provides higher efficiency in terms of direct, hardwired implementations of control laws) or as software
performance, low cost, and high sampling rates compared to other applications executing on very high performance, multi-parallel
digital controllers.
VLIW architectures.
Index Terms:--1-bit processing ΔΣ modulation, control system The remainder of this paper is organized as follows. The
processor, VLSI, FPGA. concept of 1-bit processing is introduced in Section II. Section III
describes a direct, hardwired implementation of control laws with
1-bit processing. The processor architecture is given in Section
I. INTRODUCTION IV, and a case study evaluating the performance of the ΔΣ-CSP in
real-life control applications is presented in Section V. Section VI
C. Coefficients TABLE I
The transfer function of the modified δ-form controller structure Number Format
in Fig. 4 can be written as
Sign Part Integer Part Fraction Part
1 Bit 7 Bits 16 Bits
y
x x[23]
D D Sample
Timer
Fig. 7. Direct implementation of a fourth-order ΔΣ control system Fig. 9. Floor planning of fourth-order ΔΣ control system (a) Full
in VLSI. Overview. (b) Enlarged Floor planning.
ΔΣ control system is implemented with a second order sample The timing-analysis tool reports that the critical path of clock in
timer and fourth order controller used. Increase the order of the the optimized delay is 26.348 ns. The total power consumed by
system provides good accuracy with circuit complexity. The the device is 95 mW, when we use 3.3 V for operating I/O ports
output of sample timer y is one bit signal as shown Fig. 8. and supply voltage. These details describe by Table III.
TABLE III
Power and Delay Estimation Summary
Data
For 1-bit processing, the SNR is related to the sampling
Accumulator
frequency given the proposed controller architecture. The SNR
improves when the sampling frequency increases. Therefore, the
sampling frequency must be at least 300 Hz to meet the SNR
Timing and Control requirement (27 dB). The coefficients for the controller, when the
sampling frequency is selected at 1000 Hz, are calculated
according to (9) and are listed as follows:
Fig. 10. ΔΣ-CSP high-level diagram
p0=2.684354560000000x10^-3
instructions, coefficients, and initial data are stored in program p1=5.244977151999999x10^0
and data RAMs (SRAMs) respectively, allowing reprogramming p2=4.096655359999999x10^0
of the controller with different control laws. The memory blocks p3=1.280512000000000x10^0
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p4=1.000000000000000x10^0 bit digital signal, and fed into FPGA. The output of the FPGA 1-
q0=0 bit PDM signal and directly fed into dc motor. PDM is produced
q 1=2.097152000000000x10^1 by use of ΔΣ-modulator. The output of dc motor is analog signal
q 2=1.802240000000000x10^1 with the help of position transducer.
q 3=1.408000000000000x10^1
K=128 (12)
VI. TEMPERATURE CONTROL APPLICATION
B. Simulation Results
Simulations have been carried out in MATLAB/Simulink using This section describes another application of a microprocessor
the ΔΣ controller interfacing, with a continuous time based controller for temperature control in an air-flow system.
representation of the physical system. The step response of the Fig. 13 gives hardware description of the temperature control
overall control system simulation is as shown in Fig. 11. system. Let us examine briefly the function of each block. The
The coefficients are represented in a 24-bit fixed-point word block labeled keyboard interfaced to the microcomputer through a
format. A small portion of the simulation results is the peak programmable keyboard display interface chip. The LED display
response at 1 to 1.5ns in x-axis. The only identifiable difference is unit provides display of the actual temperature of the heating
that the motor oscillates a bit more heavily in simulation. This is chamber. The temperature range for the system under
due to the effect of Pulse Density Modulation (PDM) and will not consideration is 20 to 60oC. When a thermistor is used as
affect the whole system performance. After 2ns in x axis, the temperature transducer, it is necessary to convert the change in its
motor response becomes steady; there is a maximum error within resistance to an equivalent analog voltage. This is accomplished
2.5% due to the effect of fixed point word format, which is with Wheatstone bridge; the thermistor exposed to the process air
acceptable for the particular control system. forms one arm of the bridge. Millivolt range of the bridge error
voltage is amplified to the range required by ΔΣ converter. The
output of the ΔΣ converter is one bit digital measurement of the
actual temperature of the process air. This data is fed to the
microcomputer through an input port.
Key board
Micro- 1-bit Triacs &
ΔΣ Firing Heater
computer
LED Circuit
n-bit Triac Control
ΔΣ
Analog Signal Heating
Amplifier Chamber
Fig. 11. Step responses of simulink result Transduce
r
Hardware simulation verifies the feasibility of the Direct
implementation ΔΣ control system. Here, ΔΣ control system was Fig. 13. Block diagram of temperature control system.
implemented in an FPGA technology. The FPGA device chosen
The microcomputer compares temperature and generates an
was the Xilinx virtex2pro XC2VP4-6FG256, speed grade -6.
error signal. The error signal is then processed as per control
Synthesis was carried on the Xilinx synthesis technology (XST),
algorithm, resulting in a control signal in 1-bit PWM (similarly
part of the ISE design environment. It is fourth-order controller
PDM). The power input to the plant may be controlled with the
for demonstration. Fig. 12 shows hardware simulation scheme.
help of triacs and firing circuit interface. If the triac closes the
circuit for tp sec. out of T sec. the average power applied to the
1-bit plant over the sampling period T is
Xilinx Virtex2pro 1-bit
ADS1201 tp= (u*R/V2) T (13)
Controller ΔΣ PDM
Analog Signal Where, V-rms value of the applied voltage and R- resistance of
the heater. Depending on the control signal u, tp is calculated in
microcomputer. The function of the triacs and firing circuit
Transduce DC MOTOR interface is to process the PWM output of the microcomputer
r such that the heater is ON when the PWM output is logic 1, and
Fig. 12. Hardware simulation scheme. OFF when it is logic 0. Since the heater is operated off 230 V ac
at 50 Hz, the firing circuit should also provide adequate isolation
Here, the hardware simulation result is same as the simulink between the high voltage ac signals and the low voltage digital
result. The ADS1201 [15] is used to convert analog signal into 1- signals.
6
VII. CONCLUSION [14] S. Jones, R. Goodall, and M. Gooch, ―Targeted processor
architectures for high-performance controller
The ΔΣ-CSP is an extremely small and fast application-specific implementation,‖ Control Eng. Practice, vol. 6, pp. 867–878,
processor. Despite its simplicity, the ΔΣ-CSP is a very potent 1998.
platform for the execution of complex control laws. With the [15] Burr–Brown Corporation, Tucson, AZ, ―High dynamic
exception of the direct VLSI implementation of the control law, range delta-sigma modulator,‖ 1997 [Online]. Available:
the ΔΣ-CSP provides substantial performance improvement, in http://www.burrbrown.com
terms of the absolute sampling rate and very low power budget,
particularly compared to the VLIW architectures. At the same
time, it maintains a fully programmable programmer’s model that
can easily be retargeted to different control applications whereas
the direct implementation would need to be redesigned from
scratch.
REFERENCES