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VHDL AMS DESIGN FOR AN EMBEDDED CONTROLLER

Agenda
       

Introduction Need for mixed signal modeling VHDL AMS Features ,Advantages and applications Digital flight controller QFT QFT design References

Introduction


Mixed signal system modeling HDL programming language used for modeling. 3 types of HDL 1. analog ( spectre HDL) 2.digital (VHDL, Verilog) 3. mixed signal (VHDL AMS, Verilog AMS)

Need for mixed signal modeling




Most of the systems include both analog and digital signals. Unified description language is essential. Finds application in telecommunication, aviation, electromechanical systems etc.

Introduction to VHDL AMS




IEEE Std. 1076-1993 description and simulation of event-driven systems. IEEE Std. 1076.1-1999 support the description and simulation of analog and mixed-signal circuits and systems. IEEE Std. 1076.1-1999 together with IEEE Std. 10761993 is VHDL-AMS.

Extension of VHDL standard Adds support for DAEs and conservative quantities Supports description and simulation of analog, digital, mixed signal, multi-physics devices Encourages device modeling at various architecture levels (ideal, non-linear, transistor)

Features
It has a well-defined simulation cycle It can model continuous and discontinuous behaviour Equations are solved using conservation laws Represents complex models directly. High efficiency. Describes non electrical physical phenomenon. Easy to model.

      

VHDL AMS language architecture

Basic concepts


A VHDL-AMS model consists of an entity and one or more architectures. The entity specifies the interface of the model to the outside world. The architecture contains the implementation of the model. Packages define collections of re-usable declarations and dfinitions, types, constants, functions etc.

Advantages
   


Readable documentation of discontinuous behavior Facilitates model exchange Facilitates model reuse Facilitates tool substitution Competition will strengthen capabilities of the tools and will reduce tool cost Modeling concepts have proper semantics

VHDL Vs VHDL AMS


VHDL

VHDL AMS

IEEE 1076-1993 digital domain model only electrical parameters single domain simulation Time discrete system

IEEE 1076.1-1999+10761993 Mixed domain model electrical and non electrical parameters Multi domain simulation Time continous system Conservative and non conservative systems

Digital flight controller


Digital control system transfers all pilot commands to the control surface actuators through electrical wires

Robust control


Fundamental issues in the design, analysis and evaluation of control systems. Stability Performance Stability In the absence of external excitation, all signals in the system decay to zero. It is an absolute requirement. Its absence causes signals to grow without bound, eventually destroying and breaking down the plant.

Performance
 Ability to track reference signals closely  Reject disturbances.

Robust Control system


 Should preserve stability in the presence of various classes of uncertainties.  Should be capable of tracking all reference signals belonging to a class of signals, without excessive error, despite various types of uncertainties.

QFT    
Developed by Horowitz and Houpis in 1960 QFT is an extension of frequency domain approaches. QFT is a method for practical design of feedback control systems. controller can be obtained to satisfy performance and stability specifications over a range of plant uncertainty.

Main objectives of QFT  Get simple low order controllers  Get minimum bandwidth controllers
  

To avoid noise amplification To avoid resonance To avoid high frequency dynamics

Characteristics of QFT
Amount of feedback depends on
  

Amount of plant Magnitude of disturbance Level of performance specifications

QFT offers direct tradeoff between


   

Stability and performance specifications plant uncertainity and disturbance uncertainity controller complexity controller bandwidth

Feedback Design with QFT

Define problem data

Define frequencies Create frequency response data Define sampling time Define nominal response Define controller type Define phase array for bounds.

Compute and manipulate bounds.

Compute bounds

Loop shaping
Design

Analysis

Compare design to specifications

End

QFT CONTROLER STRUCTURE


y(t) is required to track the input r(t) and reject disturbances. controller is designed so that variations are within tolerance range Filter is the input filter transfer function

Plant as a second order system




Actuators and flight control surface are modelled as second order systems F=PA FA - Fp = Mps2Xp+BpsXp Torque due to hydraulic force imbalance is Tr= kh/Rh (xp-xL) torque on actuator is TR - TL = J Ls2 L +BLs L

Final transfer function is

Future work


Digital flight controller is converted in to VHDL AMS hardware description language. The design technique is to control transmission around the feedback loop within certain specifications.

Expected simulation result

[l] Peter J Ashended,Gregory D Peterson and Darell A Teegarden, SYSTEM DESIGNERS GUIDE TO VHDL AMS 2nd edition Morgan Kaufmann Publishers September 2002. [2] Robert L. Ewing, John W. Hines, Greg D. Peterson, & Maya Rubeiz,VHDL AMS design for flight control system IEEE proceedings,Aerospace conference,vol 1;pp 223-229;march 1998. [3] Alex Doboli,Ranga Vemuri,Behavioural modeling of high level synthesis of analoge and mixed signal system from VHDL AMS IEEE transactions on computer aided design of integrated circuits and systems,vol.22,No:11,nov 2003. [4] VHDL-AMSA hardware description language for analog and mixed-signal applications, IEEE Trans. Circuits Syst. II, vol. 46, pp. 12631272, Oct. 1999. [5] The Institute of Electrical and Electronics Engineer, IEEE Standard 1076.11999,IEEE, 1999.

[6] Isaac M. Horowitz. Quantitative Feedback Design Theory (QFT), volume 1. QFT Publications, 1993. [7I C.H. Houpis and R.L. Ewing. TOTAL-PC Users Manual. Air Force Institute of Technology, 1997. [8] Constantine H. Houpis and Gary B. Lamont. Digital Control Systems. McGraw-Hill Book Company, 2nd edition, 1992. [9] KI- Ho Kang. Electro-hydrostatic actuator controller design using quantitative feedback theory. Masters thesis, Air Force Institute of Technology, December 1994. [10] Giovanni De Micheli. Synthesis and Optimization of Digital Circuits. McGraw-Hill Book Company, 1994. [11] A lain V achoux. Analog and mixed-signal extensions to VHDL. Analog Integrated Circuits and Signal Processing, 1998.

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