Abstract:

Considering the problem that the online solving speed of the advanced MPC(Model Predictive Control) algorithm is slow, we present a design method of MPC controller based on FPGA(Field Programmable Gate Array) to improve the computational speed of MPC controller. By analyzing the circuit, we design its fixed point model. The RTL(Register Transfer Level)level model of MPC controller is designed by using Verilog hardware description language and pipeline method, with designing Matrix addition, subtraction, multiplication and other computing modules in the bottom, MPC controller is ultimately implemented on FPGA. Finally, regarding the ETC(Electronic Throttle Control) as the controlled object, we verify the effectiveness of MPC controller based on FPGA through real-time simulation tests.

Key words: model predictive control algorithm, field programmable gate array, hardware description language, electronic throttle control, real-time simulation