PEDS2009
FPGA-Based Neural Fuzzy Controller Design for
PMLSM Drive
Ying-Shieh Kung, Nguyen Khanh Quang and Le Thi Van Anh
Department of Electrical Engineering
Southern Taiwan University
Tainan, Taiwan, R. O. C. 710
kung@mail.stut.edu.tw
Abstract—Based on the technology of field programmable gate
array (FPGA), a realization of fuzzy control (FC) system with
radial basis function neural network (RBF NN) tuning is
presented to a permanent linear synchronous motor (PMLSM)
drive in this paper. Firstly, a mathematic model of the PMLSM
drive is defined; then to increase the performance of the PMLSM
drive system, an FC constructed by a fuzzy basis function and its
parameter adjustable mechanism using RBF NN is applied to the
position control loop of the PMLSM drive system to cope with
the effect of the system dynamic uncertainty and the external
load. Secondly, FPGA by using finite state machine (FSM)
method is presented to realize the aforementioned controllers,
and VHSIC hardware description language (VHDL) is adopted
to describe the circuit of the FSM. Finally, an experimental
system is established to verify the effectiveness of the proposed
FPGA-based neural fuzzy control system for PMLSM, and some
experimental results are confirmed theoretically.
Keywords- FPGA; Neural fuzzy controller; PMLSM; Finite
state machine ; VHDL;
I. INTRODUCTION
PMLSM has been increasingly used in many automation
control fields as actuators [1-3], due to its advantages of
superior power density, high-performance motion control with
fast speed and better accuracy. However, the PMLSM does not
use conventional gears or ball screws, so the payload upon the
mover greatly affects the positioning performance [4]. To cope
with this problem, many intelligent control techniques [5-6],
such as FC, neural networks control (NNC), etc. have been
developed and applied to the position control of the PMLSM
drive to obtain high operating performance. Compared with
other nonlinear approaches, FC has two main advantages, as
follows: (1) FC has a special non-linear structure that is
universal for various or uncertainty plants. (2) The formulation
of FC rule can be easily achieved by control engineering
knowledge, such as dynamic response characteristics, and it
doesn’t require a mathematical model of controlled plant.
However, it is not an easy task to obtain an optimal set of fuzzy
membership functions and rules in FC. In literatures, the
genetic algorithm method [7] or gradient descent method are
all possible methods to solve this problem. But, to obtain an
optimal set of fuzzy membership functions and rules, the FC
222
will become further complication in overall computation;
therefore, limited fuzzy rules are used in their proposed method.
In this paper, a neural fuzzy controller (NFC) is proposed. For
easy realization consideration, the membership functions in FC
part are fixed and only defuzzifier parameters need to be tuned
by using the gradient descent method. And a RBF NN is used
to identify the plant dynamic and provide more accuracy plant
information during parameters tuning of FC.
Although the execution of NNC or FC requires many
computations, digital signal processor (DSP) and FPGA can
provide a solution in this issue [8-9]. Especially, FPGA with
programmable hard-wired feature, fast computation ability,
shorter design cycle, embedding processor, low power
consumption and higher density is better for the
implementation of the digital system [10-12] than DSP.
Recently, Li, T.S. [13] utilized an FPGA to implement
autonomous fuzzy behavior control on mobile robot. Lin, F.J.
[9] presented a fuzzy sliding-mode control for a linear
induction motor drive based on FPGA. But, due to the fuzzy
inference mechanism module adopts parallel processing
circuits, it consumes much more FPGA resources; therefore
limited fuzzy rules are used in their proposed method. To solve
this problem, a FSM [14] joined by some multipliers, some
adders, a look-up table (LUT), some comparators and registers
are proposed to model the NFC algorithm of the PMLSM drive
system. Due to the FSM belongs to the sequential processing
method; the FPGA resources usage can be greatly reduced. In
this paper, FPGA chip employed is an Altera Stratix II
EP2S60F672C5 [15] which has 48,352 ALUTs, maximum 492
user I/O pins, 36 DSP blocks, 2,544,192 bits of RAM, and a
Nios II processor, which can be embedded into FPGA. Finally,
an experimental system including an FPGA experimental board,
an inverter and a PMLSM, is set up to verify the correctness
and effectiveness of the proposed NFC controller.
II. SYSTEM DESCRIPTION OF PMLSM DRIVE AND THE
CONTROLLER DESIGN
The internal architecture of the proposed FPGA-based NFC
controller system for a PMLSM drive is shown in Fig. 1. A
position command, a NFC in position loop, a P controller in
speed loop and a current vector control scheme for PMLSM are
all realized in one FPGA.
 PEDS2009

FPGA-based position control IC

Rectifier AC source
Position control loop Current control loop
  PMLSM
Motion U
command KI + PWM1

xm iq*
x*p
PWM2

Reference e uf 1  Z 1 u 
PWM3 3-Phase V
Trajectory + PWM4
inverter
Model Fuzzy Controller Kv Current Vector PWM5 W
Computation _ PWM6 Linear
(RM) _ KP Controller for encoder
+ Speed PMLSM Drive
Nios II Processor
xp iu
Adjusting Mechanism controller A/D LPF

enn iw
Jacobian 1  z 1 A/D LPF
  

u xrbf
A , A ,B

RBF e A

B ,Z ,Z
 

Z 1 _ Encoder Interface B Comparator

Neural Network Z circuit
+ & transformation
Z 2 xp

Fig.1 The architecture of an FPGA-based NFC for PMLSM drive system

A. Mathematical model of the PMLSM drive (1) Fuzzy controller (FC):

The dynamic model of a typical PMLSM can be described In Fig.1, the tracking error and the change of the error, e,
in the synchronous rotating reference frame, as follows de are defined as
di d R  Lq 1 (1)
  s id  x p i q  vd e ( k )  xm ( k )  x p ( k ) (7)
dt Ld  Ld Ld
di q  Ld R f 1 de(k )  e(k )  e(k  1) (8)
 x p id  s iq  x p  vq (2)
dt  Lq Lq  Lq Lq and e, de and uf are input and output variables of FC,
where vd, vq are the d and q axis voltages; id, iq, are the d and q respectively. The design procedure of the FC is as follows:
axis currents, Rs is the phase winding resistance; Ld, Lq are (a) Take the e and de as the input variables of the FC, and
the d and q axis inductance; x p is the translator speed;  f is define their linguist variables as E and dE. The linguist
value of E and dE are {A0, A1, A2, A3, A4, A5, A6} and {B0, B1,
the permanent magnet flux linkage;  is the pole pitch. The B2, B3, B4, B5, B6}, respectively. Each linguist value of E
developed electromagnetic thrust force is given by and dE is based on the symmetrical triangular membership
3 (3) function which is shown in Fig.2.
Fe  (( Ld  Lq )i d   f )i q
2 (b) Compute the membership degree of e and de. Figure 2
The current control of a PMLSM drive is based on a vector shows that the only two linguistic values are excited
control approach. That is, if we control id to 0, the PMLSM (resulting in a non-zero membership) in any input value,
will be decoupled, so that control a PMLSM will become and the membership degree  A (e ) can be derived by
i
easy as to control a DC linear motor. After simplification and e  e and
considering the mechanical load, the model of a PMLSM can  Ai (e)  i  1  Ai 1 (e)  1   Ai (e) (9)
be written as the following equations, 2
3 where ei  1   6  2 * (i  1) . Similar results can be obtained
Fe   f iq  K t iq (4)
2 in computing the membership degree  B (de) .
j
with
(c) Select the initial fuzzy control rules by referring to the
3 (5)
K   dynamic response characteristics, such as,
2
t f

and the mechanical dynamic equation of PMLSM is IF e is Ai and e is B j THEN u f is c j,i (10)
d 2xp dx p where i and j = 0~6, Ai and Bj are fuzzy number, and cj,i is
Fe  FL  M m  Bm (6) real number. The graph of fuzzification and fuzzy rule
2
dt dt
table is shown in Fig. 2.
where Fe , K t , M m , Bm and FL represent the motor thrust force, (d) Construct the fuzzy system uf(e,de) by using the singleton
the force constant, the total mass of the moving element, the fuzzifier, product-inference rule, and central average
viscous friction coefficient and the external force, respectively. defuzzifier method. Although there are total 49 fuzzy rules
in Fig. 3 will be inferred, actually only 4 fuzzy rules can be
B. Neural fuzzy controller (NFC) in position control loop
effectively excited to generate a non-zero output. Therefore,
The dash rectangular area in Fig. 1 presents the the (11) can be replaced by the following expression:
architecture of an NFC for the PMLSM drive. It consists of a i 1 j 1

FC, a reference model and a RBF NN based parameter  c m ,n [  An (e) *  Bm (de)] i 1 j 1 (11)
adjusting mechanism. Detailed description of these is as u f (e, de) 
n i m  j
i 1 j 1
  cm,n * d n,m
follows.  
n i m  j
An (e) *  Bm (de) n i m  j

223
 PEDS2009
where dn,m   A (e) * B (de) . And those cm ,n are adjustable where r=1,2,..q, s=1,2,3 and  is a learning rate. Further, the
n m

parameters. In addition, by using (9), it is straightforward to x p

is Jacobian transformation and can be derived from Fig.3
obtain i 1 j 1 d  1 in (11). u
 n ,m
x p xrbf q
c  u (k )
  wr hr r1 2 (19)
n i m  j

(e)
A0 A1
Input of e (for i=3)
A2 A3 A4 A5 A6
u u r 1 r
1
A4(e)=1- A3(e)
(3) Adjusting mechanism of fuzzy controller
B2(de)=1- B1(de)

A3(e)

-6 -4 -2 0 2 4 6
e
The gradient descent method is used to derive the FC
e
control law in Fig. 1. The adjusting of FC parameters is to
B1(de)

E A A1 A2 A4 A5 A6
minimize the square error between the mover position and the
A3
(de)

0
dE
1

Fuzzy Inference and Output

B0

B0 c00 c01 c02 c03 c04 c05 c06

output of the reference model. The instantaneous cost function
-6

c15 c16
Rule 1: e is A3 and de is B1 then uf is c13
c10 c11 c12 c13 c14
B1

B1
-4

Rule 2: e is A3 and de is B2 then uf is c23

is defined by
Input of de (for j=1)

de

B2 c20 c21 c22 c23 c24 c25 c26 Rule 3: e is A4 and de is B1 then uf is c14
B2

-2

Rule 4: e is A4 and de is B2 then uf is c24 1 1 (20)

B3 c30 c31 c32 c33 c34 c35 c36
J  e2  (x x )2
B3

e m p
B4 c40 c41 c42 c43 c44 c45 c46 2 2
B4

Defuzzification
2

B5 c50 c51 c52 c53 c54 c55 c56 and the parameters of cm,n are adjusted according to
B5

c13 * d 31  c23 * d 32  c14 * d 41  c24 * d 42

uf 
B6 c60 c61 c62 c63 c64 c65 c66 d 31  d 32  d 41  d 42
J e J e
6
B6

 c13 * d 31  c23 * d 32  c14 * d 41  c24 * d 42

Fuzzy Rule Table
c m , n     (21)
de

Fig. 2. The symmetrical triangular membership function of e and de, fuzzy c m , n c m , n

rule table, fuzzy inference and fuzzification
with m = j, j+1, n = i,i+1 and where  represents learning rate.
(2) Radial basis function neural network (RBF NN) The chain rule is used and the partial differential equation for
J e in (20) can be written as
The RBF NN adopted here is a three-layer architecture
which is shown in Fig. 3 and comprised of one input layer, J e x p u f (22)
one hidden layer and one output layer.  e
cm ,n u f cm ,n
The RBF NN has three inputs by u(k) , xp (k 1) and
From (11), we can get
x p (k  2) , and its vector form is represented by
u f ( k ) (23)
 d n ,m
X  [u ( k ), x p ( k  1), x p ( k  2)]T (12) c m ,n ( k )
. Furthermore, the multivariate Gaussian function is used as And using Jocobian formulation from (19)
the activated function in hidden layer of RBF NN, and its x p xrbf q
c  u (k ) (24)
formulation is shown as follows.  (K P  Ki )  ( K P  K i ) wr hr r1 2
2
u f u r 1 r
X  cr (13)
hr  exp(  ), r  1,2,3,4,....q Therefore, (23) and (24) are substituted into (22), and then the
2 r2
parameters cm, n of fuzzy controller described by (11) can be
where cr  [cr1 , cr 2 , cr 3 ]T and  r denote the node center and
adjusted using the following expression.
node variance of rth neuron, and X  cr is the norm value q
c r 1  u ( k ) (25)
which is measured by the inputs and the node center at each  c m ,n ( k )   e ( k )( K p  K i ) d n ,m  w r hr
r 1  r2
neuron. And the network output in Fig. 3 can be written as
q with m = j, j+1 and n = i,i+1.
x rbf   wr hr (14)
r 1 x p (k )
where xrbf is the output value; wr and hr are the weight and
h1 enn +
output of rth neuron, respectively.
The instantaneous cost function is defined as u (k )
w1 -
1 1 2 (15) h2
J  ( x rbf  x p ) 2  enn xrbf
2 2 x(k  1) w2 
then according to the gradient descent method, the learning wq
algorithm of weights, node center and variance are as follows: x ( k  2) hq
wr (k  1)  wr (k )  enn (k )hr (k ) (16)
X s (k )  c rs (k ) (17)
c rs (k  1)  c rs (k )  enn (k ) wr (k )hr (k ) Input layer Hidden layer Output layer
 r2 (k ) Fig.3 RBF neural network
2
X (k )  cr ( k ) (18)
 r ( k  1)   r (k )  enn ( k ) wr ( k ) hr ( k )
 r3 ( k )

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III. DESIGN OF A FPGA-BASED NFC FOR PMLSM DRIVE
The internal architecture of the proposed FPGA-based
motion control IC for PMLSM drive is shown in Fig. 4. The
FPGA uses Altera Stratix II EP2S60 which has 48,352 ALUTs,
maximum 718 user I/O pins, total 2,544,192 RAM bits, and a
Nios II embedded processor is downloaded into FPGA to
construct an SoPC environment. The motion control IC which
comprises a Nios II embedded processor IP and a position
control IP, is designed under the SoPC environment. The
position control IP implemented by hardware is adopted to
realize the function of a position NFC and speed P controller,
a current controller and coordinate transformation (CCCT),
SVPWM generation, QEP detection and transformation, ADC
interface, etc. The sampling frequency of current control is
designed with 16 kHz. The operating clock rate of the
designed FPGA controller is 50MHz and the frequency
divider generates 50 Mhz (Clk), 25 MHz (Clk-step), 12 kHz
(Clk-cur) and 2 kHz (Clk-sp) clock to supply all module
circuits of the position control IP.
An FSM is employed to model the NFC in position loop
and P controller in speed loop which is shown in Fig. 5, which
uses adders, multipliers and registers, etc. and manipulates 102
steps machine to carry out the overall computation. With
exception of the data type in reference model are 24-bits,
others data type are designed with 12-bits length, 2’s
complement and Q11 format. Although the algorithm of the
NFC is highly complexity, the FSM can give a very adequate
modeling and easily be described by VHDL. Furthermore,
steps s0~s5 execute the computation of reference model output;
steps s6~s8 are for the computation of velocity, position error
and error change; steps s9~s13 execute the fuzzification and
look-up fuzzy table; s14~s22 are for the defuzzification; s23~s27
are the computation of velocity and current command; s28~s91
describe the computation of RBF NN and Jacobian
transformation; finally s92~s101 execute the tuning of fuzzy rule
parameters. The operation of each step in Fig.5 can be
completed within 40ns (25 MHz clock) in FPGA; therefore
total 102 steps need a 4.08s operation time.
Motion Control IC
A[22]
Nios II Embedded Processor IP
A[0]
D[31]
CPU
Avalon Bus
Avalon Bus
PEDS2009
The Nios II embedded processor IP is depicted to perform
the function of the position command in software, which
includes main program and the interrupt service routine (ISR)
by 2ms sampling interval. All programs are coded in the C
programming language. Then, through the complier and linker
operation in the Nios II IDE (Integrated Development
Environment), the execution code is produced and can be
downloaded to the external Flash or SDRAM via JTAG
interface. Finally, the FPGA utility of the motion control IC is
evaluated. The circuit of a NFC uses 19,225 ALUTs resource
and the overall circuits included a Nios II embedded processor
IP (4,744 ALUTs and 45,824 RAM bits) as well as a position
control IP (22,954 ALUTs and 301,056 RAM bits) in Fig.4,
use 57.3% ALUTs resource and 13.6% RAM resource of
Stratix II EP2S60.
IV. EXPERIMENTS AND RESULTS
The overall experimental system depicted in Fig.1
includes an FPGA (Stratix II EP2S60F672C5), a voltage
source IGBT inverter and a PMLSM. The PMLSM was
manufactured by the BALDOR electric company; and it is a
single-axis stage with a cog-free linear motor and a stroke
length with 600mm. The parameters of the motor are: Rs =
27  , Ld = Lq = 23.3 mH, Kt = 79.9N/A. The input voltage,
continuous current, peak current (10% duty) and continuous
power of the PMLSM are 220V, 1.6A, 4.8A and 54W,
respectively. The maximum speed and acceleration are 4m/s
and 4 g but depend on external load. The moving mass is
2.5Kg, the maximum payload is 22.5Kg and the maximum
thrust force is 73N under continuous operating conditions. A
linear encoder with a resolution of 5m is mounted on the
PMLSM as the position sensor, and the pole pitch is 30.5mm
(about 6100 pulses). The inverter has three sets of IGBT
power transistors. The collector-emitter voltage of the IGBT is
rated 600V; the gate-emitter voltage is rated 20V, and the
DC collector current is rated 25A and in short time (1ms) is
50A. The photo-IC, Toshiba TLP250, is used in the gate
driving circuit of IGBT. Input signals of the inverter are
PWM signals from the FPGA device.
The dynamic performance of PMLSM drive is evaluated
while the NFC is applied in the position control loop of Fig. 1.
UART The control sampling frequency of the current, speed and
position loops are designed as 16kHz, 2kHz and 2kHz,

On-chip PIO
ROM Position control IP
respectively. In the proposed motion control IC, the current
D[0]
sram_be[3]
sram_be[2]
Timer x*p [11..0] Clk
On-chip

controller, the speed controller and the NFC are all realized by
sram_be[1] Clk-cur
RAM
sram_be[0] Frequency CK
sram_oe SPI Clk-sp
sram_we divider
sram_cs
Clk-step

ADIN[11]
hardware in FPGA. The speed controller adopts a P controller
Clk
Clk with gain Kv=1.1. The NFC is used in the position loop, the
membership function and the initial fuzzy rule table are
ADIN[0]
Clk-sp Circuit of position Clk ADC read in BDIN[11]
Clk-step neural fuzzy Clk-cur

x *
p [11..0]
controller (NFC) Clk-step
ia [11..0] and
designed, and the PI gains are chosen by Kp=0.3, Ki=0.003.
and speed P ib [11..0] transformation BDIN[0]

The transfer function of the reference model is a second order

*
iq [11..0] CHA
x p [15..0] controller CHB
Current controllers ic [11..0] RCA
RCB
and coordinate
transformation Clk
STSA
STSB system with the natural frequency of 20 rad/s and damping
clk
QEP detection
x p [15..0] (CCCT) Clk-step
Clk-cur
SVPWM
PWM 1
PWM 2
ratio of 1. Figure 6 shows the position step responses of the
v rx [11..0]
A-pulse
B-pulse
Z-pulse
and
transformation
 e _ addr [11..0]
v ry [11..0] generation
PWM 3
PWM 4
PWM 5
mover using the FC and NFC when the position command is a
PWM 6
v rz [11..0] 0.5Hz square wave with amplitude varied at 0~10mm and
25~35mm. The parameters ci,j of the fuzzy rule table are
Fig. 4 Internal circuit of the proposed FPGA-based motion control IC for
PMLSM drive
adequately selected at the 0kg external load condition, and

225
 PEDS2009

xm ( k )
x *p ( k ) x m ( k  1) xm ( k  2 ) e( k  1)
i j&i
&
a0
+
b1 b2 - xm (k ) -
x x x + x m ( k  1) + j
a1 e(k ) e i 1  Ai (e )
SD + RS,1
x - x p (k )
ek -
x *p ( k  2 ) + + x p ( k  1)
x *p ( k  1) e( k  1)
a2 x p (k ) - v (k )
x + - de(k ) de j 1
 B j (de )
x p ( k  1) + SD + RS,1
e(k ) dek -

s0 s1 s2 s3 s4 s5 s6 s7 s8 s9 s10 s11 s12

Computation of mover velocity, Fuzzification

Computation of reference model output
position error and error change

c j ,i Ki ui
c j ,i di, j uf
j&i Look-up c j ,i 1 x + + + x + ui
Fuzzy rule c j 1 ,i 1  Ai (e ) c j 1 ,i
table c j 1 ,i 1 Kp
 B j (de )  B j 1 ( de ) v (k ) Kv
- d i , j 1 d i , j 1
 B j (de ) + x x c j ,i 1 - iq* ( k )
u (k )
 Ai (e ) di, j x + + x
 B j (de ) d i  1, j
x x
1 c j 1 ,i 1
 Ai 1 ( e ) d i 1 , j d i  1 , j 1
- x d i  1, j  1
+ x
x

s13 s14 s15 s16 s17 s18 s19 s20 s21 s22 s23 s24 s25 s26 s27

Look-up fuzzy table Defuzzification Computation of velocity and current command

out1 c j ,i 1
Neuro-1 r
J1
computation d i 1 , j c j ,i 1
u (k )
+ c j ,i x +
r
x p (k ) out2 +
Neuro-2 c j 1 ,i 1
J2 xrbf di, j c j ,i r
computation x +
x p (k  1) + d i 1 , j 1 c j 1 ,i 1
Jaco x +
out3 +
Neuro-3 r c j 1 ,i
J3 Kp e(k ) α
computation
d i , j 1 c j 1 ,i
Ki r x +
+ x x x

s28~s89 s90 s91 s92 s93 s94 s95 s96 s97 s98 s99 s100 s101

Computation of RBF NN Tuning of fuzzy rule parameters

Fig. 5 State diagram of an FSM for describing the neural fuzzy controller in position loop and P controller in speed loop

the step response shows a good dynamic response with a rising PMLSM without and with adaptation under 11kg external load
time of 0.2s, no overshoot and a near-zero steady state in Fig. are shown in Fig. 7 and Fig. 8. Figure 8 reveals that the
6(a). However, when 11 kg external load is added upon the position tracking error by using the NFC is only about 0.35
mover and the same fuzzy control rule table and controller times of that obtained by using the FC in Fig.7. However, Fig.
parameters are used, the position dynamic response worsens 7 reveals that the phase lag phenomenon using the FC is more
and exhibits a 19.5% overshoot in Fig. 6(b). It reveals that the serious than using the NFC in Fig.8. Therefore, the
dynamic performance of the PMLSM is affected by the experimental results in Figs. 6 to 8 demonstrate that the
external load on the mover. Accordingly, a NFC is adopted in proposed FPGA-based NFC for the PMLSM drive is effective
Fig.1 to solve this problem. When the proposed NFC is used and robust.
with learning rate being 0.05, the tracking results are highly
V. CONCLUSIONS
improved and presented in Fig. 6(c). Initially, the mover of the
PMLSM tracks the output of the reference model with This study successfully presents a NFC for PMLSM drive
overshoot. After one or two square wave commands, the ci,j based on FPGA technology. The work herein is summarized as
parameters are tuned to adequate values, and the mover can follows. (1) The functionalities required to build a fully digital
closely follow the output of the reference model. Further, a motion controller of PMLSM drive have been integrated in
frequency response is considered to evaluate the performance one FPGA chip. (2) The behavior of a NFC has been
of the proposed controller. A tested input signal of a sinusoid successfully described by VHDL. Finally, some experimental
wave with 10mm amplitude and the frequency variation from results are verified the effectiveness of the proposed controller
initial 1 Hz to final 3 Hz is provided. In this design, the system.
frequency tracking response and the tracking error of the

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 PEDS2009
ACKNOWLEDGMENT
This work was supported by National Science Council of
Position (mm)

the R.O.C. under grant no. NSC 98-2221-E-218-050-MY2.

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Position (mm)

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Fig. 7 (a) Position frequency and (b) error response for a 1Hz-3Hz sinusoid
input signal using FC under external load 11Kg

3 Hz

1 Hz

(a)

0.8 mm 0.8 mm
-0.7 mm -0.7 mm

(b)
Fig. 8 (a) Position frequency and (b) error response for a 1Hz-3Hz sinusoid
input signal using NFC under external load 11Kg

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