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Department of Electrical and Computer EngineeringTexas A&M UniversityCollege Station, TX 77843-3128
Abstract
4-Level Elevator Controller
Lessons Learned Future Work
Vehicle Tail-Lights Traffic Lights
Background SOFTWARE HARDWARE The NI State Diagram Toolkit allows Finite State Models, which can represent a discrete controller, to be implemented on the cRIO/FPGA. The CompactRIO offers the ability to implement certain portions of the application in FPGA hardware while implementing other portions in its LabVIEW environment. An FPGA, with the ability to perform millions of operations in parallel, is the hardware used to efficiently implement complex FSMs. The goal of this project was to learn the process for designing and implementing complex finite state models on NI’s cRIO/FPGA using the State Diagram Toolkit within LabVIEW. An understanding of embedded discrete controllers, NI’s cRIO/FPGA, LabVIEW, and digital logic were necessary to achieve the desired objective. The implementation of certain examples in increasing complexity (vehicle tail-lights, a traffic light controller, and a four-level elevator controller) on the cRIO/FPGA using the state diagram toolkit, allowed achievement of the goal.
DESIGNRequirements: An intelligent discrete controller for a Four Level Elevator system with respective inputs and outputs.
Main Concepts:
• Timing between states representing motor movement
• Complex logic operations required to use/hold previous information.
• Use of many variables (13 inputs and 19 outputs) and transition between states
• Use of Truth tables and Karnaugh Maps to determine outcomes for all possible inputs
• Modified code structure through SubVIs, Global Variables, and Sequence Structures
IMPLEMENTATION
Design and Implementation of Real-Time Discrete Controllers on NI cRIO/FPGAAdetutu Ajayi, Spencer Cureton, Undergraduate Students
Dr. Karen Butler-Purry, Faculty Mentor
Requirements: A car’s light controller with sequential turning signals, emergency and brake lights, controlled by user-inputs on Front Panel.
Main Concepts:
• Introduction to visual programming through State Diagram Toolkit.
• Design front panel (user interface)
Embedded Controller: A device that monitors events or values within a system and creates outputs to change operational conditions of the system.
FPGA (Field Programmable Logic Array); A programmable device containing millions of logic gates that allow multiple processes to execute at the same time.
Finite State Model: A model of performance composed of a finite number of states, transitions between the states, and actions.
Programming skills: Familiarity with programming techniques and sequences within LabVIEW environment; including an understanding of case selection, re-iterations, functions and variable manipulation.
CompactRIO: The Compact Reconfigurable Input Output device includes
• Embedded Processor: Pentium class processor that performs complex floating-point calculations
• FPGA: Reconfigurable architecture built into the cRIO chassis for logic operations
• Host Computer: Windows based PC with LabVIEW installed. Programs the cRIO device via a TCP/IP connection
Inclusion of NI hardware modules for use of external I/O
Power System Applications
• System Reconfiguration: Fault analysis and rerouting to minimize outages.
• Generator Monitoring & Control
Conclusions• A state diagram/table is advantageous in designing digital controllers because it considers all possible inputs at the different states
• The state diagram toolkit provides a bridge between a visual state diagram and LabVIEW code.
• The FPGA/cRIO serves as an ideal hardware target due to its ability to perform complex logic operations in Real-Time
• Visual Programming is more appealing to a novice programmer.
• cRIO vs. FPGA: The FPGA is more appropriate for data acquisition and highly critical control algorithms. All discrete operations should be implemented on the FPGA. The cRIO is suitable for precise floating-point operations, data logging and user control interface.
• Design Process: Detailed design methods such as brainstorming, note taking, testing and debugging are needed to depict the design process before implementation
• Real Time: Issues such as timing, sequencing and task priorities must be considered in design and implementation
Requirements: To produce a traffic light controller for a city intersection using sensors to detect turning cars while adhering to strict sequence patterns.
Main Concepts:
• Introduction to digital controllers
• Design/implementation on cRIO/FPGA.
• Data communication between cRIO/FPGA
• Sequencing and timing in design
• Variable manipulation and clustering of variables
MainController
321 4
Inner
RequestPanel
Motor
Controller
Door
Controller
Timer
1
Timer
2
LabVIEW 8.0: a development environment for a visual programming language from National Instruments.
State Diagram Toolkit: provides a visualization of state machine programming architecture. Bridges diagram and LabVIEW code.
Virtual Instrument: LabVIEW programs are called virtual instruments, or VIs, because their appearance and operation imitate physical instruments.
Front Panel: User-interface that contains controls and displays to manipulate the LabVIEW code running in the Block Diagram.
Block Diagram: Contains the block elements and wires representing code and data flow.
Electrical Engineering Research Applications to Homeland SecurityNational Science Foundation: Research Experiences for Undergraduates
Tools
FPGA
CPUCompactRIO
OPEN CLOSED
MOVINGUP
OPEN[UP]
CLOSED[UP]
MOVINGUP
CLOSED[UP]
OPEN[UP]
MOVINGUP
OPENCLOSED
MOVING DOWN
OPEN[DOWN]
CLOSED[DOWN]
MOVINGDOWN
MOVINGDOWN
OPEN[DOWN]CLOSED
[DOWN]
1st Floor
2nd Floor
3rd Floor
4th FloorInit
BRAKESLEFT 1
LEFT 2
LEFT 3
RIGHT 1
RIGHT 2
RIGHT 3
HAZARDS EMERGENCY
BRAKES EMERGENCY
EXAMPLE 1 EXAMPLE 3 EXAMPLE 2
EW L Green
EW L Yellow
NS Yellow
EW Green
NS Green
EW Yellow
NS L Yellow
NS L Green
Texas A&M Engineering: Undergraduate Summer Research Grant