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Very Low Power High-Frequency Floating Point FPGA PID Controller

Authors:

Radhit Dedania,

Sang-Woo JunAuthors Info & Claims

HEART '22: Proceedings of the 12th International Symposium on Highly-Efficient Accelerators and Reconfigurable Technologies

Pages 102 - 107

https://doi.org/10.1145/3535044.3535060

Published: 09 June 2022 Publication History

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Abstract

In this work, we present the design and implementation of a floating-point Proportional-Integral-Derivative (PID) controller accelerator which achieves a high rate of 637 K samples per second at 20 mW of power consumption, implemented on a Lattice UP5K FPGA. Our system delivers over 70 × the performance compared to a microprocessor with comparable size and power constraints, and 5 × the power efficiency compared to a larger and more capable ARM Cortex-M4F with hardware floating-point operators. We achieve such high performance using a systolic array design using simplified hardware floating-point operators implemented using embedded DSP blocks on a low-power FPGA. We support simple handling of complex reference such as sinusoidal signals by storing the reference as a time series in on-chip block RAM. The level of high performance, low power, and small size we achieve is necessary for our target application of micro, or insect-scale robotics.

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Cited By

Kulisz JJokiel F(2024)A Hardware Implementation of the PID Algorithm Using Floating-Point ArithmeticElectronics10.3390/electronics1308159813:8(1598)Online publication date: 22-Apr-2024
https://doi.org/10.3390/electronics13081598
Kim EChoi J(2024)Modified fast discrete‐time PID formulas for obtaining double precision accuracyElectronics Letters10.1049/ell2.7011460:24Online publication date: 18-Dec-2024
https://doi.org/10.1049/ell2.70114
Khalifa DMartel M(2023)On the Functional Properties of Automatically Generated Fixed-Point Controllers2023 9th International Conference on Control, Decision and Information Technologies (CoDIT)10.1109/CoDIT58514.2023.10284265(786-791)Online publication date: 3-Jul-2023
https://doi.org/10.1109/CoDIT58514.2023.10284265

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cover image ACM Other conferences

HEART '22: Proceedings of the 12th International Symposium on Highly-Efficient Accelerators and Reconfigurable Technologies

June 2022

114 pages

ISBN:9781450396608

DOI:10.1145/3535044

Copyright © 2022 Owner/Author.

This work is licensed under a Creative Commons Attribution International 4.0 License.

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Association for Computing Machinery

New York, NY, United States

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Published: 09 June 2022

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HEART2022

HEART2022: International Symposium on Highly-Efficient Accelerators and Reconfigurable Technologies

June 9 - 10, 2022

Tsukuba, Japan

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HEART '22 Paper Acceptance Rate 10 of 21 submissions, 48%;

Overall Acceptance Rate 22 of 50 submissions, 44%

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Cited By

Kulisz JJokiel F(2024)A Hardware Implementation of the PID Algorithm Using Floating-Point ArithmeticElectronics10.3390/electronics1308159813:8(1598)Online publication date: 22-Apr-2024
https://doi.org/10.3390/electronics13081598
Kim EChoi J(2024)Modified fast discrete‐time PID formulas for obtaining double precision accuracyElectronics Letters10.1049/ell2.7011460:24Online publication date: 18-Dec-2024
https://doi.org/10.1049/ell2.70114
Khalifa DMartel M(2023)On the Functional Properties of Automatically Generated Fixed-Point Controllers2023 9th International Conference on Control, Decision and Information Technologies (CoDIT)10.1109/CoDIT58514.2023.10284265(786-791)Online publication date: 3-Jul-2023
https://doi.org/10.1109/CoDIT58514.2023.10284265

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