基于FPGA的EVA手套力学测试外骨骼手的控制系统

The Control System of Exoskeleton Hand for EVA Glove Mechanics Testing Based on FPGA

介绍了基于FPGA的EVA(舱外活动)手套力学特性测试外骨骼手的低端控制系统。该系统采用FPGA为主控制器,接收上位机DSP的控制指令,通过对码盘信号的采集和处理读取实时的电机转速和位置信号,从而实现对直流电机的速度闭环控制。由于使用了FPGA,并嵌入了NIOS处理器,使系统变得非常灵活、稳定和高效。

This paper introduces the bottom control system of exoskeleton hand for EVA （Extravehicular activity） glove mechanics testing based on FPGA. The system adopts FPGA as the core controller, it receives the control instruct from the up DSP, reads the real-time speed and position information of the motor by the signal acquisition and process for the encoder, thereby realizes the speed closed loop control for the DC motor. For the using of the FPGA and embed NIOS processor in it, the system become highly flexible, steady and efficient.