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基于DSP+FPGA的柔性臂混合控制系统设计

Flexible Manipulator's Composed Control System Design Based on DSP+FPGA
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摘要 针对难以控制的柔性机械臂,设计了强鲁棒性、强自适应能力的模糊滑模控制策略;并针对控制对象与控制算法的复杂性,设计了基于DSP+FPGA的控制系统,保证了系统的实时性和精确度. Aiming at difficult to control flexible manipulator,a fuzzy sliding mode control algorithm with strong robustness and strongly adaptive capacity is designed. And aiming at the complicacy of control target and control algorithm, a based on DSP＋FPGA control system is designed,which ensured the timeliness and accuracy of flexible manipulator system.
作者 廖亦凡 廖永忠 王景芳
机构地区 湖南涉外经济学院电气与信息工程学部 湖南第一师范专科学校
出处 《机械与电子》 2008年第4期31-32,46,共3页 Machinery & Electronics
基金 湖南省教育厅科研项目(07C421)
关键词 DSP FPGA 柔性机械臂 模糊控制 滑模控制 DSP FPGA flexible manipulator fuzzy control sliding mode control
分类号 TP29 [自动化与计算机技术—检测技术与自动化装置]
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参考文献5

  • 1Fanping Bu,Bin Yao. Nonlinear model based coordinated adaptive robust control of electro - hydraulic robotic arms via overparametrizing method[A]. In IEEE International Conference on Robotics and Automation [C]. Seoul,Korea,May 2001.
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  • 4戴学丰,严浙平,孙立宁,蔡鹤皋.双连杆柔性臂机器人的模糊补偿滑模控制[J].电机与控制学报,2005,9(1):1-4. 被引量：6
  • 5Wickert M A, Papenfuss J. Implementation of a real-time frequency - selective RF channel simulator using a hybrid DSP - FPGA architecture. Microwave Theory and Techniques[J]. IEEE Transactions on, 2001, Aug, 49(8):1390-1397.

二级参考文献6

  • 1DAI X F, SUN L N, QU D S, et al. State of the art for control of flexible link manipulators [A]. The 2002 International Conference on Control and Automation [C]. Xiamen,China: Xiamen University and IEEE Press, 2002: 113-117.
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机械与电子
2008年 第4期

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