摘要
为了测试新研制机械自适应管道机器人的三轴差速器性能,根据测试要求,设计了基于ARM和FPGA的测试和控制系统。由ARM完成整个系统的控制和数据的存储,而FP-GA完成7路码盘信号的鉴相和计数。介绍了正交脉冲鉴相、FPGA多轴同步计数及其与ARM的接口、数据存储系统等部分的硬件电路设计。与传统的微控制器外扩专用计数芯片相比,ARM+FPGA的方案不但能够减少外围接线的复杂程度,提高系统的可靠性,降低功耗,还能减小控制系统的体积。通过实验验证了所设计的测试和控制系统达到了所设定的测试和控制要求。
In order to test the tri-axial differential unit performance of a new adaptive pipeline robot,according to its measurement requirements,a measurement and drive control system are presented based on ARM and FPGA.ARM realizes the control algorithm of the system and data storage,while FPGA acquires the seven channels encoder data.Then the hardware circuit design including orthogonal pulse phasing,multi-axis synchronization count based on FPGA and the interface with ARM,data storage systems is introduced.Compared with the traditional method,the system based on ARM and FPGA has many advantages,such as high reliability and compactness,low-power,and reducing the volume of the system.the experiment results of the measurement and control system show that the presented system meets the measurement and control requirements.
出处
《控制工程》
CSCD
北大核心
2011年第1期123-127,共5页
Control Engineering of China
基金
国家863计划资助项目(2006AA04Z236)
关键词
三轴差速器
测试系统
管道机器人
tri-axial differential unit
measurement system
pipeline robot
