基于FPGA的新型气动踢球机构的运动控制研究

Study for Motion Control of New Pneumat Kicick Equipment Based on FPGA

在RoboCup中型组足球机器人竞赛中,大多数踢球机构只能做一维直线运动,踢球机构的性能已经跟不上机器人整体技术的发展,且踢球机构性能的落后越发显得突出,主要表现为不能以任意射角进行射门和传球。对一种新型气动踢球机构的运动控制进行了研究,该新型气动踢球机构充分利用了机器人正前方仅有的空间,使得踢球杆能够在由两个电机轴组成的X-Y平面内做二维平面运动。通过对其数学建模,分析了其运动过程,并采用FPGA控制电机来驱动踢球杆的运动。运用Quartus Ⅱ 8.0和Nios Ⅱ 8.0 IDE对程序进行编译和功能仿真,并对仿真结果进行了分析。

In the competition of RoboCup middle-size,most kick equipments can only do one-dimensional straight-line motion.The development of kick equipment can＇t meet the requirement of robot＇s systemic technology,and the trend is getting worse,mainly displaying in can＇t shoot or pass in any angle.In this paper,motion control of a new kick equipment based on FPGA is studied,and the new kick equipment fully used the only space in front of the robot,making the kick equipment doing two-dimensional motion in X-Y plane.Has analyzed the motion procedure by mathematic modeling,and being controlled by FPGA（Field Programmable Gate Array） and being drove by motor.Procedure running and functional simulation are run by using Quartus Ⅱ 8.0 and Nios Ⅱ 8.0 IDE software,and the results are analyzed.