基于DSP、FPGA和模糊自调整PID控制的仿人机器人控制系统的设计与实现

Design and Realization of Humanoid Robot Control System Based on DSP,FPGA and Fuzzy Self-adjusting PID Control

设计一套全自主仿人机器人分布式运动控制系统,该系统的底层控制部分采用双DSP作为主处理器并结合FP-GA模块实现图像处理和DSP外围复杂译码电路并进行倍频、鉴相、计算等。给出了处理器的反馈回路和一些复杂外围器件设计过程。结合前沿控制理论,提出一种基于模糊规则的自调整PID控制策略并进行MATLAB仿真。结果表明:该控制系统能够直接嵌入机器人本体,具有结构简单、抗干扰能力强、可靠性高等特点。该研究工作对全自主仿人机器人的进一步发展起着积极作用。

A fully autonomous humanoid robot distributed motion control system was designed, in which bottom-layer control unit dual DSP was used as the main processor and FPGA control block was used to complete the DSP peripheral complex decoding circuitry and the multiplier, phase, calculation, image processing. The design processes of the processor＇s peripheral devices and the feedback loop were given. A self-adjusting PID control strategy based fuzzy rules was proposed based on cutting-edge control theory. Through the MATLAB simulation, the results show control system can be embedded into the robot＇s body, it has simple structure, strong anti-jamming capability, high reliability, etc. The research work plays an active role in the further development of the whole autonomous humanoid robots.