基于FPGA的中型足球机器人运动控制系统设计

Design of a On-board FPGA Control System for RoboCup Based on FPGA

处于底层的运动控制子系统对于中型足球机器人完成其特定功能具有重要作用。所设计的基于FPGA的运动控制系统硬件部分包括基于NiosII的处理器单元和多电机驱动单元。该系统可为中型足球机器人的底层运动控制承载各种算法、智能驱动等提供良好的设计平台。通过实战检验,证明了该系统具有可靠性高、响应快、易于升级等特点,完全达到了中型足球机器人底层运动控制系统设计要求。

The on-board control system at the bottom of the RoboCup plays an important role in the completion of its specific functions.The hardware of the control system based on FPGA proposed in this paper includes the NiosII processor unit and the multi-motor drive unit.The system could provide a good designing platform for the bearing of various kinds of algorithms for the motion control of the RoboCup.Practical test proves that the system has high reliability,fast response,and easy to upgrade.It can fully meet the design requirements of the bottom motion control system for the RoboCup.