FPGA软硬件编程方法的模块化关节控制器设计

Design of modular joint controller based on FPGA with software/hardware co-design methods

为了提高机器人关节控制的性能,设计了一套基于现场可编程门阵列(FPGA)软硬件编程方法的模块化关节控制器。在控制器中,传感器采集和电流矢量控制采用标准硬件描述语言VHDL编写以提高电流控制的带宽,电流控制周期为50μs。机器人关节控制律在NiosⅡ处理器中以C语言实现,控制周期为200μs。自顶向下的层次化设计方法应用于矢量控制知识产权(IP)核设计,并给出矢量控制中的坐标变换、PI调节算法等功能模块的数据流图,整个矢量控制计算耗时3.48μs。该关节控制器应用到7自由度机器人中。实验结果表明,关节位置和电机力矩跟踪效果较好,且控制器对机器人构型不敏感。

In order to impove the performance of robot joint control, a modular joint controller was developed based on a field programmable gate arrays （FPGA） with software/hardware co-design methods. In the controller, sensors information acquisition and current vector control were programmed in VHDL, which is a stardard hardware discription language, to improve the bandwidth, and the period of current control loop is 50 laS. In addition, the robot joint control law was calculated in Nios II processor by C language with the period of 200 las. The top-down design method was presented by the design of vector control, whose calculater time lasts for 3.48 gs, and some modulars date flow graphs were given out, such as coordinate transfermation and PI controller. In the end, the joint controller was applied in 7 degrees of freedom （DoF） robot. The results show that the joint positions as well as the motor torques are tracking well. Moreover, the controller is insensitive to the robot configurations.