基于FPGA的六轴机械手驱动控制系统设计与测试

Design and Test of Six-axis Manipulator Drive Control System Based on FPGA

针对FPGA芯片具有快速硬件运算能力和平行处理能力的特点,设计以FPGA为基础的六轴关节型机械手伺服驱动控制系统。首先,推导以永磁同步电机为驱动的机械手数学模型,其位置控制器采用模糊控制器以提高位置控制的稳健性。其次,以嵌入软核NiosⅡ处理器的FPGA芯片开发机械手的伺服驱动控制器,以IP软核方式实现点对点运动轨迹规划,同时用数字硬件实现六轴位置、速度、电流控制。通过位置跟踪响应测试与点对点位置重现性测试证实,FPGA的六轴驱动控制系统具有有效性及正确性,同时实现了驱动器的一体化,有助于多轴伺服控制的发展。

For the advantage of fast hardware computing capability and parallel processing capability of FPGA chips,a FPGA-based six-axis joint-manipulator servo drive control system was proposed.First,a mathematical model of a robot manipulator driven by a permanent magnet synchronous motor was derived,a fuzzy controller was used in the position controller to improve the position control robustness.Second,servo drive controller for manipulator was developed with an FPGA chip embedded in a soft NiosⅡprocessor,by the way of IP-core approach to realize point-topoint motion trajectory planning,at the same time using digital hardware to control six-axis positions,speeds,currents.Through the position tracking response test and the point-to-point position reproducibility test,it is verified that the sixaxis drive control system of the FPGA is effective and correct,and the integration of the drivers is realized,which contributes to the development of multi-axis servo control.