FPGA 软硬件编程方法的模块化关节控制器设计.pdfVIP

第17 卷 第8 期 电 机 与 控 制 学 报 Vol. 17 No. 8 2013 年8 月 Electric Machines and Control Aug. 2013 FPGA软硬件编程方法的模块化关节控制器设计 张奇，谢宗武，刘宏，蔡鹤皋 (哈尔滨工业大学 机器人系统与技术国家重点实验室, 黑龙江哈尔滨150001) 摘 要：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50 μs。机器人关节控制律在Nios II 处理 器中以C语言实现，控制周期为200 μs。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3.48 μs。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。 关键词：现场可编程门阵列；矢量控制；软硬件编程；关节控制器 中图分类号：TP 24 文献标志码：A 文章编号：1007–449X(2013)08–0001–10 The design of a modular joint controller based on FPGA with software/hardware co-design methods ZHANG Qi, XIE Zongwu, LIU Hong, CAI Hegao (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001，China) Abstract: In order to impove the performance of robot joint control, a modular joint controller is de- veloped based on a field programmable gate arrays (FPGA) with software/hardware co-design methods. In the controller, sensors information acquisition and current vector control are programmed in VHDL, which is a stardard hardware discription language, to improve the bandwidth, and the period of current control loop is 50 μs. In addition, the robot joint control law is calculated in Nios II processor by C language with the period of 200 μs. The top-down design method is presented by the design of vector control, whose calculater time lasts for 3.48 μs, and some modulars date flow graphs are given out, such as coordinate transfermation and PI controller. In the end, the joint controller is applied in 7 de