基于FPGA和EtherCAT的机器人航天员双臂控制器设计.PDF

中国科技论文在线 基于FPGA 和EtherCAT 的机器人航天员双 臂控制器设计 杨俊锋，孙汉旭，叶平** 5 （北京邮电大学空间机器人技术教育部重点实验室，北京100876 ） 摘要：文章以机器人航天员双臂的控制器研发为背景，针对控制器在通信带宽、响应速度、 实时性方面的更高需求，提出一种基于实时工业以太网EtherCAT 的控制器系统设计方案。 硬件方面，控制器以两片内嵌两个PPC 440 硬核处理器的Virtex-5 FPGA 芯片为核心构建具 10 有4 核处理器的片上多核系统；软件方面，控制器采用分层式结构设计软件架构，并针对嵌 入式实时操作系统Xilkernel 环境平台完成EtherCAT 协议栈设计。分析控制器系统总线延时 组成，为优化系统性能提供依据。实验结果表明，该控制器满足指标要求。 关键词：机器人航天员；FPGA；EtherCAT；Xilkernel ；嵌入式系统 中图分类号：V423.7 15 Design of Robot Astronaut’s Dual Arm Controller Based on FPGA and EtherCAT Yang Junfeng, Sun Hanxu, Ye Ping (Key Laboratory of The Ministry of Education space robotics, Beijing 100876) 20 Abstract: This paper is based on the development of the robot astronaut dual-arms controller,In view of the higher demand of the communication bandwidth, response speed and real-time performance, a controller design scheme based on EtherCAT protocol is proposed. In terms of hardware,the controller takes two Virtex-5 FPGA chips, embedded with two PPC440 hard core processors , as the core to construct the four processors hardware SOC platform; In the software 25 level, use the hierarchical structure to design software architecture and complete the design of EtherCAT protocol stack on Xilkernel platform which is embedded real-time operating system. Analysis the delay composition of system bus to provide a theoretical basis for the optimization of system performance .The experimental result shows that the controller meets the requirements of the index. 30 Key words: robot astronaut; FPGA; EtherCAT; Xilkernel ；embedded system 0 引言 本课题来源于国家某载人航天预先研究项目，