工业机器人运动控制器设计与实现-计算机技术专业论文.docx

江苏科技大学工程硕士学位论文 江苏科技大学工程硕士学位论文 IV IV PAGE PAGE VII by TI company (embedded ARM processor and DSP processor) and Xllinxs FPGA XC6SLX4 are becoming its core chips, which design and complete motion controller with multiple axis and points and remote distance M-LVDS communication, then the feedback signals of position and speed is controlled by compensated PID. And it can transplant Linux operating system in this platform, then it can also program M-LVDS interface driver. The results display the friendly man-machine interface including the OpenGL dynamic 3D images in the touching screen LCD. It really builds a new structure of the industrial robot control. After the system completed, the power consumption, impulse width of electric machine and signals of encoder are tested and analyzed. In the practical engineering applications, it can achieve higher control precision, faster speed driving the motor and more reliable performance of embedded robot control. Keywords Motion controller；FPGA；M-LVDS；OpenGL 目录 目 录 摘要 I Abstract III HYPERLINK \l _bookmark0 第 1 章 绪论 7 HYPERLINK \l _bookmark1 1.1 课题研究背景与选题意义 1 HYPERLINK \l _bookmark2 1.2 国内外研究现状 2 HYPERLINK \l _bookmark3 1.3 机器人控制系统的研究现状 3 HYPERLINK \l _bookmark4 1.4 本文的主要内容和安排 4 HYPERLINK \l _bookmark5 1.4.1 本课题完成的主要工作 4 HYPERLINK \l _bookmark6 1.4.2 论文的章节安排 5 HYPERLINK \l _bookmark7 1.5 本章小结 6 HYPERLINK \l _bookmark8 第 2 章 系统总体方案设计 7 HYPERLINK \l _bookmark9 2.1 设计流程 7 HYPERLINK \l _bookmark10 2.2 控制器系统方案 7 HYPERLINK \l _bookmark11 2.3 硬件结构设计 8 HYPERLINK \l _bookmark12 2.4 传输信号的通讯协议方案 9 HYPERLINK \l _bookmark13 2.5 软件结构设计 10 HYPERLINK \l _bookmark14 2.6 本章小结 10 HYPERLINK \l _bookmark15 第 3 章 运动控制器硬件电路设计 11 HYPERLINK \l _bookmark16 3.1 ARM 处理器的体系结构 11 HYPERLINK \l _bookmark17 3.1.1 DM3730 芯片简介 11 HYPERLINK \l _bookmark18 3.1.2 内部结构 11 HYPERLINK \l _bookmark19 3.1.3 电源管理器 TPS65930 13 HYPERLINK \l _bookmark20 多芯片级