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On-chip control system of digital articulation based on FPGA (Field Programmable Gate Array)

A technology of control system and joint piece, which is applied in the field of robotics, can solve the problems of low integration of robot joint control system, and achieve the effect of high integration and short development cycle

Inactive Publication Date: 2010-09-01
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem of low integration of the existing robot joint control system, the present invention provides an FPGA-based digital joint on-chip control system

Method used

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  • On-chip control system of digital articulation based on FPGA (Field Programmable Gate Array)
  • On-chip control system of digital articulation based on FPGA (Field Programmable Gate Array)
  • On-chip control system of digital articulation based on FPGA (Field Programmable Gate Array)

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specific Embodiment approach 1

[0009] Specific implementation mode 1: According to the instructions attached figure 1 To specifically describe this embodiment, the FPGA-based digital joint on-chip control system described in this embodiment includes a NIOSII soft-core processor 1, an Avalon bus module 2, a CAN bus soft-core controller 3, a joint motor drive circuit 4, and a joint motor drive circuit 4. The motor current vector control circuit 5 and the joint sensor information acquisition SPI interface circuit 6, the CAN bus soft core controller 3 includes a first CAN bus soft core controller 3-1, and the joint motor drive circuit 4 includes a sine wave SPWM generation circuit 4-1 , the joint motor current vector control circuit 5 includes a code disc interface circuit 5-1, a motor position coordinate conversion circuit 5-2, a motor phase current acquisition interface circuit 5-3 and a motor current loop adjustment circuit 5-4; NIOSII soft core processor The communication end of 1 is respectively connected ...

specific Embodiment approach 2

[0011] Embodiment 2: The difference between this embodiment and Embodiment 1 is that the CAN bus soft core controller 3 further includes a second CAN bus soft core controller 3-2, and the second CAN bus soft core controls The communication end of the processor 3-2 is connected to the communication end of the NIOSII soft core processor 1 through the Avalon bus module 2.

[0012] In this specific implementation manner, a second CAN bus soft-core controller 3-2 is added to the FPGA, which realizes redundant CAN bus communication and improves the reliability of the communication system.

specific Embodiment approach 3

[0013] Embodiment 3: The difference between this embodiment and Embodiment 1 or 2 is that the FPGA-based digital joint system-on-chip further includes a watchdog interface circuit 7, and the watchdog interface circuit The communication end of 7 is connected to the communication end of the NIOSII soft core processor 1 through the Avalon bus module 2, and the watchdog interface circuit 7 is used to transmit a dog feeding signal or a dog bite signal.

[0014] In this specific embodiment, a watchdog interface circuit 7 is added to the FPGA, and the external watchdog circuit 13 can monitor the operation of the NIOSII soft-core processor 1 in the FPGA, prevent programs from running away, and improve the reliability of the system.

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Abstract

The invention relates to an on-chip control system of a digital articulation based on an FPGA (Field Programmable Gate Array), relating to the field of robots and solving the problem that the traditional robot articulation control system has low integrated level. The on-chip control system comprises an NIOSII soft-core processor, an Avalon bus module, a CAN bus soft-core controller, an articulation motor driving circuit, an articulation motor current vector control circuit and an articulation sensor information acquisition SPI (Single Program Initiation) interface circuit, wherein the communication end of the NIOSII soft-core processor is respectively connected to the communication ends of the CAN bus soft-core controller, the articulation motor driving circuit, the articulation motor current vector control circuit and the articulation sensor information acquisition SPI interface circuit through the Avalon bus module. The invention is suitable for the controllers of the mechanical arm articulations.

Description

technical field [0001] The invention relates to the field of robots, in particular to an FPGA-based digital joint on-chip control system. Background technique [0002] The development of robots has extended from the field of industrial robots in the past to the fields of service robots and space robots. The design goals of the new generation of robots are light weight, large output torque, and a variety of perception and self-learning capabilities. Such characteristics are inevitably enhanced. The complexity of the control task puts forward more stringent requirements for the design of the joint servo control system. The motor is the executive component of the joint servo control system. With the rapid development of microelectronic technology and motor control, the control of the motor has gone through the analog control stage, the microprocessor-based control stage, the DSP+FPGA-based control stage, and the FPGA-based control stage. of four stages. [0003] Although the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/414H02P21/00
Inventor 倪风雷刘宇刘宏朱映远金明河
Owner HARBIN INST OF TECH
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