FPGA (field programmable gate array)-based resolver angle measurement system

Abstract

The invention relates to an FPGA (field programmable gate array)-based resolver angle measurement system. According to a phase discrimination type angle measurement device, the highly integrated, configurable, low-cost, high-precision and FPGA platform-based dual-channel resolver angle measurement system with certain universality, which can be used for angle measurement in the controller of a modularized joint robot, is constructed to provide excitation signals needed by a resolver and output an angle value after an output signal is resolved, and comprises an on-chip IP and an external circuit, the on-chip IP generates digital excitation signals for the resolver and can calculate the digital signal value inputted by the resolver and converted by the external circuit, and the external circuit carries out the digital-to-analog conversion and power amplification of excitation signals, and is connected with the dual-channel resolver to carry out the analog-to-digital conversion of output values.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a high-precision angle measurement system for a resolver based on FPGA technology. Background technique [0002] The core peripheral of the high-precision angle measurement system is a dual-channel resolver (angle sensor). Due to its high precision and high reliability, it is widely used. The present invention is oriented to the angle measurement problem in the industrial-grade modular joint robot controller. [0003] Since the analog signal output by the resolver needs to be converted to a computer or other control system through a dedicated conversion, it is generally necessary to use a dedicated chip to build a resolver angle measurement system such as figure 2 , but there are also some defects as follows: [0004] 1. To use a dedicated chip to generate the excitation signal of the resolver, the peripheral circuit configuration frequency and other basic attributes are required, a...

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Problems solved by technology

[0004] 1. To use a dedicated chip to generate the excitation signal of the resolver, the peripheral circuit configuration frequency and other basic attributes are required, and it cannot support the excitation signals of various frequencies required by various resolvers;

[0005] 2. The use of dedicated chips has low integration, requires peripheral circuits to configure basic properties and cannot complete all decoding of dual-channel resolvers, and requires at least two chips for decoding and then still requires subsequent control units (such as single-chip microcomputers, DSPs, FPGAs) ) to complete the follow-up coupling calculation of the two signals;

[0006] 3. The cost of using a dedicated chip is too high, which inhibits the use of resolvers in common systems

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