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FPGA-based modularization double-joint servo control system

A servo control system and double-joint technology, applied in the field of robotics, can solve problems such as low integration, complex robot structure, and bulky volume, and achieve the effects of high reliability, improved applicability and stability, and miniaturized reliability

Inactive Publication Date: 2012-02-15
BEIJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problems of complex structure, bulky volume and low integration of the controller part of the robot, the present invention provides a design method of a modular dual-joint servo control system based on FPGA

Method used

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  • FPGA-based modularization double-joint servo control system
  • FPGA-based modularization double-joint servo control system
  • FPGA-based modularization double-joint servo control system

Examples

Experimental program
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specific Embodiment approach 1

[0012] Specific implementation mode one: According to the instructions attached figure 1 Describe this embodiment in detail. The FPGA-based modular dual-joint servo control system described in this embodiment includes a joint core control unit 1, a CAN bus communication module 2, a motor drive output module 3, a resolver angle measurement module 4, a torque Measurement module 5, DC / DC module 6, joint core control unit 1 includes NIOSII soft-core processor 1-1, Avalon bus 1-2, CAN bus interface circuit 1-3, resolver interface circuit 1-6, A / D interface circuit 1-7, FIFO1-8, CAN bus communication module 2 includes CAN bus controller I2-1 and bus driver I2-2, motor drive module 3 includes motor power switch control circuit 3-1 and serial port communication circuit 3 -2, the torque measurement module 5 includes a bridge measurement circuit 5-1, an amplifier 5-2, and an A / D conversion circuit 5-3; the upper computer C communicates with the joint core control unit 1 through the CAN...

specific Embodiment approach 2

[0016] Embodiment 2. The difference between this embodiment and Embodiment 1 is that the joint controller realizes the control of the double joints. CAN bus communication module 2 also includes CAN bus controller I2-1 and CAN bus driver I2-2, each joint contains a CAN bus controller and driver, and the host computer selects different joint channels by sending data to realize dual-joint control.

[0017] In this specific embodiment, the resolver angle measurement module 4 also includes a multi-channel analog switch I4-3 and a multi-channel analog switch II4-4, and the dual-channel resolver 10 also includes a dual-channel resolver II 10-2, Each joint contains a dual-channel resolver. The resolver angle measurement module 4 forms two independent paths through a resolver resolver in the resolver unit 4-2 and a multi-channel analog switch I4-3 or a multi-channel analog switch II4-4, each Each channel can complete the signal calculation of the resolver precision machine and the ro...

specific Embodiment approach 3

[0021] Embodiment 3. The difference between this embodiment and Embodiments 1 and 2 is that a watchdog circuit 7 is added and integrated on the FPGA chip. The watchdog is essentially a timer circuit. The setting of the watchdog is carried out in two steps, including initializing the dog and feeding the dog, which is realized by software operation. The dog is initialized after the system parameters are initialized, and the dog is fed to the main control cycle module. When the software is not working properly, the timer will not work properly. If the dog feeding operation is interrupted within the specified period, the system will automatically reset.

[0022] In this specific embodiment, the watchdog module is added in the software to monitor the operation of the software. When the software is not running normally, the system will automatically reset and resume normal work, preventing the program from infinitely looping, increasing the reliability and reliability of the system...

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Abstract

The invention discloses an FPGA-based modularization double-joint servo control system which comprises a joint core control unit, a CAN bus communication module, a motor drive output module, a rotating transformer angle measuring module, a torque measuring module and a DC / DC module, wherein the joint core control unit comprises an NIOSII soft core processor, an Avalon bus, a CAN bus interface circuit, a serial interface circuit I, a PID (Proportion Integration Differentiation) controller I, a rotating transformer resolution interface circuit, an A / D interface circuit, an FIFO (First In First Out) and a watch dog circuit; the CAN bus communication module comprises a CAN bus controller I and a bus driver I, the motor drive module comprises a motor power supply switch control circuit and a serial communication circuit; the rotating transformer angle measuring module comprises a rotating transformer excitation generating unit and a rotating transformer signal resolution unit; and the torque measuring module comprises a bridge measurement circuit, an amplifier and an A / D conversion circuit. The upper computer is communicated with the joint core control unit through a CAN bus, the joint core control unit sends a command to the motor driver through a serial interface of the motor drive module, and the motor driver controls the motor and feeds back position information of the motor.

Description

technical field [0001] The invention relates to the field of robots, in particular to an FPGA-based modular dual-joint control system. Background technique [0002] With the development of robot technology, the performance requirements of the robot system are getting higher and higher, not only requiring fast response characteristics, high tracking accuracy, but also good versatility and scalability. As the direct driver of the robot actuator, the joint controller is a key point in the whole system. At present, most joint control systems are implemented based on ARM and DSP platforms. These control systems have low integration and complex systems, which can no longer meet the requirements of modern industry and social development. [0003] With the development of robot architecture, the research on robot modularization has also been greatly developed. Modular robots are reorganized from independent modules with the same or similar functions. Each module is required to have ...

Claims

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Application Information

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IPC IPC(8): G05B19/04
Inventor 孙汉旭贾庆轩叶平张延恒张丹魏楠哲史翰林李思曾祥宇
Owner BEIJING UNIV OF POSTS & TELECOMM
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