Method for realizing multi-axis control of industrial robot based on DSP+FPGA servo

Abstract

The invention discloses a method for realizing multi-axis control of an industrial robot based on a DSP+FPGA servo. A device involved in the method comprises an FPGA, a DSP and a servo driver circuit. The method comprises the steps that the FPGA collects encoder data, and sends the encoder data and current data to the DSP through an EMIF interface; the DSP calculates a position control PI ring and a speed control PI ring to obtain a set current, and sends the set current to the FPGA through the EMIF interface; and the FPGA performs current loop control and calculates an output duty ratio by using a motor control algorithm, and the output duty ratio drives a power switch tube of a motor to control the motor to rotate. According to the invention, under the condition that the number of the DSP is not increased, one FPGA is added, and a current loop is placed in the FPGA, so DSP resources are saved, and cost is saved; control performance is improved, and faster current control response is realized; and the problem that PWM peripherals and ADC peripherals are limited in the DSP is solved.

Description

technical field [0001] The invention relates to the technical field of industrial robot control, specifically, a method for realizing multi-axis control of an industrial robot based on DSP+FPGA servo. Background technique [0002] In the prior art, the commonly used architecture of industrial robot servo drivers is a pure DSP control scheme. DSP implements PWM peripheral functions, DSP implements current sampling, DSP implements encoder position acquisition, and DSP directly controls the motor drive circuit through PWM to control the motor. rotation. However, the PWM peripherals and ADC peripherals in the DSP are limited. For example, the DSP with dual CPUs can only control 4 motors at most. If more motors need to be controlled, the number of DSPs needs to be increased. When controlling multiple motors, such as 8-10 motors, 24-30 PWM peripherals, 16-20 ADC current sampling peripherals, and 8-10 485 communication modules are required, which often require 3 chips Even more D...

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Problems solved by technology

[0003] The purpose of the present invention is to provide a method for realizing multi-axis control of industrial robots based on DSP+FPGA servo, which is used to solve the problem that the PWM peripherals and ADC peripherals in the DSP are limited in the prior art, and multiple DSPs are required to control multiple motors.

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