一种FPGA的嵌入式可重构机器人控制系统

提出一种基于FPGA的可重构嵌入式微处理器控制系统.在FPGA中嵌入两个NiosⅡ软核,用VHDL语言编写用户自定义组件.在一个由NiosⅡ软核组成的处理器上实现PWM信号生成、编码器信号处理以及多电机同步伺服运算等,在另一个处理器实现机器人任务管理.该控制系统针对微小型爬壁机器人的控制系统设计,不仅具有良好的实时多任务处理能力,而且具有可重构的特点,因而可应用于一类微小型机器人控制系统以提高其设计的灵活性.

This paper presents a kind of FPGA-based reconfigurable embedded microprocessor control system. Two Nios Ⅱ soft core are embedded in FPGA and custom components can be designed by using VHDL language. While one microprocessor based on Nios Ⅱ can generate PWM output, process encoder signal and implement multi-motor synchronous servo algorithm, another microprocessor is in charge of robot task management. The control system is designed for a micro-miniature wall-climbing robot. It not only has the excellent real time and multitask process function, but also has the advantage of compact space, low mass and reconfiguration. Hence, the control system can be applied to a type of miniature robot so as to improve its design flexibility.

国家“八六三”计划项目(2005AA420230)资助