| FPGA的仿生机器人多路舵机控制器设计 |
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| 引用本文： | 李凯,刘新妹,殷俊龄,高志亨.FPGA的仿生机器人多路舵机控制器设计[J].单片机与嵌入式系统应用,2021,21(1):50-53,75. |
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| 作者姓名： | 李凯 刘新妹 殷俊龄 高志亨 |
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| 作者单位： | 中北大学信息与通信工程学院,太原030051;中北大学信息与通信工程学院,太原030051;电子测试技术国家重点实验室;中北大学信息与通信工程学院,太原030051;中北大学信息与通信工程学院,太原030051 |
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| 摘 要： | 为了实现对多路舵机的精确控制,介绍了一种基于FPGA的多路舵机控制器设计方案,可应用于仿生机器人的动作控制。所设计的控制器硬件包括FPGA控制器、舵机、隔离电路和电源滤波电路;软件设计主要包括寻址模块、ROM模块和PWM发生模块。仿真实验表明,本设计的多路舵机控制器能较好地控制每个舵机平稳运行完成动作组,并能更改ROM中存放的数据,增加PWM信号路数,可设计任意动作组。
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| 关 键 词： | FPGA PWM 舵机 仿生机器人 |
Design of Multi-channel Servo-motor Controller of Bionic Robot Based on FPGA |
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| Li Kai,Liu Xinmei,Yin Junling,Gao Zhiheng.Design of Multi-channel Servo-motor Controller of Bionic Robot Based on FPGA[J].Microcontrollers & Embedded Systems,2021,21(1):50-53,75. |
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| Authors: | Li Kai Liu Xinmei Yin Junling Gao Zhiheng |
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| Affiliation: | (School of Information and Communication Engineering,North University of China,Taiyuan 030051,China;State Key Laboratory of Electronic Testing Technology) |
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| Abstract: | In order to realize the precise control of multi-channel steering gear,a design of a multi-channel steering gear controller based on FPGA is introduced,which can be applied to the motion control of bionic robots.The hardware of the controller includes:FPGA controller,steering gear,isolation circuit,power filter circuit,the software design mainly includes addressing module,ROM module and PWM generating module.The simulation experiment results show that the multi-channel steering gear controller can better control each steering gear to run smoothly to complete the action group,and can change the data stored in the ROM and increase the number of PWM signal channels to design any action group. |
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| Keywords: | FPGA PWM servo-motor bionic robot |
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