基于DSP和CPLD的伺服运动控制器

针对机器人控制问题,以数字信号处理器(DSP)和复杂可编程逻辑器件(CPLD)为核心设计了交流伺服控制系统,达到优化控制结构、提高系统效率的目的.介绍了控制器硬件构成以及工作原理,详细阐述了CPLD电路设计,用状态机的思想实现了脉冲信号发送单元并定量给出了脉冲参数与电机运行状态的关系.最后对控制器进行了上机试验.研究结...     

Asynchronous implementation of discrete event controllers based on safe automation Petri nets

In this paper, a new method is proposed for digital hardware implementation of Petri net-based specifications. The purpose of this paper is to introduce a new discrete event control system paradigm, where the control system is modeled with extended Petri nets and implemented as an asynchronous controller using circuit elements. The applicability of the proposed method is demonstrated by an asynchronous implementation of a Petri net-based discrete event control system (DECS) for an experimental manufacturing system using a Xilinx field programmable gate array (FPGA). Unlike microprocessor, microcontroller or programmable logic controller (PLC)-based software implementations or hardware-based synchronous implementations, the implementation method used in this paper is asynchronous and based on hardware offering very high speed to control fast plants at low cost. This paper is expected to serve as a guideline to show how to obtain very high speed, concurrent and asynchronous Petri net-based controllers.     

基于DSP和FPGA的运动控制器

为了满足开放式运动控制器的设计要求,给出了一种基于数字信号处理器（DSP）和现场可编程门阵列（FPGA）的四轴通用运动控制器设计方案,详细论述了该四轴通用运动控制器的体系结构特点、硬件电路设计、FPGA模块分析和软件模块组成;系统结合PC／104模块化设计思想,基于TMS320F2812DSP外部总线的设计,采用高性价比FPGA芯片EP2C5实现了运动控制专用外设模块,使系统具有结构简单、低成本、开放性、模块化特点,而且总线上各模块可独立设计,亦降低了系统实现难度。实际应用结果表明,该控制器具有良好的性能。     

A system for automated disassembly of snap-fit covers

This paper reports on a prototype automated system for the disassembly of batteries from a family of electronic devices whose plastic, snap-fit covers house AA or AAA batteries, such as remote controls and calculators. Included in the development of the prototype system was the design of a disassembly tool that uses three force-sensing resistors to provide force feedback information. A pneumatically actuated vacuum gripper and electromagnet system was also developed for recovering the snap-fit cover and batteries once they were released by the disassembly tool. The disassembly module was mounted on the tool head of a three-axis translational motion robot, and a Visual Basic application was developed to interface and control the robot with a Galil digital motion controller. A model-based computer vision application was also developed in Visual C++ using a Kinect sensor and the Open Source Computer Vision library to identify and localize the electronic device placed on the disassembly robot. Using the information gathered by the model-based computer vision application, the robot was able to use the disassembly tool module to perform the necessary disassembly operations to remove the device’s snap-fit cover and batteries. The design of such a disassembly system could aid the future development of fully autonomous disassembly systems that can handle a broader range of electronic products.     

基于FPGA的刚体调姿系统逻辑控制器开发

为解决大部件刚体调姿系统中各数控设备驱动电路的可靠性、各辅助工装设备的稳定性、系统的容差保护与报错等问题,设计并开发了基于现场可编程门阵列(FPGA)的逻辑控制器.重点从处理器模块、I/0模块、电源模块等方面对逻辑控制器进行了硬件结构设计,同时给出了基于硬件描述语言(VHDL)的软件实现方法.应用实践结果表明,该逻辑控...     

FPGA-based adaptive backstepping fuzzy control for a micro-positioning Scott-Russell mechanism

This paper utilizes the field programmable gate array (FPGA) and Nios II embedded processor technologies to design a controller IC for a micro-positioning Scott-Russell (SR) mechanism, which is driven by a piezoelectric actuator (PA) and its hysteresis phenomenon is described by Bouc-Wen hysteresis model. For the controller design, the adaptive backstepping fuzzy control (ABFC) method is developed to compensate the PA's hysteresis and achieve the motion tracking control. The fuzzy logic method (FLM) is utilized to find the best adaptation gain of the adaptation law and control gain of the stabilization controls. This ABFC controller method can improve the transient and asymptotic tracking performances, and make the SR mechanism keep good working performance when external disturbances is added in the control system. Finally, we successfully apply the system-on-a-programmable-chip (SoPC) technologies to develop the motion controller IC, and achieve the advantages of reduced space, high performance and low cost.     

基于CPG的六足步行机器人运动控制系统研究

根据CPG双层网络的特点,采用分层分布式系统架构研究制了一种机器人运动控制系统.其基于FPGA的星型总线,在保证通信速率的同时提高了系统抗干扰能力.在单足控制器中嵌入双NIOS完成CPG网络解算和电机运动控制.FPGA的灵活使用和外部3-H桥驱动的搭建,可以使单足控制器同时控制3个无刷电机并获得最小的体积.     

一种机器人绘字控制系统的研制

简略阐述了一种机器人绘字系统的主要外形结构及其功能;详细论述了该控制系统控制器的硬件设计,它采用上位机PC与基于CAN总线的下位机通信来控制系统,该控制器主要包括PCICAN卡、dsPIC30F 6010数字信号控制器和各轴伺服舵机驱动模块。本文还讲述了PCI-9840卡的性能、dsPIC30F6010数字信号控制器的特点、机器人绘字系统四个自由度所需伺服舵机驱动模块的基本电路组成原理、基于VB6．0的上位机监控软件设计以及下位机软件的设计。     

Vision guided dual arms robotic system with DSP and FPGA integrated system structure

Usually, a humanoid robot has two arms and stereo vision system to execute human daily actions. It has complicate mechanism and mechatronics control system structure. The hardware control structure should be planned ingeniously to execute the complicate computation of 3D image processing and manipulate a multi degree of freedom dual arms motion control, especially for mobile robot system. Here a 7 DOF dual arms robot with FPGA hardware control structure and a digital signal processor (DSP) based CMOS stereo vision system are designed and built in our lab. The intelligent fuzzy sliding mode control strategy is employed to establish the visual guided robotic motion control software. This low cost humanoid robotic system has compact control structure and mechanism integration for mobile application purpose. Object detecting and tracking schemes in 3D space were developed for locating the target position and then guided the robot arm to pick and place objects or track the specified moving target. Experimental results show that this delicate robotic system has basic humanoid function.     

APPROACH TO IMPROVEMENT OF ROBOT TRAJECTORY ACCURACY BY DYNAMIC COMPENSATION

Some dynamic factors, such as inertial forces and friction, may affect the robot trajectory accuracy. But these effects are not taken into account in robot motion control schemes. Dynamic control methods, on the other hand, require the dynamic model of robot and the implementation of new type controller. A method to improve robot trajectory accuracy by dynamic compensation in robot motion control system is proposed. The dynamic compensation is applied as an additional velocity feedforward and a multilayer neural network is employed to realize the robot inverse dynamics. The complicated dynamic parameter identification problem becomes a learning process of neural network connecting weights under supervision. The finite Fourier series is used to activate each actuator of robot joints for obtaining training samples. Robot control system, consisting of an industrial computer and a digital motion controller, is implemented. The system is of open architecture with velocity feedforward function. The proposed m     

数字化微量喷点系统设计

为了实现数字化微量喷点,系统将微喷射技术与运动控制系统相结合,从微喷射技术的原理与其系统总体结构出发,分析微喷装置的工作原理,叙述了数字化微量喷点系统的总体设计与技术方案,并介绍了系统的硬件构成与软件设计过程,采用了YAMAHA-ERCX运动控制器,结合VB编程开发环境,为微喷射技术的应用提供了实际方法。本系统可用于医学、生物及医药工程等相关领域的研究。     

基于惯性冲击原理的3DOF微小型机器人系统

提出一种由4组压电陶瓷驱动器驱动的微小型移动机器人系统.基于惯性冲击原理,4组压电陶瓷驱动器在不同形式锯齿波电压的驱动下,能够实现机器人2个平动运动自由度和一个旋转运动自由度.基于DDS波形发生原理,为机器人设计了由C8051F040高速单片处理器、FPGA和功率放大器所构成的机器人驱动控制系统.机器人运动性能测试试验表明,提出的微小型移动机器人统具有亚毫米级的运动速度和亚微米级的运动分辨力,可以作为微操作系统中的移动式精密定位机构.     

基于FPGA的数字钟电路设计

数字钟是典型的电子电路的应用,而基于FPGA的数字钟电路具有更大的灵活性和通用性。以QuartusII软件为设计平台,进行了基于FPGA的数字钟电路的方案设计、程序设计输入、编译和仿真等操作,比较完整地说明了数字钟电路的设计过程、功能和可编程逻辑器件设计的操作流程。     

基于FPGA的数字钟电路设计

数字钟是典型的电子电路的应用,而基于FPGA的数字钟电路具有更大的灵活性和通用性。以QuartusⅡ软件为设计平台,进行了基于FPGA的数字钟电路的方案设计、程序设计输入、编译和仿真等操作,比较完整地说明了数字钟电路的设计过程、功能和可编程逻辑器件设计的操作流程。     

6R型串联机器人控制系统的软件实现

基于Windows系统平台和VC6．0编程环境,结合ACR9000运动控制器实现了机器人模块化控制系统的设计。整个系统能够实现机器人示教、机器人运动指令生成、指令识别与运动再现以及运动状态监控等功能。此控制系统在自主研发的多功能6R型串联机器人平台上运行平稳。     

Applications of integrated motion controllers for precise CNC machines

The error resources of precise motion control systems are basically categorized into linear and nonlinear effects. To realize the precise motion of industrial computer numerical control (CNC) machines, this paper presents an integrated motion control structure with modular algorithms, including both the linear control and the nonlinear compensation. In the linear control design, this study applies three algorithms: (1) feedforward control to address the tracking errors, (2) cross-coupled control to reduce the contouring errors, and (3) digital disturbance observer to lessen the effects of modeling errors and disturbances in real applications. The results indicate that the linear motion controller achieves greatly improved accuracy in both tracking and contouring by reducing the servo lags and mismatched dynamics of the different axes. However, the adverse effect due to friction still exists and cannot be eliminated by applying the linear motion controller only. This study further integrates the nonlinear compensator and develops friction estimation and compensation rules for CNC machines. The digital signal processors are suitable to implement all the developed linear and nonlinear algorithms, and the present controllers have been successfully applied to industrial CNC machines. Experimental results on a vertical machining center indicate that, under different feed rates, the CNC machine with the integrated motion controller significantly reduces the maximum contouring error by 135% on average.     

基于FPGA的模糊自整定PID控制器的研究

提出了一种基于VHDL描述、FPGA实现的模糊自整定PID控制器设计方法。首先，借助Matlab系统仿真工具，优化得出模糊自整定PID参数的模糊推理规则和控制器算法结构。然后，进行控制器的VHDL分层设汁，作为单一控制器芯片，重点编程实现和时序仿真：模糊逻辑推理、模糊自整定PID算法、数据缓存和I／O接口控制。最后，在一个具体的FPGA芯片上实现该控制器，并在此基础上进行系统实验。实验结果表明：FPGA作为单一控制器实现模糊自整定PID控制编程规范、时序验证方便、系统修改灵活，且基本无须改动硬件，是实现单片或小系统智能控制策略的一种新的有效途径。     

基于DSP和FPGA的运动控制器设计

根据全自动校直机多轴运动控制的要求,设计了一种基于DSP和FPGA技术的校直机专用多轴运动控制器。该控制器主要以数字信号处理器(DSP)为核心,通过FPGA进行功能扩展,实现了对多个交流伺服电机或电液伺服阀的全闭环控制。控制器集成了编码器信号采集、PLC接口、16位高速AD采集和计算机通讯接口,集成度高、运算速度快。     

基于DSP和FPGA的电脑绣花机控制系统研究

根据运动控制技术的发展方向开发出一种用于高速加工领域的开放式运动控制器。讨论了该新型运动控制器的开放式体系结构,对它的主要模块进行了详细分析,在该开放式运动控制器中通过DSP完成实时控制,采用FPGA设计编码器的解码器、滤波器、计数器和总线接口的功能,利用双端口RAM解决工业计算机和运动控制器之间的大容量通讯问题,在Libero IDE 6中借助Modelsim5.8对编码器反馈电路进行了仿真,在高速工业电脑绣花机中的实际应用表明该运动控制器可靠并具有先进性。     

基于PMAC的减摇水舱试验台控制系统设计

减摇水舱属于典型的船舶横摇减摇装置,装船前必须采用试验台验证水舱的减摇能力。水舱试验台能够模拟船舶横摇、横荡两个方向的运动,采用液压伺服系统驱动。为了能够满足水舱试验的要求,克服耦合干扰力,设计了数字控制系统,并采用PMAC运动控制器实现对试验台的控制,最后通过试验调节参数,使系统达到预期指标。