| 基于DSP、FPGA和模糊自调整PID控制的仿人机器人控制系统的设计与实现 |
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| 引用本文： | 文海鸥,向中凡,虞君锚,朱柏树.基于DSP、FPGA和模糊自调整PID控制的仿人机器人控制系统的设计与实现[J].机床与液压,2011,39(21). |
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| 作者姓名： | 文海鸥 向中凡 虞君锚 朱柏树 |
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| 作者单位： | 西华大学机械工程与自动化学院,四川成都,610039 |
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| 基金项目： | 西华大学机械电子工程重点学科资助项目(SZD0409-08-0);西华大学制造与自动化重点实验室基金资助项目 |
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| 摘 要： | 设计一套全自主仿人机器人分布式运动控制系统,该系统的底层控制部分采用双DSP作为主处理器并结合FP-GA模块实现图像处理和DSP外围复杂译码电路并进行倍频、鉴相、计算等。给出了处理器的反馈回路和一些复杂外围器件设计过程。结合前沿控制理论,提出一种基于模糊规则的自调整PID控制策略并进行MATLAB仿真。结果表明:该控制系统能够直接嵌入机器人本体,具有结构简单、抗干扰能力强、可靠性高等特点。该研究工作对全自主仿人机器人的进一步发展起着积极作用。
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| 关 键 词： | 仿人机器人 双DSP 反馈回路 FPGA 自调整PID |
Design and Realization of Humanoid Robot Control System Based on DSP,FPGA and Fuzzy Self-adjusting PID Control |
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| WEN Haiou,XIANG Zhongfan,YU Junmao,ZHU Boshu.Design and Realization of Humanoid Robot Control System Based on DSP,FPGA and Fuzzy Self-adjusting PID Control[J].Machine Tool & Hydraulics,2011,39(21). |
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| Authors: | WEN Haiou XIANG Zhongfan YU Junmao ZHU Boshu |
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| Affiliation: | WEN Haiou,XIANG Zhongfan,YU Junmao,ZHU Boshu(Mechanical Engineering and Automation College of Xihua University,Chengdu Sichuan 610039,China) |
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| Abstract: | A fully autonomous humanoid robot distributed motion control system was designed,in which bottom-layer control unit dual DSP was used as the main processor and FPGA control block was used to complete the DSP peripheral complex decoding circuitry and the multiplier,phase,calculation,image processing.The design processes of the processor's peripheral devices and the feedback loop were given.A self-adjusting PID control strategy based fuzzy rules was proposed based on cutting-edge control theory.Through the MA... |
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| Keywords: | Humanoid robot Dual DSP Feedback loop FPGA Self-adjusting PID |
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