用NiosⅡ嵌入式软核实现RoboCup中型组足球机器人的底层控制  

Implementation of On-board Control System Used in RoboCup Soccer Middle Size Competition Based on NiosⅡ

作　　者：范海艇[1] 项宗杰[1] 陈万米[1] 林骁元[1] 林立奇[1] 

机构地区：[1]上海大学自动化系,上海200072

出　　处：《仪表技术》2009年第5期33-36,共4页Instrumentation Technology

基　　金：上海市重点学科建设资助项目(T0103)

摘　　要：介绍基于NiosII嵌入式软核处理器的RoboCup中型组足球机器人的底层控制的设计方案,详细论述了系统设计的各个步骤。该控制方案在一块基于Altera CycloneII FPGA上实现,完全满足设计之初提出的接口统一、控制精确、便于升级的要求。文章对基于NiosII进行SOPC系统设计具有参考价值。One method of utilizing NiosII soft core to design an on-board control system which is used in RoboCup Soccer Middle Size Competition is introduced in this paper. More details during the implement of each function are involved. The design has been implemented on an Ahera CycloneII FPGA, which is satisfied with the demand of standard interface, accurate control and easy updating. The paper has universal guidance for NiosⅡ and SOPC designers.

关 键 词：NIOSII FPGA SOPC 底层控制系统 

分 类 号：TM930[电气工程—电力电子与电力传动]