基于FPGA的机器人伺服电机控制器系统研究与设计  

Research and Design of Robot Servo Motor Controller System Based on FPGA

作　　者：张佑春[1] 游志宇 任远林[1] 方冉[1] 董秀英 ZHANG You-chun;YOU Zhi-yu;REN Yuan-lin;FANG Ran;DONG Xiu-ying(School of Application Engineering,Anhui Business and Technology College,Hefei Anhui 231131,China;College of Electrical Information Engineering,Southwest University for Nationalities,Chengdu Sichuan 610041,China)

机构地区：[1]安徽工商职业学院应用工程学院,安徽合肥231131 [2]西南民族大学电气信息工程学院,四川成都610041

出　　处：《辽宁科技学院学报》2022年第4期8-10,19,共4页Journal of Liaoning Institute of Science and Technology

基　　金：安徽省高校学科(专业)拔尖人才学术资助项目(gxbjZD2020105);安徽高校自然科学研究重点项目(KJ2020A1095、KJ2021A1509、KJ2021A1510、KJ2021B002);安徽工商职业学院品牌教师培养项目(2021ppjs09).

摘　　要：为了解决传统工业机器人的控制通路不足等问题,设计了基于FPGA芯片的机器人伺服电机控制器系统。该系统的主要功能模块包括FPGA、电源、按键和隔离等,硬件电路包括ht 912 cg、FPGA控制器XC7A100T、光电耦合TLP281-4和反相器CD40106,实现了电机控制器系统软件总框架设计和Verilog HDL功能设计。仿真实验结果表明,电机控制器软硬件系统控制可以平稳、高精度、无颤抖地实现动作组运行,具有满意的控制效果。In order to solve the problem of insufficient control path of traditional industrial robot,a robot servo motor controller system based on FPGA was designed.The main functional modules of the system include FPGA,power supply,keys and isolation.The hardware circuit consists of ht 912 cg,FPGA controller xc7a100t,optoelectronic coupling tlp281-4 and inverter cd40106.The general framework design of motor controller system software and Verilog HDL function design were realized.The simulation results showed that the software and hardware system control of the motor controller can realize the operation of the action group smoothly,with high precision and without trembling,leading to a satisfactory controlling performance.

关 键 词：FPGA PWM信号 电机指令 机器人 

分 类 号：TP391.1[自动化与计算机技术—计算机应用技术]