以亚太机器人国内选拔赛为背景，简略介绍了机器人机械构成，详述了以DSP和FPGA为核心的机器人控制系统的设计与制作。控制系统以FPGA作为下位机，完成采集光纤、红外光电开关等传感器相关信号，进行滤波预处理，运动控制等功能。对红外光电开关外围处理电路做了详细的介绍 ，绘制了原理图，选择了合适的元器件，制作了PCB板。采集处理完成的信号通过与上位机的通信接口传送给DSP。FPGA再依据DSP发送的指令通过相应的I/O控制直流电机和数字舵机达到运动控制的目的。FPGA通过和DSP的通信，在系统中形成了反馈，优化了系统控制。59834

关键词  机器人  运动控制  FPGA  信号采集  DSP通信

毕业设计说明书（毕业论文）外文摘要

Title    The Design and Application of Motion Control    System Based on FPGA                       

Abstract The main task of this paper is to illustrate the design and application of a robot’s control system, with the background of ABU ASIA-PACIFIC ROBOT CONTEST 2013  qualifying trial in China. This paper introduces the robot mechanical structure briefly, details the design and production of robot’s control system with DSP and FPGA as the core. FPGA is used as the slave computer of the control system to imple-ment these features: collecting the signals of sensors such as optical fiber and infrared optoelectronic switch, filtering pre-processing, motion control, and other functions. The peripheral circuit of the infrared optoelectronic switch is introduced in detail, the sche-matic diagram is drawn, appropriate components are selected and a PCB is made. The obtained and processed signals are sent to the principal computer DSP by the commu-nication interface. FPGA controls the DC motor and digital servos by corresponding I/Os to implement motion control according to the instructions sent by DSP .FPGA forms the feedback in the system which optimizes the control system through the communication with DSP.

Keywords  Robot  Motion Control  FPGA  Acquisition of Signals  DSP commu-nication

目次

1 绪论 1

1.1 课题背景 1

1.2 机器人功能 1

1.3 移动机器人发展及动态 2

2 机器人机械结构介绍 3

2.1 底盘 4

2.2 提升机构 4

2.3 伸缩臂 6

3 控制系统硬件设计 7

3.1 控制器选择 7

3.2 控制系统构成 8

3.2.1 DSP模块 9

3.2.2 FPGA模块 9

3.2.3 光电接近开关 11

3.2.4 接近开关外围电路 12

3.2.5 舵机 16

3.2.6