摘要
Abstract
For the advantage of fast hardware computing capability and parallel processing capability of FPGA chips,a FPGA-based six-axis joint-manipulator servo drive control system was proposed. First,a mathematical model of a robot manipulator driven by a permanent magnet synchronous motor was derived,a fuzzy controller was used in the position controller to improve the position control robustness. Second,servo drive controller for manipulator was developed with an FPGA chip embedded in a soft Nios II processor,by the way of IP-core approach to realize point-to-point motion trajectory planning,at the same time using digital hardware to control six-axis positions,speeds,currents. Through the position tracking response test and the point-to-point position reproducibility test,it is verified that the six-axis drive control system of the FPGA is effective and correct,and the integration of the drivers is realized,which contributes to the development of multi-axis servo control.关键词
现场可编程门阵列(FPGA)/机械手/多轴伺服控制/模糊控制器/比例积分控制器Key words
field-programmable gate array(FPGA)/manipulator/multi-axis servo control/fuzzy controller/proportional integral controller分类
信息技术与安全科学
