CN102354134A - FPGA-based modularization double-joint servo control system - Google Patents
FPGA-based modularization double-joint servo control system Download PDFInfo
- Publication number
- CN102354134A CN102354134A CN2011102589252A CN201110258925A CN102354134A CN 102354134 A CN102354134 A CN 102354134A CN 2011102589252 A CN2011102589252 A CN 2011102589252A CN 201110258925 A CN201110258925 A CN 201110258925A CN 102354134 A CN102354134 A CN 102354134A
- Authority
- CN
- China
- Prior art keywords
- bus
- circuit
- module
- motor
- joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses an FPGA-based modularization double-joint servo control system which comprises a joint core control unit, a CAN bus communication module, a motor drive output module, a rotating transformer angle measuring module, a torque measuring module and a DC/DC module, wherein the joint core control unit comprises an NIOSII soft core processor, an Avalon bus, a CAN bus interface circuit, a serial interface circuit I, a PID (Proportion Integration Differentiation) controller I, a rotating transformer resolution interface circuit, an A/D interface circuit, an FIFO (First In First Out) and a watch dog circuit; the CAN bus communication module comprises a CAN bus controller I and a bus driver I, the motor drive module comprises a motor power supply switch control circuit and a serial communication circuit; the rotating transformer angle measuring module comprises a rotating transformer excitation generating unit and a rotating transformer signal resolution unit; and the torque measuring module comprises a bridge measurement circuit, an amplifier and an A/D conversion circuit. The upper computer is communicated with the joint core control unit through a CAN bus, the joint core control unit sends a command to the motor driver through a serial interface of the motor drive module, and the motor driver controls the motor and feeds back position information of the motor.
Description
Technical field
The present invention relates to the robot field, be specifically related to a kind of modularization doublejointed control system based on FPGA.
Background technology
Along with the Robotics development, more and more higher to the performance requirement of robot system, not only require to have response characteristic fast, higher tracking accuracy, and require to have good versatility and extendability.As the direct driver of robot actuating mechanism, joint control be in the total system crucial a bit.Joint control system adopts based on ARM, DSP Platform Implementation mostly at present, and low, the system complex of these control system integrated levels can not satisfy the requirement of modern industry and social development.
Along with the development of robot architecture, robot modularized research has also obtained significant progress, modularization robot be by one by one independently the reorganization of the identical or similar module of function form, require the applicability of each module high, strong interference immunity; The robot miniaturization also is an important trend of development, and traditional simple joint controller makes that the robot build is huge, control is dumb; It is serious that the single closed loop control method of traditional PID controller is received the non-linear factor influence, bad adaptability.
Only carry out pid parameter from applicability, the stability requirement of adjusting and to satisfy system with motor driver.
Summary of the invention
In order to solve the problem that ROBOT CONTROL device part-structure is complicated, bulky, integrated level is low, the invention provides a kind of method for designing of the modularization doublejointed servo-control system based on FPGA.
Modularization doublejointed servo-control system based on FPGA of the present invention; Comprise the joint key control unit; CAN bus communication module; The motor-driven output module; Revolve and become the angle measurement module; The torgue measurement module; The DC/DC module; The joint key control unit comprises the NIOSII soft-core processor; The Avalon bus; The CAN bus interface circuit; The serial interface circuit I; PID controller I; Revolve to become and resolve interface circuit; The A/D interface circuit; FIFO and watchdog circuit; CAN bus communication module comprises CAN bus controller I and bus driver I; Motor drive module comprises the electric power switch control circuit; Serial communication circuit; Revolve and become the angle measurement module and comprise revolving and become the excitation generation unit and revolve varying signal and resolve the unit that the torgue measurement module comprises bridge measuring circuit; Amplifier; The A/D change-over circuit.Host computer communicates through CAN bus and joint key control unit, and the joint key control unit sends instruction through the serial ports of motor drive module to motor driver, again by motor driver control motor, feeds back the positional information of motor simultaneously.The joint key control unit is used for processing such as the storage, exchange of data; Designed interface logic simultaneously with peripheral hardware; As and the CAN bus controller between accessing time sequence, binary channels revolve become resolve, torgue measurement signal filtering etc., all in sheet, adopt hardware description language Verilog HDL to realize; The command information that CAN bus communication module is used to receive host computer feeds back various status informations to host computer simultaneously; Motor drive module is used to receive the order of controller and controls motor driver; The torgue measurement module is used for measuring torque; Revolve change angle measurement module and be used as angular transducer, comprise revolving becoming the excitation generation and resolving module, revolve the excitation signal of change and become the angle information that the cosine and sine signal of exporting resolves acquisition motor and joint revolving through generation; The DC/DC module is used for direct supply is transformed to the needed various secondary power supplies of joint control.
Modularization doublejointed servo-control system based on FPGA of the present invention, it is based on, and above-mentioned control system realizes, the control procedure of said control method is:
In system,, realize control to joint motor through two closed loop PID controllers of joint key control unit.Host computer provides position command, behind the outermost ring position ring controller through two closed loops, changes into speed command and sends to motor driver through serial communication circuit, utilizes neuroid that the pid parameter of speed ring is carried out on-line tuning simultaneously.
Beneficial effect of the present invention: the modularization doublejointed servo-control system that the invention provides a kind of reliability height and miniaturization based on FPGA; It is that one has been formed joint control that the present invention collects mechanical system, communication system, drive system and sensor-based system; Two-way motor-driven output module of the present invention, binary channels multipolar resolver etc. have been realized the control of a controller to doublejointed; Of the present invention pair of closed loop PID controller realized the servocontrol to joint motor; Pid parameter based on neuroid of the present invention is adjusted certainly, has improved the applicability and the stability of system.
Description of drawings
Fig. 1 is a structural representation of using the modularization doublejointed servo-control system based on FPGA of the present invention; Wherein, 8 and 12 is motor driver; 9 and 13 is motor; 10 is two speed resolver, and 10-1 is two speed resolver I, and 10-2 is two speed resolver II; Fig. 2 is two closed loop PID control strategy figure, and Fig. 3 adjusts for the PID based on the BP neural network.
The practical implementation method
Embodiment one: specify this embodiment according to Figure of description 1; The described modularization doublejointed servo-control system of this embodiment based on FPGA; Comprise joint key control unit 1; CAN bus communication module 2; Motor-driven output module 3; Revolve and become angle measurement module 4; Torgue measurement module 5; DC/DC module 6; Joint key control unit 1 comprises NIOSII soft-core processor 1-1; Avalon bus 1-2; CAN bus interface circuit 1-3; Revolve to become and resolve interface circuit 1-6; A/D interface circuit 1-7; FIFO1-8; CAN bus communication module 2 comprises CAN bus controller I2-1 and bus driver I2-2; Motor drive module 3 comprises electric power switch control circuit 3-1 and serial communication circuit 3-2, and torgue measurement module 5 comprises bridge measuring circuit 5-1; Amplifier 5-2; A/D change-over circuit 5-3; Host computer C communicates through CAN bus 2 and joint key control unit 1; Joint key control unit 1 sends instruction through the serial ports 3-2 of motor drive module 3 to motor driver 8; Motor driver 8 is control motors 9 finally, feed back the positional information of motor 9 simultaneously; Joint key control unit 1 is used for processing such as the storage, exchange of data; Designed interface logic simultaneously with peripheral hardware; As with CAN bus interface circuit 1-3, revolve to become and resolve interface circuit 1-6, A/D interface circuit 1-7 etc., all in sheet, utilize Verilog HDL to realize; CAN bus communication module 2 is used to control the CAN bus, realizes communicating by letter of joint control 1 and host computer C, and the CAN bus is used to receive the command information of host computer C, feeds back various status informations simultaneously; Motor drive module 3 is used to receive the order of controller 1 and controls motor driver 8; Torgue measurement module 5 utilizes bridge measuring circuit 5-1, amplifier 5-2, A/D change-over circuit 5-3 to measure torque; Revolve and become angle measurement module 4 as angular transducer; DC/DC module 6 is used for direct supply is transformed to joint control 1 needed various secondary power supplies.
In this embodiment; The position control of joint space, the control of CAN bus circuit on the FPGA plate, have been realized; Realize the motor-driven output module with power panel simultaneously; Electric connector carries out interconnected between the employing pcb board; Revolve and become angle measurement module, torgue measurement module, DC/DC module and be distributed in simultaneously on FPGA plate, the power panel, reduced coupling and interference between the different qualities circuit in the doublejointed controller.In this embodiment, central control computer is as host computer, and the doublejointed controller is as slave computer, and is interconnected through the CAN bus, forms upper and lower computer, distributed Control Network.
In this embodiment; Revolve and become angle measurement module 4 and comprise revolving and become excitation generation unit 4-1 and revolve varying signal and resolve unit 4-2; Revolve and become the sine wave that excitation generation unit 4-1 generation part needs; Input signal as two speed resolver 10-1; Resolve unit 4-2 and be provided for phase locked reference signal for revolving to become simultaneously; Two speed resolver 10-1 output signal resolves among the unit 4-2 to revolving to become, and becomes the conversion of resolving interface circuit 1-6 through overwinding again the motor that collects and the angle information in joint are exported in the joint key control unit 1.Two speed resolver I is integrated by a multipolar resolver (smart machine) and a unit rotary transformer (thick machine); Each corresponding one in thick machine and smart machine revolve the varying signal solver; Promptly revolve to become to resolve and comprise two among the unit 4-2 and revolve the varying signal solver; Revolve to become and resolve interface circuit 1-6 and simultaneously two information acquisitions of revolving the varying signal solver are come, after analyzing computing, obtain angle information.
In this embodiment, the A/D interface circuit 1-7 in the joint key control unit 1, FIFO1-8 are used for changing the moment information that from torgue measurement module 5, collects.Bridge measuring circuit I5-1 in the torgue measurement module 5 is used to gather joint moment; Signal sends to A/D change-over circuit 5-3 after amplifying through amplifier I5-2; Can pass through A/D interface circuit 1-7 by signal on the one hand; Convert the operable signal of NIOSII to, also can pass through A/D interface circuit 1-7 and FIFO1-8 summation on the other hand and obtain the operable signal of NIOSII.
Embodiment two, this embodiment is that with the difference of embodiment one joint control has been realized the control to doublejointed.CAN bus communication module 2 also comprises CAN bus controller I2-1 and CAN bus driver I2-2, and each joint comprises a CAN bus controller and driver, and host computer is selected the different joint passage through sending data, realizes the control to doublejointed.
In this embodiment; Revolve change angle measurement module 4 and also comprise multi-analog switch I 4-3 and multi-analog switch I I4-4; Also comprise a two speed resolver II 10-2 in the two speed resolver 10, contain a two speed resolver in each joint.Revolve and become angle measurement module 4 and become a slice of resolving among the unit 4-2 and revolve and become independently paths of two of solver and a multi-analog switch I 4-3 or multi-analog switch I I4-4 compositions through revolving; The signal that revolves smart machine of change and thick machine that each path can be accomplished the joint resolves; The multi-analog switch is accomplished the switching between the two speed resolver, promptly accomplishes the switching between the joint.Though this design has increased the multi-analog switch, greatly simplified the design of system, reduced volume, quality and power consumption.
In this embodiment, torgue measurement module 5 also comprises bridge measuring circuit II5-4 and amplifier II5-5, accomplishes the moment information collection to joint two.
In this embodiment, PID controller II1-9, serial interface circuit I I1-10, motor-driven output module II11, motor driver II12 and motor II 13 are used for controlling joint II equally.
This embodiment is integrated on the controller the control of doublejointed, has reduced number of circuit boards, has realized the miniaturization Design of integrated doublejointed.
Embodiment three, this embodiment is to have added watchdog circuit 7 with the difference of embodiment one, two, is integrated on the fpga chip.House dog comes down to a timer circuit, and the setting of house dog is carried out in two steps, comprises initialization dog and dog feeding operation, realizes with software operation.Initialization dog after the systematic parameter initialization feeds dog in the major control cycle module.When software work was undesired, timer can non-normal working.In the cycle of regulation, interrupt dog feeding operation, then system automatically resets.
In this embodiment, in software, adding watchdog module is the ruuning situation for monitoring software, and system can automatically reset when running software is undesired, recovers operate as normal, prevents program generation endless loop, has increased the reliability and stability of system.
Embodiment four, this embodiment is that with embodiment one, two or three difference joint key control unit 1 also comprises serial interface circuit I 1-4 and PID controller I1-5.In system,, realize control to joint motor through two closed loop PID controller I1-5 of joint key control unit 1.Host computer C provides position command, behind the outermost ring position ring controller through two closed loops, changes into speed command and sends to motor driver through serial communication circuit 3-2, and motor driver is directly controlled motor, realizes the servocontrol to motor.Wherein serial interface circuit I 1-4 is the driving circuit of serial communication circuit 3-2.
In this embodiment, two closed loop PID control strategies as shown in Figure 2.After host computer C provides position command; Positional information with the rotary transformer feedback in joint control compares; Obtain of the input of a position signalling as position ring controller; The instruction of position ring controller output speed; After the velocity information that collects with photoelectric encoder compares again; Obtain the input of a rate signal as current loop controller, electric current loop is realized the control to the motor electromagnetic torque.Interior ring is directly controlled speed and electric current, the outer shroud control position, and harmonic speed reducer is placed on outer shroud, has reduced the influence to speed ring, has improved the stability of system.
In this embodiment, current loop controller in two closed-loop controls and the effect of PWM are to be realized by motor driver.
Embodiment five, this embodiment are to the further specifying of embodiment four, and among the PID controller I1-5, utilize neuroid that position ring and the speed ring of PID controller I1-5 are carried out the pid parameter on-line tuning.
In this embodiment, adjust as shown in Figure 3 based on the PID of BP neural network, site error and error folk prescription are output as the parameter K PP of position ring, the parameter K P of speed ring and KI as the input of BP neuroid.Through study, the weighting coefficient adjustment of neural network self, thereby make system reach the best stabilized state.
In this embodiment, utilize the BP neural network that pid parameter is adjusted, improved the applicability of system, realized the high-performance stabiliser of system.
Claims (5)
1. based on the modularization doublejointed servo-control system of FPGA; It is characterized in that it comprises joint key control unit 1; CAN bus communication module 2; Motor-driven output module 3; Revolve and become angle measurement module 4; Torgue measurement module 5; DC/DC module 6; Joint key control unit 1 comprises NIOSII soft-core processor 1-1; Avalon bus 1-2; CAN bus interface circuit 1-3; Revolve to become and resolve interface circuit 1-6; A/D interface circuit 1-7; FIFO1-8; CAN bus communication module 2 comprises CAN bus controller I2-1 and bus driver I2-2; Motor drive module 3 comprises electric power switch control circuit 3-1 and serial communication circuit 3-2, and torgue measurement module 5 comprises bridge measuring circuit 5-1; Amplifier 5-2; A/D change-over circuit 5-3;
Host computer C communicates through CAN bus 2 and joint key control unit 1; Joint key control unit 1 sends instruction through the serial ports 3-2 of motor drive module 3 to motor driver 8; Motor driver 8 is control motors 9 finally, feed back the positional information of motor 9 simultaneously;
Joint key control unit 1 is used for processing such as the storage, exchange of data; Designed interface logic simultaneously with peripheral hardware; As with CAN bus interface circuit 1-3, revolve to become and resolve interface circuit 1-6, A/D interface circuit 1-7 etc., all in sheet, utilize Verilog HDL to realize;
CAN bus communication module 2 is used to control the CAN bus, realizes communicating by letter of joint control 1 and host computer C, and the CAN bus is used to receive the command information of host computer C, feeds back various status informations simultaneously;
Motor drive module 3 is used to receive the order of controller 1 and controls motor driver 8;
Torgue measurement module 5 utilizes bridge measuring circuit 5-1, amplifier 5-2, A/D change-over circuit 5-3 to measure torque;
Revolve and become angle measurement module 4 as angular transducer;
DC/DC module 6 is used for direct supply is transformed to joint control 1 needed various secondary power supplies.
2. the modularization doublejointed servo-control system based on FPGA according to claim 1; It is characterized in that; CAN bus communication module 2 also comprises CAN bus controller I2-1 and CAN bus driver I2-2; Each joint comprises a CAN bus controller and driver; Host computer is selected the different joint passage through sending data, realizes the control to doublejointed.
3. the described modularization doublejointed servo-control system based on FPGA of claim 1 is characterized in that it also comprises watchdog circuit 7, is integrated on the fpga chip.House dog comes down to a timer circuit, and the setting of house dog is carried out in two steps, comprises initialization dog and dog feeding operation, realizes with software operation.Initialization dog after the systematic parameter initialization feeds dog in the major control cycle module.When software work was undesired, timer can non-normal working.In the cycle of regulation, interrupt dog feeding operation, then system automatically resets.
4. the described modularization doublejointed servo-control system based on FPGA of claim 1 is characterized in that joint key control unit 1 also comprises serial interface circuit I 1-4 and PID controller I1-5.In system,, realize control to joint motor through two closed loop PID controller I1-5 of joint key control unit 1.Host computer C provides position command, behind the outermost ring position ring controller through two closed loops, changes into speed command and sends to motor driver through serial communication circuit 3-2, and motor driver is directly controlled motor, realizes the servocontrol to motor.Wherein serial interface circuit I 1-4 is the driving circuit of serial communication circuit 3-2.
5. claim 1 or 4 described modularization doublejointed servo-control systems based on FPGA is characterized in that, among the PID controller I1-5, utilize neuroid that position ring and the speed ring of PID controller I1-5 are carried out the pid parameter on-line tuning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102589252A CN102354134A (en) | 2011-09-02 | 2011-09-02 | FPGA-based modularization double-joint servo control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102589252A CN102354134A (en) | 2011-09-02 | 2011-09-02 | FPGA-based modularization double-joint servo control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102354134A true CN102354134A (en) | 2012-02-15 |
Family
ID=45577711
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011102589252A Pending CN102354134A (en) | 2011-09-02 | 2011-09-02 | FPGA-based modularization double-joint servo control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102354134A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102819256A (en) * | 2012-09-07 | 2012-12-12 | 中南大学 | Foot type robot state sensing system |
| CN103455002A (en) * | 2013-08-30 | 2013-12-18 | 天津大学 | FPGA ultra high-speed industrial control system based on Verilog HDL |
| CN103699036A (en) * | 2013-12-18 | 2014-04-02 | 哈尔滨工程大学 | Modularized high-precision robot joint controller |
| CN103737603A (en) * | 2013-12-27 | 2014-04-23 | 柳州职业技术学院 | Accuracy control system and control method for mechanical arm on assembly line |
| CN103809547A (en) * | 2012-11-14 | 2014-05-21 | 沈阳高精数控技术有限公司 | Control system and method of servo driver field bus interface |
| CN104062983A (en) * | 2014-06-26 | 2014-09-24 | 中国科学院光电技术研究所 | Harmonic drive type high-accuracy position control system and method |
| CN105437231A (en) * | 2015-12-25 | 2016-03-30 | 马鞍山永耀智能装备有限公司 | Six-axle series robot joint servo system |
| CN106020172A (en) * | 2016-07-11 | 2016-10-12 | 北京强度环境研究所 | Rudder servo real-time sine scan driving method based on FPGA platform |
| CN107579681A (en) * | 2017-10-12 | 2018-01-12 | 珠海格力节能环保制冷技术研究中心有限公司 | DC motor control system, direct current generator and the host computer for controlling direct current generator |
| CN108267981A (en) * | 2017-12-14 | 2018-07-10 | 中国电子科技集团公司第三十二研究所 | Dual-channel electric servo control system based on antifuse type FPGA |
| CN108748157A (en) * | 2018-06-12 | 2018-11-06 | 北京机械设备研究所 | A kind of control device and method for space manipulator joint drive |
| CN110171016A (en) * | 2019-05-22 | 2019-08-27 | 西安电子科技大学 | A kind of complete Modular Flexible joint based on high-speed serial communication |
| CN110471336A (en) * | 2019-08-02 | 2019-11-19 | 上海交通大学 | The servo control system realized based on Verilog |
| CN111360795A (en) * | 2020-03-31 | 2020-07-03 | 研祥智能科技股份有限公司 | Control system and control method of six-degree-of-freedom parallel robot |
| CN112975990A (en) * | 2021-04-25 | 2021-06-18 | 呜啦啦(广州)科技有限公司 | Mechanical joint synchronous control method and system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201493851U (en) * | 2009-08-11 | 2010-06-02 | 国营红峰机械厂 | Electric control device of intelligent robot |
| CN101770221A (en) * | 2008-12-30 | 2010-07-07 | 中国科学院自动化研究所 | Two-arm inspection robot control system based on field bus |
| CN101819427A (en) * | 2010-03-29 | 2010-09-01 | 哈尔滨工业大学 | On-chip control system of digital articulation based on FPGA (Field Programmable Gate Array) |
-
2011
- 2011-09-02 CN CN2011102589252A patent/CN102354134A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101770221A (en) * | 2008-12-30 | 2010-07-07 | 中国科学院自动化研究所 | Two-arm inspection robot control system based on field bus |
| CN201493851U (en) * | 2009-08-11 | 2010-06-02 | 国营红峰机械厂 | Electric control device of intelligent robot |
| CN101819427A (en) * | 2010-03-29 | 2010-09-01 | 哈尔滨工业大学 | On-chip control system of digital articulation based on FPGA (Field Programmable Gate Array) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102819256B (en) * | 2012-09-07 | 2015-02-11 | 中南大学 | Foot type robot state sensing system |
| CN102819256A (en) * | 2012-09-07 | 2012-12-12 | 中南大学 | Foot type robot state sensing system |
| CN103809547A (en) * | 2012-11-14 | 2014-05-21 | 沈阳高精数控技术有限公司 | Control system and method of servo driver field bus interface |
| CN103455002A (en) * | 2013-08-30 | 2013-12-18 | 天津大学 | FPGA ultra high-speed industrial control system based on Verilog HDL |
| CN103455002B (en) * | 2013-08-30 | 2015-09-23 | 天津大学 | A kind of FPGA hypervelocity industrial control system based on Verilog HDL |
| CN103699036A (en) * | 2013-12-18 | 2014-04-02 | 哈尔滨工程大学 | Modularized high-precision robot joint controller |
| CN103699036B (en) * | 2013-12-18 | 2016-11-23 | 哈尔滨工程大学 | Modularity high precision machines person joint's controller |
| CN103737603A (en) * | 2013-12-27 | 2014-04-23 | 柳州职业技术学院 | Accuracy control system and control method for mechanical arm on assembly line |
| CN103737603B (en) * | 2013-12-27 | 2015-12-02 | 柳州职业技术学院 | Mechanical arm accuracy-control system and control method on a kind of streamline |
| CN104062983B (en) * | 2014-06-26 | 2017-03-15 | 中国科学院光电技术研究所 | A kind of position control system with high accuracy of harmonic drive and method |
| CN104062983A (en) * | 2014-06-26 | 2014-09-24 | 中国科学院光电技术研究所 | Harmonic drive type high-accuracy position control system and method |
| CN105437231A (en) * | 2015-12-25 | 2016-03-30 | 马鞍山永耀智能装备有限公司 | Six-axle series robot joint servo system |
| CN106020172A (en) * | 2016-07-11 | 2016-10-12 | 北京强度环境研究所 | Rudder servo real-time sine scan driving method based on FPGA platform |
| CN107579681A (en) * | 2017-10-12 | 2018-01-12 | 珠海格力节能环保制冷技术研究中心有限公司 | DC motor control system, direct current generator and the host computer for controlling direct current generator |
| CN108267981A (en) * | 2017-12-14 | 2018-07-10 | 中国电子科技集团公司第三十二研究所 | Dual-channel electric servo control system based on antifuse type FPGA |
| CN108748157A (en) * | 2018-06-12 | 2018-11-06 | 北京机械设备研究所 | A kind of control device and method for space manipulator joint drive |
| CN110171016A (en) * | 2019-05-22 | 2019-08-27 | 西安电子科技大学 | A kind of complete Modular Flexible joint based on high-speed serial communication |
| CN110471336A (en) * | 2019-08-02 | 2019-11-19 | 上海交通大学 | The servo control system realized based on Verilog |
| CN111360795A (en) * | 2020-03-31 | 2020-07-03 | 研祥智能科技股份有限公司 | Control system and control method of six-degree-of-freedom parallel robot |
| CN112975990A (en) * | 2021-04-25 | 2021-06-18 | 呜啦啦(广州)科技有限公司 | Mechanical joint synchronous control method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102354134A (en) | FPGA-based modularization double-joint servo control system | |
| CN105007012B (en) | A kind of vehicle-mounted rotating table control system and method | |
| CN103075963B (en) | A kind of indoor locating system and method | |
| CN201371945Y (en) | Electric steering engine controller based on FPGA | |
| CN100595707C (en) | Numerical control machine tool double-shaft synchronization controller | |
| CN107972732A (en) | A kind of unmanned rice transplanter automatic steering control system and its control method | |
| CN110752791A (en) | Position real-time synchronous control system and method for one-driving-three actuating device | |
| CN110737193B (en) | Synchronous algorithm control system for controlling multiple shafts through virtual shaft | |
| CN105159227A (en) | Biaxial motion platform positioning and dynamic locus tracking control device and method | |
| CN101819427B (en) | On-chip control system of digital articulation based on FPGA (Field Programmable Gate Array) | |
| CN103676653A (en) | Servo synchronous control method and system applied to gantry mechanism | |
| CN102185546A (en) | Drive control method and system for large-caliber telescope arc motor | |
| CN105881504A (en) | Delta robot control system with traction visual teaching function | |
| CN102497151B (en) | Intelligent reconstruction flexible motor driven controller | |
| CN203061919U (en) | High-speed high-precision multi-shaft PCB numerical control drill press | |
| CN107748524A (en) | Bi-motor high speed and super precision servo-control system and its method based on SCM＆FPGA | |
| CN104796055A (en) | Touch screen control and drive integrated four-axis steeping motor closed-loop control system | |
| CN105700561A (en) | Three-dimensional rotary table servo control system | |
| CN203186574U (en) | Digital servo control rudder system | |
| CN207523783U (en) | A kind of unmanned rice transplanter automatic steering control system | |
| WO2009082918A1 (en) | Cooking machine using several motors position loop, speed loop parallel control | |
| CN107192361A (en) | The kinetic control system and its control method of a kind of three coordinate measuring machine | |
| CN107786137A (en) | A kind of design of step motor control system | |
| CN2906795Y (en) | Multi-axis motion control card-based multi-axis hybrid control system for teaching | |
| CN104777850A (en) | High-accuracy and splittable three-axis turntable control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20120215 |