CN106585760A - Multi-leg robot control system and multi-leg robot - Google Patents
Multi-leg robot control system and multi-leg robot Download PDFInfo
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- CN106585760A CN106585760A CN201510684600.9A CN201510684600A CN106585760A CN 106585760 A CN106585760 A CN 106585760A CN 201510684600 A CN201510684600 A CN 201510684600A CN 106585760 A CN106585760 A CN 106585760A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of robots, and particularly relates to a multi-leg robot control system and a multi-leg robot. The multi-leg robot control system includes an FPGA module; the FPGA module includes a feedback signal receiving module, a current sampling module, a vector control module and a motor drive module which form a closed-loop control system for driving a motor to run. A single chip FPGA is used as a main control chip to form the closed-loop control system for the motor, and then the multi-leg robot is driven to run, the operation speed of the control system is accelerated, the multi-leg robot can run smoothly, and the cost can be saved.
Description
【Technical field】
The present invention relates to robot control field, more particularly to a kind of multi-foot robot control system and many
Biped robot.
【Background technology】
Each sufficient walking of multi-foot robot is rotated by motor and is realized, can be made by controlling multi-axle motor
Multi-foot robot completes the action walked.At present, multi-axle motor control generally adopts Digital Signal Processing
Device (digital signal processor, DSP) is main control chip, as DSP adopts serial algorithm,
One single chip can not control multi-axle motor simultaneously, to realize multijoint control by DSP, then need many
Individual dsp chip, had both improve cost, increased the volume of equipment again.
【The content of the invention】
The technical problem to be solved in the present invention is by single-chip while controlling multi-axle motor, solves equipment
High cost, the slow problem of multi-foot robot walking.
To solve above-mentioned technical problem, on the one hand, the invention provides a kind of multi-foot robot control system
Unite for motor, the motor is included for showing the code-disc of robot location.
A kind of multi-foot robot control system that the present invention is provided includes FPGA module, wherein：
The FPGA module includes feedback signal reception module, current sample module, vector controlled mould
Block, motor drive module；
The feedback signal reception module and current sample module are used to gather information and pass to the arrow
Amount control module；The vector control module receives the feedback signal reception module and the electric current is adopted
The information union of egf block collection, generates PWM ripples by computing described information；The PWM ripples
The motor rotation is driven by the motor drive module；
The feedback signal reception module, the current sample module, the vector control module, institute
State motor drive module and collectively form closed-loop control system.
In certain embodiments, the feedback signal reception module is used to read the motor correspondence code-disc
Positional value.
In certain embodiments, the current sample module is used for the current information for gathering the motor.
In certain embodiments, the computing of the vector control module is closed loop computing.
In certain embodiments, the PWM ripples be a kind of vector controlled digital signal, the vector control
Digital signal processed receives the feedback signal reception module and the electric current by the vector control module
The information of sampling module collection, and the vector controlled numeral letter of PWM ripples is produced by vector change algorithm
Number.
On the other hand, the invention provides a kind of multi-foot robot, it is characterised in that including motor,
FPGA module, wherein：
The motor is walked for driven machine people, and the motor also includes that code-disc is used to show described many
The positional value of biped robot；
The FPGA module includes feedback signal reception module, current sample module, vector controlled mould
Block, motor drive module；
The feedback signal reception module and current sample module are used to gather information and pass to the arrow
Amount control module；The vector control module receives the feedback signal reception module and the electric current is adopted
The information of egf block collection simultaneously carries out computing, and the computing is closed loop computing, by computing described information
Generate PWM ripples；The PWM ripples drive the motor rotation by the motor drive module；
The feedback signal reception module, the current sample module, the vector control module, institute
State motor drive module and collectively form closed-loop control system.
In certain embodiments, the feedback signal reception module is used to read the motor correspondence code-disc
Positional value, the current sample module is used to gather the current information of the motor.
In certain embodiments, the motor is multi-axle motor.
In certain embodiments, the number of motors is corresponded with the foot of the multi-foot robot.
In certain embodiments, the PWM ripples be a kind of vector controlled digital signal, the vector control
Digital signal processed receives the feedback signal reception module and the electric current by the vector control module
The information of sampling module collection, and the vector controlled numeral letter of PWM ripples is produced by vector change algorithm
Number.Present invention achieves being operated as main control chip controlled motor by single-chip FPGA, DSP is eliminated
Interlock circuit, reduces the volume of equipment, reduces development cost.By multi-foot robot control it is
System motor operating, so as to drive multi-foot robot to walk, makes each foot of multi-foot robot have right
The motor answered, improves the speed of travel of robot, and its walking motion is more true to nature.
【Description of the drawings】
Fig. 1 shows a kind of multi-foot robot Control system architecture frame that the present embodiment of the present invention 1 is proposed
Figure；
Fig. 2 shows a kind of multi-foot robot structural representation that the embodiment of the present invention 2 is proposed.
【Specific embodiment】
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with accompanying drawing
And embodiment, the present invention will be described in further detail.It should be appreciated that described herein concrete
Embodiment only to explain the present invention, is not intended to limit the present invention.
As long as additionally, technical characteristic involved in invention described below each embodiment
Do not constitute conflict each other can just be mutually combined.
Embodiment 1
Fig. 1 is referred to, a kind of multi-foot robot control system is present embodiments provided, the system is used to drive
Galvanic electricity machine, the motor are included for showing the code-disc of robot location.
Multi-foot robot control system described in the present embodiment includes field programmable gate array (Field
- Programmable Gate Array, FPGA) module 200.
Above-mentioned FPGA module 200, is in programmable array logic devices (Programmable Array
Logic, PAL), complex programmable logic-array device (Complex Programmable Logic
Device, CPLD) etc. the product that further develops on the basis of programming device, it is as special
A kind of semi-custom circuit in integrated circuit fields and occur, both solved the deficiency of custom circuit,
The limited shortcoming of original programming device gate circuit number is overcome again.
The FPGA module 200, including feedback signal reception module 210, current sample module 220,
Vector control module 230, motor drive module 240.
The feedback signal reception module 210 and current sample module 220 are used to gather information and transmit
To the vector control module 230, the vector control module 230 receives the feedback signal reception mould
Block 210 and the information of the current sample module 220 collection, described information is used for computing, by fortune
Calculate described information and generate pulse width modulation (Pulse-Width Modulation, PWM) ripple；It is described
PWM ripples drive the motor rotation by the motor drive module 240, wherein, the feedback letter
Number receiver module 210, the current sample module 220, the vector control module 230, the electricity
Machine drive module 240 collectively forms a closed-loop control system, and the closed-loop control system is used for motor
Operating.
Preferably, the feedback signal reception module 210 is used to read on the motor correspondence code-disc
Positional value, the positional value represent the coordinate position of current robot, and feedback signal reception module 210 connects
The positional value output for receiving is to vector control module 230.
Preferably, the current sample module 220 is used for the current information for gathering the motor, the electricity
Stream information output is to vector control module 230.
Preferably, the calculating process of the vector control module 230 is a kind of closed loop computing, by closing
Ring computing generates described PWM ripples, and the process controls corresponding frequencies by setting corresponding program,
Output low and high level carrys out controlling switch pipe, so as to modulate output PWM ripples.
Preferably, the PWM ripples that the vector control module 230 is generated are a kind of vector controlled numeral letter
Number, the vector controlled digital signal receives the feedback signal by the vector control module 230
The information of receiver module 210 and the current sample module 220 collection is simultaneously produced by vector change algorithm
The vector controlled digital signal of raw PWM ripples.
The control mode of above-mentioned PWM ripples is exactly that the break-make to inverter circuit switching device is controlled, and is made
Outfan obtains a series of equal pulse of amplitudes, replaces sine wave or required with these pulses
Waveform, is modulated to the width of each pulse according to certain rule, you can change circuit output voltage
Size, can also change output frequency, be operated by the change motor of voltage or frequency.
A multi-foot robot control system is present embodiments provided, main core is used as by FPGA mainly
Piece carrys out motor, so as to drive multi-foot robot to walk, overcomes conventionally employed dsp chip conduct
Main control chip high cost, bulky problem.
Embodiment 2
Fig. 2 is referred to, a kind of multi-foot robot is present embodiments provided, it is characterised in that including motor
100th, FPGA module 200.
Motor 100 is walked for driven machine people, and the motor also includes that code-disc is used to show described many
The positional value of biped robot.
Preferably, the motor can be multi-axle motor, and the quantity of motor and the multi-foot robot
Foot is corresponded.
FPGA module 200 includes feedback signal reception module 210, current sample module 220, vector
Control module 230, motor drive module 240.
The feedback signal reception module 210 and current sample module 220 are used to gather information and transmit
To the vector control module 230；The vector control module 230 receives the feedback signal reception mould
The information of block 210 and the current sample module 220 collection simultaneously carries out computing, and the computing is closed loop
Computing, generates PWM ripples by computing described information；The PWM ripples are by the Motor drive mould
Block 240 drives the motor 100 to operate.
The feedback signal reception module 210, the current sample module 220, the vector controlled mould
Block 230, the motor drive module 240 collectively form closed-loop control system.
Preferably, the feedback signal reception module is used for the positional value for reading the motor correspondence code-disc,
The current sample module is used for the current information for gathering the motor.
Preferably, the PWM ripples are a kind of vector controlled digital signal, the vector controlled numeral letter
Number the feedback signal reception module and the current sample module are received by the vector control module
The information of collection, and the vector controlled digital signal of PWM ripples is produced by vector change algorithm.It is preferred that
Ground, in multi-foot robot, a class imitates animal robot, such as robot dog, and robot dog has four-footed,
When which is walked, four-footed needs cooperation, each foot one motor 100 of correspondence, all of motor 100
A multi-axle motor system is constituted, each motor 100 can run simultaneously, so as to improve the row of robot dog
Enter speed.
Preferably, in the present embodiment, FPGA module 200 can be applied to above-mentioned machine as main control chip
In Canis familiaris L., motor 100 is walked so as to driven machine Canis familiaris L..This process mainly includes, by feedback letter
Number receiver module 210, current sample module 220, vector control module 230 and motor drive module 240
The code of this four modules is burned in FPGA module 200, forms a closed-loop control system.By
There are four-footed, one motor 100 of each foot correspondence in robot dog, so needing multiple in FPGA module 200
Closed-loop control system code processed, makes each motor 100 be owned by respective closed-loop control system, so as to,
Each motor 100 can run simultaneously, and not have a motor 100 to have independent running status.
When robot dog is walked, 100 synchronous independent operation of each spindle motor can make the action of robot dog more
Plus it is true to nature, it is close to truth.Meanwhile, multiaxis circuit is controlled using single-chip FPGA, can be subtracted
The volume of small control units, makes the profile more small and exquisite exquisiteness of robot dog.
The present embodiment is only needing to one based on fpga chip control multi-foot robot (such as robot dog)
Under conditions of main control chip, the control to multi-foot robot multi-axle motor is completed, multi-foot robot is made
Volume is less so as to exquisiter, additionally, each motor possesses independent running status, and can be synchronous
Operation, improves the speed of service of system, runs multi-foot robot more smooth, and the action of traveling is more
It is true to nature, while having saved cost.
The foregoing is only presently preferred embodiments of the present invention, not to limit the present invention, it is all
Any modification, equivalent and improvement for being made within the spirit and principles in the present invention etc., all should include
Within protection scope of the present invention.
Claims (10)
1. a kind of multi-foot robot control system, for motor, the motor is included for showing
The code-disc of robot location, it is characterised in that including FPGA module, wherein：
The FPGA module includes feedback signal reception module, current sample module, vector controlled mould
Block, motor drive module；
The feedback signal reception module and current sample module are used to gather information and pass to the arrow
Amount control module；The vector control module receives the feedback signal reception module and the electric current is adopted
The information of egf block collection simultaneously carries out computing, generates PWM ripples by computing described information；The PWM
Ripple drives the motor rotation by the motor drive module；
The feedback signal reception module, the current sample module, the vector control module, institute
State motor drive module and collectively form closed-loop control system.
2. multi-foot robot control system as claimed in claim 1, it is characterised in that the feedback
Signal receiving module is used for the positional value for reading the motor correspondence code-disc.
3. multi-foot robot control system as claimed in claim 1, it is characterised in that the electric current
Sampling module is used for the current information for gathering the motor.
4. multi-foot robot control system as claimed in claim 1, it is characterised in that the vector
The computing of control module is closed loop computing.
5. multi-foot robot control system as claimed in claim 1, it is characterised in that the PWM
Ripple is a kind of vector controlled digital signal, and the vector controlled digital signal is by the vector controlled mould
Block receives the information of the feedback signal reception module and current sample module collection, and by arrow
Amount change algorithm produces the vector controlled digital signal of PWM ripples.
6. a kind of multi-foot robot, it is characterised in that including motor, FPGA module, wherein：
The motor is walked for driven machine people, and the motor also includes that code-disc is used to show described many
The positional value of biped robot；
The FPGA module includes feedback signal reception module, current sample module, vector controlled mould
Block, motor drive module；
The feedback signal reception module and current sample module are used to gather information and pass to the arrow
Amount control module；The vector control module receives the feedback signal reception module and the electric current is adopted
The information of egf block collection simultaneously carries out computing, and the computing is closed loop computing, by computing described information
Generate PWM ripples；The PWM ripples drive the motor rotation by the motor drive module；
The feedback signal reception module, the current sample module, the vector control module, institute
State motor drive module and collectively form closed-loop control system.
7. multi-foot robot as claimed in claim 6, it is characterised in that the feedback signal reception
Module is used for the positional value for reading the motor correspondence code-disc, and the current sample module is used to gather institute
State the current information of motor.
8. multi-foot robot as claimed in claim 6, it is characterised in that the motor is multiaxis electricity
Machine.
9. multi-foot robot as claimed in claim 6, it is characterised in that the number of motors and institute
State the foot one-to-one corresponding of multi-foot robot.
10. multi-foot robot as claimed in claim 6, it is characterised in that the PWM ripples are
Vector controlled digital signal is planted, the vector controlled digital signal is received by the vector control module
The feedback signal reception module and the information of current sample module collection, and changed by vector
Algorithm produces the vector controlled digital signal of PWM ripples.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510684600.9A CN106585760A (en) | 2015-10-19 | 2015-10-19 | Multi-leg robot control system and multi-leg robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510684600.9A CN106585760A (en) | 2015-10-19 | 2015-10-19 | Multi-leg robot control system and multi-leg robot |
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| CN106585760A true CN106585760A (en) | 2017-04-26 |
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| CN201510684600.9A Pending CN106585760A (en) | 2015-10-19 | 2015-10-19 | Multi-leg robot control system and multi-leg robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109367646A (en) * | 2018-11-19 | 2019-02-22 | 中国船舶重工集团公司第七〇九研究所 | A kind of modular reconfigurable multi-foot robot |
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| JPH10210345A (en) * | 1997-01-22 | 1998-08-07 | Sony Corp | Robot camera device |
| KR20070071645A (en) * | 2005-12-30 | 2007-07-04 | 삼성중공업 주식회사 | System for controlling a robot by using a field programmable gate array device |
| CN103722556A (en) * | 2013-12-16 | 2014-04-16 | 北京自动化控制设备研究所 | High-precision and light driving control circuit of multiple-degree-of-freedom mechanical arm of robot |
| CN104391477A (en) * | 2014-11-12 | 2015-03-04 | 上海交通大学 | Drive-control integrated networked intelligent controller |
| KR20150039154A (en) * | 2015-02-24 | 2015-04-09 | 충북대학교 산학협력단 | Intelligent robot ant operation method thereof |
-
2015
- 2015-10-19 CN CN201510684600.9A patent/CN106585760A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10210345A (en) * | 1997-01-22 | 1998-08-07 | Sony Corp | Robot camera device |
| KR20070071645A (en) * | 2005-12-30 | 2007-07-04 | 삼성중공업 주식회사 | System for controlling a robot by using a field programmable gate array device |
| CN103722556A (en) * | 2013-12-16 | 2014-04-16 | 北京自动化控制设备研究所 | High-precision and light driving control circuit of multiple-degree-of-freedom mechanical arm of robot |
| CN104391477A (en) * | 2014-11-12 | 2015-03-04 | 上海交通大学 | Drive-control integrated networked intelligent controller |
| KR20150039154A (en) * | 2015-02-24 | 2015-04-09 | 충북대학교 산학협력단 | Intelligent robot ant operation method thereof |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109367646A (en) * | 2018-11-19 | 2019-02-22 | 中国船舶重工集团公司第七〇九研究所 | A kind of modular reconfigurable multi-foot robot |
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Application publication date: 20170426 |
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