摘要
针对机器人控制问题,以数字信号处理器(DSP)和复杂可编程逻辑器件(CPLD)为核心设计了交流伺服控制系统,达到优化控制结构、提高系统效率的目的。介绍了控制器硬件构成以及工作原理,详细阐述了CPLD电路设计,用状态机的思想实现了脉冲信号发送单元并定量给出了脉冲参数与电机运行状态的关系。最后对控制器进行了上机试验。研究结果表明,该方案达到了控制伺服放大器的要求,为进一步提高控制器性能奠定了基础。
Aiming at the problem of robot control,a servo motion controller based on digital signal processor（DSP） and complex programmable logic device（CPLD） was presented.After architecture optimization,the performance of controller was improved.The hardware and principle of the motion controller were introduced.The details about the CPLD design which pulse sending unit was achieved with FSM were reported,and the relationship between pulse and motion was given as well.Finally,the experiment and simulation results were given.The results indicate that the design can meet the need of servo control and lay the foundation for the further controller optimization.
出处
《机电工程》
CAS
2011年第2期136-140,共5页
Journal of Mechanical & Electrical Engineering
关键词
数字信号处理器
复杂可编程逻辑器件
状态机
伺服放大器
digital signal processor（DSP）
complex programmable logic device（CPLD）
finite state machine（FSM）
servo amplifier
