A RoboCup SSL Robot Control System Based On Nios Ⅱ

RoboCup(The Robot World Record Soccer Games and Conferences) is an annual robot football and academic meetings with the highest level and the largest influence.RoboCup SSL(Small Size League) is one group of RoboCup,which has robot in small size.The design of SSL robot is involved in the technology of computer,automatic control,electronics, wireless communication and sophisticated machinery.It is a good research platform.NiosⅡis a 32-bit RISC soft-core architecture embedded-processor,which is launched in 2004 by Altera Corporation.As a soft-core processor,NiosⅡprovides a configurable characteristic of core structure for different applications.For example,the number of the PIO or UART could differ from one system to another,while the application may use any type of the core for diverse expected performance.The system based on NiosⅡis more flexible and with a higher level of integration,compared with the one based on ASIC.The robot control system based on the NiosⅡsoft core processor achieved the following fuctions:movement control,BLDCM driving and control,wireless communication and DC-DC conversion for ball kicking,etc.Paper mainly contains the following:Chapter 1 is mainly about the information about RoboCup and RoboCup SSL and the basic information of the NiosⅡ.In chapter 2 the NiosⅡcore implement is discussed,as well as the Avalon Memory-Mapped specification in chapter 3.The usage of Avalon_MM based peripheral and the design of a costumer peripheral in the robot system is introduced in chapter 4.Chapter 5 presents the hardware design of the robot system,including the designe of the FPGA core PCB,the DC-DC&Kicking PCB and the brushless motor driving PCB.The principle of brushless motors,the driving solution for brushless motor and the details of the FGPA core PCB compose the main content of chapter 5. At last,in chapter 6,the description of the software flow based on the NiosⅡsoft-core.