The Design Of Small Size Soccer Robot Motion Control System Based On FPGA

The soccer robot competition is the environment of high real-time and high dynamic. Thesoccer robot must possess the characteristic of good mobility and flexibility in the game.Therefore, owning a good motion control system for soccer robot is very important. The soccerrobot is inseparable from the accurate motion control to realize fast forward, backward, corner,parking and other basic actions and to have pointing, shooting, picking ball and other basic skills.The topic of this thesis is doing research of small size soccer robot motion control system, as tocontrol the movement of the robot. The main research contents are as follows:(1) Circuit design of the underlying system. Bottom circuit and the SOPC system based onFPGA together build up the hardware circuit of whole control system. The main parts of bottomincludes circuit system communication subsystem, kicking subsystem, infrared measuringsystem, motor driving and power supply module, and the communication subsystem, hittingsubsystem is emphatically introduced. The characteristics of wireless communication chip andradio transceiver’s circuit design is introduced in the communication subsystem. The kickingsubsystem involves the the control scheme of the ball hitting, high voltage boos circuit designingand electromagnets drive circuit designing.(2) The SOPC system based on FPGA. In this part, the FPGA outer-ring circuit, functionmodule circuit, the SOPC peripheral design is included. The function module consists of velocitymeasurement system and kicking logic circuit. What’s more, there is a detailed analysis anddesign for the principle of kicking logic circuit, the filter circuit and the scheme of the speedmeasurement system. The SOPC peripherals mainly introduces PWM designing and interfacecircuit’s design for the wireless communication chip--PTR4000, and also a detailed analysis onthe running principle and software designing is taken on.(3) Software design for motion control system. In this part, the main content is FPGAprocedures, wireless communication, motion control and driver procedures, etc. The FPGAprocedures focus on the PWM programming. And the configuration program, wireless transmitting and wireless receiving procedures are mainly designed in the wirelesscommunication. The control algorithm design, parameter selection and program code is focusedon in the motion control software design. Master control program consists of the main controllerprogram, the initialization procedures and interrupt service routines.(4) System debugging and testing. For each circuit module, there is a debugging and systemfunction testing, and all the problems and process encountered in system testing were explainedand analyzed. FPGA smallest system, speed module, PWM, motor drive are all covered in thedebugging objects; Test objects includes the performance of basic functions such as wirelesscommunication, kicking football, ball possession, measuring the ball, and also the movementfunction such as forward, backward, rolling, parking, etc.