Research On Control System For Autonomous Robot Based On DSP And FPGA

With the continuous development of digital camera technology, communicationstechnology, motor control, digital image processing algorithms, DSP chip technology, batterytechnology, Modern robot is more and more intelligent, towards the development ofautonomous visual direction. It will be a variety of high-tech fusion. It has advanced binocularcamera. Its motion controller is a the TMS320F2812movement control system, It can realizehigh-performance digital closed-loop control.This paper presents a fully autonomous robot control system design plan.This paperdesigns a main control board which takes a TMS320F2812chip as the core,and Attach adetailed circuit schematic.IGBT power tube, power tube drive, linear the optocoupler and otherchips build a full-bridge driver circuit board.The software uses PWM technology with deadzone and digital PID closed-loop control theory. Hardware and software are set to a variety ofprotective measures such as overvoltage and overcurrent protection. On the motherboard hasserial ports, CAN bus interface, IIC bus interface for communication between the visualprocessing system.This paper carrys out a detailed introduction for the design of control system hardware andsoftware, this paper gives the main control board schematics, program flowcharts, physicalmap, waveform displayed on an oscilloscope. Finally, I make a detailed summary and outlookfor the entire control system.