Research On Control Strategy Of Hexapod Robot Based On FPGA

In the field of automatic control, a wide variety of embedded processors plays a veryimportant role, especially in the high-speed digital control system, as the hardware algorithmto achieve real-time basis and guarantee that the microprocessor is the same ashigh-performance of one of the key factors.At present, the rapid development of FPGA technology has been available in an FPGAchip embedded in the whole or most of the conditions for digital systems. In this paper,following the trend of the hexapod robot based on FPGA micro controller conducted a studyand design work, and has achieved initial results.The focus is for the design of CRC controller, PWM controller, digital PID, feed-backpulse collector, central pattern generators based on theory of Amari-Hopfield of the FPGAimplementations as well as the interconnect of custom components.Digital PID module is used in incremental PID algorithm，and three parallel lines toachieve. Central pattern generators module is based on the study of simultaneous differentialequations in Matsuka’s document, and the simultaneous differential equations is simplifiedand discretized by the theory of Amari-Hopfield. Combined with both of them, the realizationis accomplished by using the custom algorithm schematic parts in FPGA.All Parts are custom algorithm schematic input and the use of Verilog HDL language todescribe the way to the realization of the overall design to switch architecture using the mainline，top-down, and gradually refined manner, and the detailed design of hardware bottom-upis used, the first module of the overall approach.The design of in an FPGA device with the realization embedded processors, memory,communication module, motor control modules, feed-back signal detecting module, commonperipheral and complex control algorithm.So that in the past one or more of the circuit board PCB is now available in a chip isachieved; by making the software a1gorithm can now be achieved through hardwareacceleration. Enhance the system performance in reducing costs while shortening thedevelopment cycle.