Control System Design And Implementation Of Explosive Ordnance Disposal Robot Based On DSP And FPGA

At present, the explosive ordnance disposal robot plays an important role in the global increasingly serious terrorist attacks, greatly reduce the casualties, therefore, the study of explosive ordnance disposal robot has important social significance, the cost of the explosive ordnance disposal robot on market is very high, it is not conducive to the promotion of a wide range of uses. From the perspective of practical application, this paper puts forward an design scheme of the explosive ordnance disposal robot control system based on DSP+FPGA, completed the explosive ordnance disposal robot control system hardware platform structures and software programming, and it is verified by experiment.Explosive ordnance disposal robot control system hardware platform used DSP and FPGA as the core, the system design of each sub module is based on the idea of module, the control system is mainly divided into the motion control module, power supply module, data communication module, video capture module. The motion control module is developed by FPGA, through the external interface(XINTF) of DSP to realize the data exchange between FPGA and DSP, FPGA produce the control signal to the motor driver based on data from DSP, use the parallel processing ability of the FPGA to realize the driving and controlling of 8 sets of DC brushless motor. The power supply module is powered by a lithium battery, the power supply of each module of control system is powerd by multiple DC-DC modules. Data communication module adopts the wireless data transmission module, realize the remote control of the robot. Video capture module use the Zedboard development board and the wireless routing as the core, through building a wireless LAN environment to realize video transmission, PC through the WIFI to access wireless LAN to realize the video surveillance of explosive ordnance disposal robot. In addition, through the establishment of mathematical model of the manipulator, use the robot inverse kinematics theory of knowledge, based on DSP ePWM module, designed two kinds of control modes to control the motion of manipulator.Based on the above scheme of explosive ordnance disposal robot control system design, first completed the hardware design of the main control board based on DSP+FPGA, the signal driving board and each functional module, and the underlying software design. Then use repeated testing, modification and verification for each module. Finally, integrate all modules of the robot to take the joint tests, the experimental results show that, the control system design scheme of explosive ordnance disposal robot based on DSP+FPGA has good real-time and anti-interference ability, the robot can complete the forward motion, backward motion and other basic motion. At the same time, combine with remote wireless video, the manipulator can grab a certain items accurately in the artificial intervention. The proposed scheme meet the functional requirements of explosive ordnance disposal robot basically.