基于FPGA的柔性机械臂多路无刷直流电机控制系统设计

针对柔性机械臂一般为超冗余机械臂，需要多个无刷直流电机驱动各个关节的运动，传统的数字信号处理（DSP）芯片、单片机用户接口有限，无法同时驱动十几个无刷直流电机运动，并且采用传统的PID算法控制精度较低，不适应于高精度柔性负载的控制。本文提出采用现场可编程逻辑门阵列（FPGA）芯片实现柔性机械臂多路无刷直流电机的控制，设计出改进型神经元自适应PID控制器，有效提高各关节电机的位置跟踪精度和抗柔性负载扰动能力，同时完成了规划位置的直线插补、多路电机母线电流采集、多路电机旋变位置信号采集处理。并在柔性机械臂原理样机中进行了验证，设计的驱动控制器能使得每个关节电机定位精度优于0.2°，各关节的无刷直流电机同步性、协调性良好。

Design of Multi-channel Brushless DC Motor Control System Based on FPGA for Flexible Manipulator

As the flexible manipulator is generally a super-redundant robotic arm, multi-channel brushless DC motors are required to drive each joint. Interface of digital signal processing (DSP) chips and single-chip microcomputer are limited and cannot simultaneously drive several brushless DC motors to move, which has limited processing speed, and use traditional PID algorithms cause low accuracy, it is unsuitable for high-precision flexible load. In this paper, a flexible manipulator using a field programmable gate array (FPGA) chip to control the joints is proposed. An improved neuron PID controller is designed to improve position tracking accuracy of each joint motor and overcome flexible load disturbances, and complete the linear interpolation of the planned position, multi-channel motor current acquisition, and multi-channel motor resolver position signal acquisition processing. The design scheme has been verified by a prototype, positioning accuracy of each joint motor better than 0.2 °, and the brushless DC motors of each joint have good synchronization and coordination.