基于ARM和FPGA的软体机器人的CAN总线运动控制器的设计

针对在软体机器人控制时,多电机协同控制过程中难度大、通用性差、协同性差等缺点,设计了基于ARMadanced RISC(reduced instruction set computing) machines]和FPGA(field-programmable gate array)的软体机器人的控制器局域网络(controller area network,CAN)总线运动控制器,采用ARMCortex-M4为内核的STM32F407开发板和AX7102 FPGA开发板设计一种基于CAN总线的软体机器人运动控制器,主要包括该系统的体系架构、硬件设计和软件设计等。该控制器利用STM32作为控制核心和FPGA的高速处理能力来实现控制算法的运算,并用CAN总线技术来实现与上位机通信。经过试验操作,该控制器可以满足预定要求。

Design of CAN Bus Motion Controller for Software Robot Based on ARM And FPGA

In order to overcome the difficulties, poor universality and poor coordination in the process of multi-motor cooperative control, the motion controller of CAN (Controller Area Network) bus of soft robot based on ARM(Advanced RISC Machines) and FPGA(Field-Programmable Gate Array) is designed. Using ARM Cortex-M4 as the core STM32F407 development board and AX7102 FPGA development board, a soft robot motion controller based on CAN bus is designed, which mainly includes the system architecture, hardware design and software design. The controller uses STM32 as the control core and the high-speed processing ability of the FPGA to realize the control algorithm. The CAN bus technology is used to realize the communication with the host computer. After the test operation, the controller can meet the predetermined requirements.