双足机器人多电机协同控制系统设计

The Design of Multi-motor Cooperative Control System for Biped Robot

摘要:

在双足机器人的控制中，对多路步进电机进行协同控制是核心。分析了多电机协同控制系统的研究现状，采用“ARM+FPGA”(Advanced RISC Machine，Field－Programmable Gate Array)为控制核心的系统方案，完成了多电机协同控制系统的设计。重点介绍了控制系统ARM+FPGA的系统结构，实现了STM32控制程序的设计和FPGA的硬件和软件设计。控制系统采用上下位机相结合，在PC机界面设置步进电机的运行参数，并监视各步进电机的运行状态，在STM32F103ZET6芯片和EP2C35F672C8N芯片的分工协作下完成对多个电机的协同控制。根据观察机器人的运动状态和分析PC机显示的数据，可以很明确的看出该控制系统是能够同步、协同而精确控制双足机器人中多路电机的。

Abstract:

In the control of biped robots, the cooperative control of multi-step motors is the core. This paper presents the current research status of multi-motor cooperative control system, and adopts "ARM+FPGA" as the control core system scheme to complete the design of multi-motor cooperative control system. The system structure of the control system ARM+FPGA (Advanced RISC Machine，Field－Programmable Gate Array) is introduced, and the design of the STM32 control program and the hardware and software design of the FPGA are realized. The control system adopts the combination of upper and lower computer to design the running parameters of the stepping motor in the upper machine interface, and monitors the running status of each stepping motor. The cooperative control of multiple motors is completed under the division of labor between STM32F103ZET6 and EP2C35F672C8N. According to the observation of the motion state of the robot and the analysis of the data displayed by the host computer, it can be clearly seen that the control system can synchronously, cooperatively and accurately control the multi-step motors in the biped robot.