面向伺服机器人应用的可重构微控制器设计

摘要

Proposes a new design method of reconfigurable microcontroller based on NIOSⅡ processor and FPGA, which is used to simplify the internal communication structure of serving robots, enhance communication capacity, promote processing speed and solve the problem of coordination control among multiaxis. The microcontroller is realized by NIOSⅡ processor with CAN Bus controller and PWM embedded into EP2C20 of Altera Cyclone Ⅱ with system programmable technology. By fully utilizing the high-speed calculation capability of NIOSⅡ and rapid calculation of FPGA, the microcontroller has less peripheral equipment, less cost, higher integration and flexibility. The experimental result indicates the microcontroller is reliable and replaces the dedicated microcontroller chips to meet communication requirement of serving robots%为简化伺服机器人内部通信结构,增强机器人通信能力,提升处理速度,解决多轴协调控制问题,介绍了一种基于NIOSⅡ处理器和FPGA(Field Programmable Gate Array)的面向伺服机器人内部通信的可重构微控制器的设计方法.采用可编程技术和32位高性能NIOSⅡ处理器并自定义标准外设CAN总线控制器及PWM,在Altera公司的CycloneⅡ系列EP2C20芯片内实现带CAN总线及PWM波输出功能的可重构微控制器.充分利用NIOSⅡ微处理器的高速运算能力和FPGA逻辑功能由硬件电路实现,计算速度快(纳秒级)的能力,大大减少了微控制器外围接口器件,有效降低成本,提高了微控制器的集成度和灵活性.实验表明,控制器性能可靠且能代替传统伺服机器人中常使用的专用微控制器芯片,满足伺服机器人中的通信需求.