针对三维喷绘机器人的作业需求,设计了一种基于FPGA的大型三维真彩色喷墨控制系统.系统以Virtex-Ⅱ Pro FPGA内嵌的PowerPC405硬核为中心,通过移植Xilkernel嵌入式操作系统和LwIP网络协议,搭建了一个多任务实时处理平台；并自主设计了满足喷头控制时序的IP核及相应驱动,硬件协加速单元在位置触发信号的节拍控制下执行喷墨过程.试验结果表明,系统灵活性较强,实时性较好,能够准确、高速地进行三维真彩色喷墨.%In accordance with the operational requirements of the robots for 3D inkjet plotting, the control system based on FPGA for large sized 3D true color inkjet has been designed. With the PowerPC405 hard kernel that is embedded in Virtex-II Pro FPGA as the core, the multiple-task real-time processing platform is established by transplanting Xilkernel embedded operating system and Lightweight IP (LwIP) network protocol. In addition, in order to satisfy the inkjet printing head control sequence, the IP core and related drive are designed, and the hardware co-acceleration unit is setup; the inkjet process is executed under the rhythm of the position trigger signal. The test result indicates that the system owns strong flexibility, good real-time performance, and is able to accurately carry out 3D true color inkjet plotting in high speed.
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