Flexible manipulator’s composed control system design based on DSP+FPGA

doi:10.3778/j.issn.1002-8331.2008.30.072

Computer Engineering and Applications ›› 2008, Vol. 44 ›› Issue (30): 237-238.DOI: 10.3778/j.issn.1002-8331.2008.30.072

• 工程与应用 • Previous Articles Next Articles

Flexible manipulator’s composed control system design based on DSP+FPGA

LIAO Yi-fan¹,Liao Yong-zhong²,GAO Jin-ding¹

1.Electronic and Communication Engineering College，Hunan International Economics University，Changsha 410205，China
2.Hunan First Normal College，Changsha 410002，China

Received:2007-11-26 Revised:2008-02-27 Online:2008-10-21 Published:2008-10-21
Contact: LIAO Yi-fan

基于DSP+FPGA的柔性臂混合控制系统设计

廖亦凡¹,廖永忠²,高金定¹

1.湖南涉外经济学院电气与信息工程学部，长沙 410205
2.湖南第一师范专科学校，长沙 410002

通讯作者: 廖亦凡

Abstract

Abstract: Aiming at difficult to control flexible manipulator，a fuzzy sliding mode control algorithm，with strong robustness and strongly adaptive capacity，is designed.And aiming at the complicacy of control target and control algorithm，a control system based on DSP+FPGA is designed，which ensures the timeliness and accuracy of flexible manipulator system.

Key words: Digital Signal Processing（DSP）, Field Programmable Gate Array（FPGA）, flexible manipulator, fuzzy control, sliding mode control

摘要： 针对难以控制的柔性机械臂，设计了强鲁棒性、强自适应能力的模糊滑模控制策略；并针对控制对象与控制算法的复杂性，设计了基于DSP+FPGA的控制系统，保证了系统的实时性和精确度。

关键词: 数字信号处理, 现场可编程门陈列, 柔性机械臂, 模糊控制, 滑模控制

LIAO Yi-fan¹,Liao Yong-zhong²,GAO Jin-ding¹. Flexible manipulator’s composed control system design based on DSP+FPGA[J]. Computer Engineering and Applications, 2008, 44(30): 237-238.

廖亦凡¹,廖永忠²,高金定¹. 基于DSP+FPGA的柔性臂混合控制系统设计[J]. 计算机工程与应用, 2008, 44(30): 237-238.

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Flexible manipulator’s composed control system design based on DSP+FPGA

基于DSP+FPGA的柔性臂混合控制系统设计

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