Research on Robot Brain with Float Processor Unit and Hardware-in-loop Simulation Structure
|Course||Mechanical Manufacturing and Automation|
|Keywords||PAC floating point hardware-in-loop simulation signal converter|
With the development of modern automatic control technology, traditional PLC could not meet the more complex demands of industrial automation control applications. The demand of dedicated controller Can be applied to special occasions and be able to realize the complex control function is increasing day by day, this paper Consult the virtues of the PAC, had designed a dedicated controller which is used to control hydraulic robot and can be able to realize the complex floating point calculations. The master processor of the controller uses automotive level 16-bit chip, and the coprocessor with floating-point arithmetic function is designed based on FPGA, so does the Controller apply to project machinery industry with specific requirements.All the work of this dissertation is composed of four chapters, such as hardware module of the coprocessor, software module of the coprocessor, BDM download implement module of the master processor, human-machine interface and mathematical model module, in the center of hardware-in-loop simulation platform, finally accomplish the HILS with hydraulic controller on line. In hardware module of the folating-point coprocessor, accomplish the circuit diagram designing and PCB plate making with EP2C5T144Q8 as the main control chip.In software module of the coprocessor, using VHDL language compile floating arithmetic operation consisted of addition, subtraction, multiplication, division, square root and natural logarithm, finally modularize each arithmetical unit. In human-machine interface module, using C# language as development platform of the host, design the HRBC human-machine interface; compile the serial communication program between PC and MCU. In order to set up the hydraulic mathematical model, I have established model by Simulink; transform the model into C code by RTW and packaged it into a DLL library; convert analog and digital signals by the signal converter. Lastly, a hardware-in-loop simulation is implemented.