Research And Implemtion Of Mobile Robot Controller Based On NIOS Ⅱ

In the field of automatic control,a wide variety of embedded processors plays a very important role,especially in the high-speed digital control system,as the hardware algorithm to achieve real-time basis and guarantee that the microprocessor is the same as high-performance analog devices become system performance of one of the key factors.At present,the rapid development of FPGA technology has been available in an FPGA chip embedded in the whole or most of the conditions for digital systems,which makes possible the realization of SoPC.In this paper,following the trend of the mobile robot based on SoPC microcontroller conducted a study and design work,and has achieved initial results.The focus is for the design of digital PID,artificial neural networks, fuzzy controller,PWM controller and CCD control logic of the FPGA implementation as well as the interconnect of custom components and Avalon bus.First of all configured with a NIOS II soft-core processor,memory, general-purpose IO port,timers and communication interface SoPC small system,and then gradually on the basis of various control algorithms and add custom components,and ultimately the formation of a more complete automatic controller chip.Digital PID module is used in incremental PID algorithm,and three parallel lines to achieve.Artificial neural network module is based on 3-layer feedforward neural network design.temporary weights have not yet acceded to the ability of online learning.The realization of the fuzzy control module is a dual-input single-output and input variables used for the language domain,language output discrete domain variables.All parts are custom algorithm schematic input and the use of Verilog HDL language to describe the way to the realization of the overall design to Avalon switch architecture using the main line,top-down,and gradually refined manner,and the detailed design of hardware Bottom-up is used,the first module of the overall approach. The design in an FPGA device with the realization of embedded processors,memory,CCD control module,motor control modules,common peripherals and complex control algorithm,so that in the past one or more of the circuit board PCB is now available in a chip achieved;by making the software algorithm can now be achieved through hardware acceleration. Enhance the system performance in reducing costs while shortening the development cycle.