Design And Research Of Series Elastic Actuator Control System Based On STM32-FPGA Architecture

The research and application of STM32 is an important direction of embedded current.Compared with other types of chips such as single-chip microcomputer and DSP,STM32 has the advantages of higher flexibility,tailoring,cost-effective.However,with the increase of people's demand,the demand for embedded computing power is also improving,but because of embedded von Neumann architecture based on its own,there are still innate deficiencies in data operation and signal processing,and the development of robots has always become more and more oriented towards complex environments and dealing with complex emergencies,This makes it impossible for algorithms that require a lot of computation to be added to the embedded real-time control system,so that there are operational bottlenecks in some situations that require high-speed signal processing.In this paper,with the support of "Shenzhen Milebot Technology Co.,Ltd.",a joint controller architecture based on STM32 and FPGA is proposed,aiming at improving the control performance of robot real-time controller,with the expectation of realizing safe and flexible human-computer interaction.It not only preserves the rich interface of STM32,but also designs the FPGA motion controller docking with STM32,which makes it have high speed signal processing ability and efficient computing ability.The main research contents and contributions of this paper include:(1)The joint control platform of STM32 real-time system and FPGA real-time controller is designed,and the existing STM32 is used as the real-time control system with 1kHz as the control frequency limit,which accelerates to the real-time control system of 10 kHz control frequency.For faster system response,as well as smoother control tracks.And because of the physical size of the chip itself,and a high degree of customization,can be very convenient to use in commercial equipment,greatly reducing the cost of commercial robot.The platform is systematically verified on the control of single joint of Series Elastic Actuator.(2)Combining the sliding mode controller and the nonlinear perturbation observer based on the approaching rate,the combined controller is designed and put into the FPGA controller,and the position control and force control of the series elastic driver are verified,and the verification results show that compared with the traditional PID control,The combination of sliding mode control and disturbance Observer has stronger robustness and anti-jamming ability.