Redundancy Design And Reliability Analysis Of Robot Controller Based On FPGA

The reliability of the control system is crucial for robots operating in harsh environments.This article uses FPGA as the basic platform for robot controllers and constructs redundant control circuits with high reliability.Compared with traditional solutions,the system on chip solution proposed in this article has flexible configuration,and its fault-tolerant architecture allows the controller to encounter issues such as peripheral read/write errors and program crashes.It can also achieve error localization and fault repair,thereby improving the reliability of the controller.The paper focuses on the design of robot controllers and implements a control circuit with a hybrid redundant architecture.The work content is as follows:(1)A hybrid redundant controller architecture is proposed based on the reliability model.Comparing the reliability of various redundant models,by analyzing and comparing the reliability of various models such as series redundancy,parallel redundancy,and k/n [G]redundancy,a design scheme for hybrid redundancy of the robot control core is proposed,which combines k/n [G] redundancy and switching redundancy to improve the reliability of the robot controller.(2)On the basis of multi-mode redundancy and switching architecture,an FPGA based controller was designed and implemented.A hybrid redundant controller architecture was built based on two FPGA units,achieving access logic between the bus,peripherals,and control core.Designed robot control process,data error detection mechanism,data retransmission mechanism,switching mechanism in hybrid redundant architecture,and reconfigurable mechanism for continuous fault units.(3)Based on reliability theory,numerical analysis and evaluation were conducted on the reliability of the controller.The fault repair rate and working time of the controller are calculated and analyzed by using the Markov chain analysis method;The reliability measure values of the controller were calculated and analyzed using the Monte Carlo method.(4)Deploy the controller into the robot chassis and conduct testing.For the redundant control architecture designed in this article,software/hardware system joint simulation and measurement were conducted to verify the reliability of the controller and its fault-tolerant ability in case of faults.