摘要
这篇论文在系统分析国内外雷达伺服控制系统研究现状的基础上,选定以ARM为内核的基于ARM+FPGA的雷达伺服控制器为研究对象。
首先,根据雷达伺服控制系统功能要求与性能指标,进行系统的硬件设计:选择基于ARM920T的S3C2410和Altera公司的FPGA芯片EPlCl2Q240作为主控芯片,ARM与FPGA的连接形式采用中断+存储器的形式;将ARM与FPGA上多余的引脚引出作为将来升级的需要;还画出ARM+FPGA的雷达伺服控制器的系统图并制作了PCB板。
其次,选用PID对伺服系统进行控制,模糊神经网络综合了模糊控制和神经网络的优点,并利用模糊神经网络算法对PID参数进行在线调整。用Matlab7.1进行仿真,其结果表明:该控制算法对系统具有良好的控制效果,性能较常规PID得到较大改善。
最后,根据FPGA在伺服系统主要任务,用VHDL语言和原理图在FPGA芯片中分别编制实现DAC0832接口控制功能、光电编码器与脉冲发生电路的程序代码;并在QuartusⅡ6.0环境下通过仿真,且得到仿真的波形符合系统功能要求。采用C语言编写在ARM中实现模糊神经网络PID控制算法的代码,通过CodeWarrior for ARM的编译无误后,生成可执行文件.axf,调用AXD进行在线仿真调试。仿真结果表明:模糊神经网络PID算法对伺服系统能够进行有效控制。
结果表明:ARM作为伺服控制器的内核,其性价比与集成度高;用FPGA芯片实现接口电路使伺服控制器的可靠性高、速度快、可配置及连接方式灵活。因此采用基于ARM+FPGA的雷达伺服控制器,提高了系统的开放性、实时性、可靠性,降低了系统功耗,具有重要的应用价值。
This paper has been studying ARM + FPGA-based radar servo controller on the basis of domestic and foreign servo control radar system.
First of all,in accordance to the radar servo control system functional requirements and performance indicators,the hardware design:choice based on the ARM920T's S3C2410 and Altera's FPGA chip EP1C12Q240 as master chip,connection between ARM and FPGA used interruption + memory;the extra-pin lead of ARM and FPGA for the future escalation of the need also map and a PCB board was produced.
Second,PID was selected for servo control systems,fuzzy neural network integrated fuzzy control and neural network advantages of neural networks and fuzzy PID algorithm to adjust parameters on-line.With Matlab7.1 simulation,the results show that:the control algorithm has good results,performance has greatly improved.than conventional PID
Finally,main task of FPGA is to connect between ARM and external devices in accordance with the servo system.Using VHDL and Block Diagram/Schematic in the FPGA chips were prepared to achieve DAC0832 D/A converters,optical encoder pulse circuit and the code,and in QuartusⅡ6.0 environment simulation,and get In full compliance with the wave simulation system functional requirements.C language used in the preparation of ARM to achieve FNN PID algorithm code,adopted CodeWarrior for ARM compiler correct,generating an executable file.Axf,call AXD online simulation debug.The simulation results show that: fuzzy neural network algorithm PID servo system to carry out effective control.
The results showed that:ARM as a servo controller core,cost-effective and integrated high with FPGA chip interface circuits so that the servo controller high reliability and speed, can be configured and flexible connectivity options.So based on ARM + FPGA radar servo controller,improve the system of open,real-time,reliability and reduce the power system is an important value.
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