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为了测试新研制机械自适应管道机器人的三轴差速器性能,根据测试要求,设计了基于ARM和FPGA的测试和控制系统。由ARM完成整个系统的控制和数据的存储,而FP-GA完成7路码盘信号的鉴相和计数。介绍了正交脉冲鉴相、FPGA多轴同步计数及其与ARM的接口、数据存储系统等部分的硬件电路设计。与传统的微控制器外扩专用计数芯片相比,ARM+FPGA的方案不但能够减少外围接线的复杂程度,提高系统的可靠性,降低功耗,还能减小控制系统的体积。通过实验验证了所设计的测试和控制系统达到了所设定的测试和控制要求。
In order to test the performance of newly developed mechanical adaptive pipeline robot with three-axis differential, a test and control system based on ARM and FPGA was designed according to the test requirements. By ARM to complete the entire system control and data storage, and FP-GA to complete the seven-phase encoder signal phase and count. Introduced orthogonal pulse phase detector, FPGA multi-axis synchronous counting and its interface with ARM, data storage system and other parts of the hardware design. Compared with the traditional counting chip for external expansion of microcontrollers, the solution of ARM + FPGA can not only reduce the complexity of peripheral wiring, improve system reliability, reduce power consumption, but also reduce the size of the control system. Experiments show that the designed test and control system meets the test and control requirements.