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针对机器人伺服控制系统高速度、高精度的要求,介绍了一种全数字化、基于神经网络控制的直流电机速度伺服控制系统设计方案。速度控制器采用BP网络参数辨识自适应控制,并将其在一片现场可编程门阵列(FPGA)中硬件实现,同时以NiosII软核处理器作为上位机,构成一个完整的速度伺服控制器的片上可编程(SOPC)系统。试验结果表明,该系统具有较高的控制精度、较好的稳定性和灵活性。
Aiming at the requirement of high speed and high precision of robot servo control system, a fully digitized DC motor speed servo control system based on neural network control is introduced. The speed controller adopts BP network parameter identification adaptive control and realizes it in hardware in a field programmable gate array (FPGA). At the same time, NiosII soft-core processor is used as a host computer to form a complete speed servo controller chip Programmable (SOPC) system. The test results show that the system has high control precision, good stability and flexibility.