一种基于FPGA的小车控制器的设计

I一种基于FPGA的小车控制器的设计摘要：现场可编程逻辑阵列（FPGA）具有可在线反复编程，开发周期短，并行处理，运算速度快，集成度高，可靠性高等特点，广泛应用于数字信号处理，工业控制，通信等各个领域。基于FPGA设计控制器，可以把一些外设和逻辑器件集成起来，从而缩小体积，减少电路的走线，降低功耗，提高可靠性，同时能够通过在线编程来修改和扩充控制器功能，缩短了开发周期，也使系统的使用变的灵活，扩展方便。由于FPGA可以实现真正的并行处理，并且运算速度快，用它实现复杂的控制算法可以提高算法运算速度，满足实时控制要求。本设计是典型的软件和硬件结合的设计产品，基于EP2C5T144C8型FPGA芯片设计了一个较为通用的小车控制器。通过数字量输入/输出通道连接了障碍检测模块无线接收模块；电机驱动模块；模式选择模块等。采用硬件描述语言（VHDL）实现了对各个功能模块的编程、仿真、编程下载、功能测试。并在QuartusII开发环境下搭建了一个基于FPGA的小车控制器研究平台，用VHDL语言实现了整个系统的设计和仿真，通过JATG接口实现了编程文件的配置下载，并存储到EPCS4型Flash芯片中，使小车控制器系统实现了周期运行、避障、遥控等功能。通过此方法可在软件中嵌入不同的控制算法，扩展多种控制性能，实现各种硬件功能，这种基于FPGA的电子设计的开发方法可根据需要随时增加扩展用户需要的功能，具有很大的开发潜力，在工业控制中有一定的推广应用价值。关键词：现场可编程逻辑阵列；硬件描述语言；QuartusII；周期运行；避障运行；遥控运行IIAdesignofcarcontrollerFPGA-basedAbstract:Fieldprogrammablegatearray,FPGA,whichhastheadvantagesofrepeatingin-system-programmability,shortdevelopmentperiod,parallelprocessing,highprocessingspeed,highdegreeofintegrationandreliability,iswidelyusedinmanyfieldssuchasdigitalsignalprocessing,industrialcontrolandcommunication.DesignacontrollerbasedonFPGAcanintegratetheextenderandlogicdevicesintoonechip,thusitsvolume,wiringandpowerdissipationarereducedanditsreliabilityenhanced.Itsrepeatingin-system-programmabilitymakestheextensionandalterationeasy.TherunningspeedofcomplicatedcontrolalgorithmsimplementedonFPGAisveryfastandcanmeettherealtimecontrolduetoitscapabilityofparallelprocessingandfastprocessingspeed.Thisdesignisaproductoftypicalhardware-softwareco-design,auniversalcontrollerbasedonEP2C5T144C8isdesigned,includingthedigitalinputandoutputchannels.Andtheextenderwasconnectedbythem.Thecontrolofeachpartareprogrammed,simulatedandtestedinVHDLlanguage.AplatformofcarcontrollerhascompletedbasedonFPGAinQuartusII.TheintegrationandsimulationofthesystemiscompletedinVHDLlanguage.ProgramfilesaredownloadedandverifiedbyJTAG,andstoredintotheEPCS4.Then,thecarcontrollerrealizesomefunctions,suchasthecyclicmotion,obstacleavoidance,andtelecontrol.Inthisway,variouskindofintelligentcontrolalgorithmcanbeembeddedinthesystem,morecontrolfunctionscanbeextendedandrealizemorehardwarefunctionality.Thisdevelopmentmethodofelectronicdesigncanbeextendedtomeettheneedsoftheusersatanytime.Thisdesignhasdevelopingpotentialinfuture,aswellassomepromotionalandapplicationvalueinindustrialcontrol.Keywords:FPGA;VHDL;QuartusII;cyclicmotion;obstacleavoidance;telecontrolIII目录摘要.............................................................................................................................................IAbstract.....................................................................................................................................II目录..........................................................................................................................................III1引言........................................................................................................................................11.1选题背景.............................................................................................................................11.1.1智能小车简介..................................................................................................................11.1.2FPGA在控制方面的应用................................................................................................11.2本课题研究目的及意义.....................................................................................................21.2.1研究目的..........................................................................................................................21.2.2研究意义..........................................................................................................................22总体方案说明........................................................................................................................32.1设计目标.............................................................................................................................32.2方案比较选择.....................................................................................................................32.3方案概述.............................................................................................................................33软件设计................................................................................................................................63.1VHDL语言介绍..................................................................................................................63.2QuartusII软件介绍.............................................................................................................63.3分频器模块.........................................................................................................................83.3.1分频器的功能..................................................................................................................83.3.2分频器的设计..................................................................................................................83.4周期运行控制模块...........................................................