Implementation of a dedicated Haptic Controller with FPGA

介绍了一种用于线控触觉设备的高清晰度、高效率的触觉控制器。触觉设备的控制频率是影响其稳定性和保真度的重要因素。传统的直线传动系统效率低，难以小型化。在高性能(低电感)直流电机中，低频PWM电机驱动系统难以平稳旋转。我们的目标是用现场可编程门阵列产生205 kHz(11bit)的高频脉宽调制控制信号。在现场可编程门阵列中还实现了阻抗控制和导纳控制，作为一种PID控制。该控制器实现了高品质、高效率和紧凑的系统。

I describe a high definition and high efficient haptic controller for wire driven haptic device. The control frequency of the haptic device is an important factor in the stability and fidelity. The conventional linear drive system is inefficient, difficult to miniaturize. The low frequency PWM motor drive system is difficult to rotate smoothly in high performance (low-inductance) DC motor. We aim for generate a high frequency of 205kHz (11bit) PWM control signal by using FPGA. Impedance control and admittance control are also implemented in FPGA as a PID control. The controller achieved high quality, high efficiency and compact system.