Abstract
In this paper, a FPGA-based motor control system is designed to fulfill the requirement of controlling multiple motors accurately and simultaneously. With the implementation of hardware logic modules with hardware description language, each control module works independently in a parallel mode, so the control frequency of motors is elevated. By modifying the signal sampling method for the motor encoder, the speed measurement accuracy is significantly improved. The proposed control system is successfully applied on the platform of RoboCup small size soccer robot of Zhejiang University, ZJUNlict, in which the improvements on response speed and control accuracy of the robots are verified.
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