文章基本信息

标题：FPGA based synchronous multi-channel PWM generator for humanoid robot
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作者：Adharul Muttaqin ; Stefanus Dion Finnadi ; Zainul Abidin 等
期刊名称：International Journal of Electrical and Computer Engineering
电子版ISSN：2088-8708
出版年度：2021
卷号：11
期号：1
页码：249
DOI：10.11591/ijece.v11i1.pp249-256
出版社：Institute of Advanced Engineering and Science (IAES)
摘要：In this paper, synchronous multi-channel pulse width modulation (PWM) generator for driving servo motors of humanoid robot was proposed. In an application, the humanoid robot requires smooth and beautiful movement, therefore the PWM signal for each servo motor must be synchronized. Since microcontroller (slave) has no enough channels to generate synchronous PWMs for 32 servo motors, field programmable gate array (FPGA) was used as slave for the humanoid robot. The FPGA was controlled by microcontroller (master) using serial communication. Simulation results show the system can perform serial communication, synchronize, and convert data well. The system can also generate PWM simultaneously with accurate duty cycle and fix period of 20ms.