| Summary: | 碩士 === 淡江大學 === 電機工程學系碩士班 === 93 === In this thesis, a design method of a soccer robot with completed function and high efficiency for small-size league is proposed. A control IP (Intellectual Property) that conforms to the functionality of the robot soccer game is designed by using VHDL (Very High Speed Integrated Circuit Hardware Description Language) and implemented on a FPGA chip to be the main control center of the soccer robot. The control IP includes the following functions: (1) Baud rate generator: A baud rate generator with many kinds of the transmission baud rate is designed so that different transmission baud rate can be selected by external switches for different occasion. (2) Asynchronous serial data extractor based on RS-232 protocol: A data extractor according to RS-232 transmission protocol is designed so that the data is received correctly. (3) UART ID recognition: A command packet standard is designed by using UART so that a wireless modem can be used to control all robots on the field. (4) Control command decoder: A command coding table is designed so that the soccer robot can be controlled to move by defining each bit of the table. (5) Plus width modulation (PWM) generator: A register, a down-counter, and a comparator are used to form different digital PWM signal and generate different analog voltage to control two DC motors so that the robot is endowed with the ability to move at different speed. (6) Motor feedback signal analysis and applications: The feedback signals of DC motors are considered so that the action error caused by the environment can be corrected and the system has the functions of skid and speed up. Finally, simulation results of the MAX+PLUSII are given to demonstrate the functionality of the control IP, and a human machine interface is constructed to demonstrate the implementation of the soccer robot. The proposed system is applied in the official FIRA 3 vs. 3, 11 vs. 11 and RoboCup 5 vs. 5 small-size robot soccer games, which can prove that it indeed meets the terms of multi-function and high efficiency.
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