本篇論文主要是設計與實現一個功能完整且具有高效能的小型足球機器人，本文以VHDL(Very High Speed Integrated Circuit Hardware Description Language)來設計一個功能符合小型機器人足球賽需求的控制IP(Intellectual Property)，以FPGA(Field Programmable Gate Array)晶片來實現此IP並作為足球機器人的主控核心，此控制IP功能包含有：(1)鮑率產生器：本文設計一多組的鮑率產生器，使機器人面對不同的鮑率傳輸場合，只需藉由調整外部開關即可產生不同的相對鮑率。(2)RS-232非同步串列資料擷取器：本文依照RS-232通信協定的傳輸格式設計一個資料擷取模組來獲得正確穩定的資料傳輸。(3)UART ID辨別模組：本文運用UART來設計一套指令封包格式，讓系統只需要使用一組傳輸模組就可以同時控制場上多隻機器人。(4)控制指令解碼功能：本文設計一個指令編碼表，定義其中每個位元的編碼意義來控制足球機器人的動作。(5)脈波寬度調變(PWM)產生器：本文利用暫存器結合下數計數器以及比較器形成數位PWM訊號來得到類比電壓輸出控制左右輪直流馬達，使機器人行動具有不同的速度變化。(6)馬達回授訊號分析與應用功能：本文分析馬達輸出的兩相回授訊號並加以運用，機器人就可以自我修正由外在因素所造成的行動誤差並使足球機器人具備瞬間加速及煞車功能。最後，我們以MAX+PLUSII之模擬圖來說明所設計之控制IP的功能，此外我們亦設計一個人機介面來操控機器人以驗證足球機器人的功能，並將同一套系統使用在正式的FIRA 3對3、11對11以及RoboCup 5對5之小型機器人足球競賽上，其可以證明所設計實現的足球機器人的確符合功能完整與高效能的要求。 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.
