中文摘要：

设计了一种适用于双压电膜驱动的微小型机器人控制器。控制器主要由信号发生电路及高压放大电路组成。信号发生电路采用直接数字信号合成器（DDS）技术及静态随机存储器（SRAM）内存查表技术,利用硬件描述语言（VHDL）和原理图描述方法对现场可编程门阵列器件（FPGA）进行设计,产生的信号通过集成功率运算放大器对机器人进行驱动控制。最后进行了控制器性能测试,完成了该控制器样机的试验。

英文摘要：

A micro robo＇s controller was designed for the bimorph actuator.The controller mainly consists of an arbitrary wave generator,an amplifier and interface.Based on DDS and the SRAM table look-up technology,a FPGA chip was designed by ways of VHDL language and schematic.The signal generator can generate arbitrary wave of high frequency resolution and high stability.The wave generated from the arbitrary signal generator is amplified to drive the bimorph actuator by a power amplifier.Experiments were carried out to evaluate feature of the controller.