嵌入式数控系统的WEB控制实现
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摘要
随着计算机、通信、微电子等技术的发展，人们对数字制造的智能化提出越来越高的要求，希望能对系统设备的工作状况远程进行实时监测和控制，这对控制网络在开放性、互连性、分散性等方面提出了更高的要求。
嵌入式技术作为数控技术平台具有很多的优势，目前人们已开始将嵌入式技术用于数控系统。首先是嵌入式技术完全能够满足数控技术的需求，当前的嵌入式系统无论在运算速度、精度，系统功能和软件开发、运行环境方面都大大改善和提高。其次是采用嵌入式技术可实现最优的性能价格比。再其次是嵌入式技术特别符合数控技术网络化的发展方向。另外，嵌入式技术可以通过硬、软件自主开发，操作系统和系统模块的剪裁，最终形成完全具有自主知识产权的基于嵌入式的数控系统。因此，基于网络控制的嵌入式数控系统必将逐渐成为未来数控系统的发展方向。
本文论述了基于Web控制与监测的嵌入式数控系统的设计与实现过程，能为更为先进的数控系统的设计与实现提供借鉴经验和相关方面的解决方案。通过分析国内外数控系统的发展状况，对系统的功能、设计原则、系统架构及系统功能模块进行了阐述，并给出具体的实现技术和实现方法。嵌入式操作系统μC／OS-Ⅱ以其内核精简，所需存储空间小，实时性好，可靠性高等特点，最终被选为本方案的操作系统。在基于SAMSUNG公司S3C44B0X微处理器的ARM7开发板上移植了μC／OS-Ⅱ，编写了基于μC／OS-Ⅱ的API函数和底层硬件驱动。在μC／OS-Ⅱ操作系统的基础上，选用了轻型嵌入式TCP／IP协议栈1wIP，进行了1wIP的移植以及RTI8019as网卡驱动的编写。在μC／OS-Ⅱ+1wIP的平台搭建起来后，设计了嵌入式WEB服务器，利用CGI技术实现了动态网页的功能，在浏览器端通过网页上表单与WEB服务器进行通信，从而控制机床的操作。同时，在网页上采用了AJAX方法进行异步WEB通讯获取实时数据，客户端无须安装任何插件，又提高了实时数据的传输速率。最后对本论文进行了总结，分析了目前系统中存在的问题和不足，并对下一步研究工作的内容和方向提出了设想。
With the development of technology, such as computer, communication, microelectronics etc., people put forward high request more and more to intelligence of numerical manufacture. We will hope to monitor and control the working state of the system equipment long-rang in real time. It put forward higher request in respects, such as opening, interconnection, dispersiveness etc. to the network of controlling.
Embedded technology has a lot of advantage as the technological platform of numerical control. People have already begun to use embedded technology for the numerical control system at present. It is the embedded technology that can meet numerical control technology's demands at first, the present embedded systems are all improved greatly no matter in operation tempo, precision, systematic function and software development, running environment. Secondly, it can realize the optimum performance-cost ratio to adopt embedded technology. And then thirdly it is the developing direction that the embedded technology especially accords with numerical control with networked technology. In addition, embedded technology can be developed independently through the hard , software, the cutting of operating system and system module, form it finally and totally have a independent intellectual property right on the basis of the embedded numerical control system. So, the embedded numerical control system controlled on the basis of the network will become developing direction of the numerical control system in the future gradually.
This paper has described the design of the embedded numerical control system controlled and monitored on the basis of Web and realized the course, can offer the solution which uses experience and relevant respect for reference for design and realization of the advanced numerical control system even more, And the concrete implementation technique and implementation method are provided. Embedded operating systemμC/OS-II is selected as the operating system of this subject finally for its simplified kernel, small necessary memory, good real-time character and high reliability.μC/OS-II is transplant to developing board of ARM7 based on SAMSUNG Company S3C44B0X microprocessor. The API function and hardware driver ofμC/OS- II have been written. On the basis ofμC/OS- II operating system, light-weight embedded TCP/IP protocol inn lwIP was selected for use. The transplantation of lwIP and RTI8019as net card driver is written. AfterμC/OS-II+lwIP platform is built up, embedded WEB server is designed. CGI technology is used to realize the dynamic webpage, which can make the form on the webpage communicated with WEB server, thus control the operation of the lathe. Meanwhile, AJAX method is adopted to obtain real-time data through asynchronous WEB communication on the webpage. The client is no need to install any ActiveX control, and raise the transfer rate of the real-time data. Summarize this thesis finally, question and deficiency existing at present are analyzed systematically, and has proposed imagining the content and direction of next research work.
嵌入式技术作为数控技术平台具有很多的优势，目前人们已开始将嵌入式技术用于数控系统。首先是嵌入式技术完全能够满足数控技术的需求，当前的嵌入式系统无论在运算速度、精度，系统功能和软件开发、运行环境方面都大大改善和提高。其次是采用嵌入式技术可实现最优的性能价格比。再其次是嵌入式技术特别符合数控技术网络化的发展方向。另外，嵌入式技术可以通过硬、软件自主开发，操作系统和系统模块的剪裁，最终形成完全具有自主知识产权的基于嵌入式的数控系统。因此，基于网络控制的嵌入式数控系统必将逐渐成为未来数控系统的发展方向。
本文论述了基于Web控制与监测的嵌入式数控系统的设计与实现过程，能为更为先进的数控系统的设计与实现提供借鉴经验和相关方面的解决方案。通过分析国内外数控系统的发展状况，对系统的功能、设计原则、系统架构及系统功能模块进行了阐述，并给出具体的实现技术和实现方法。嵌入式操作系统μC／OS-Ⅱ以其内核精简，所需存储空间小，实时性好，可靠性高等特点，最终被选为本方案的操作系统。在基于SAMSUNG公司S3C44B0X微处理器的ARM7开发板上移植了μC／OS-Ⅱ，编写了基于μC／OS-Ⅱ的API函数和底层硬件驱动。在μC／OS-Ⅱ操作系统的基础上，选用了轻型嵌入式TCP／IP协议栈1wIP，进行了1wIP的移植以及RTI8019as网卡驱动的编写。在μC／OS-Ⅱ+1wIP的平台搭建起来后，设计了嵌入式WEB服务器，利用CGI技术实现了动态网页的功能，在浏览器端通过网页上表单与WEB服务器进行通信，从而控制机床的操作。同时，在网页上采用了AJAX方法进行异步WEB通讯获取实时数据，客户端无须安装任何插件，又提高了实时数据的传输速率。最后对本论文进行了总结，分析了目前系统中存在的问题和不足，并对下一步研究工作的内容和方向提出了设想。
With the development of technology, such as computer, communication, microelectronics etc., people put forward high request more and more to intelligence of numerical manufacture. We will hope to monitor and control the working state of the system equipment long-rang in real time. It put forward higher request in respects, such as opening, interconnection, dispersiveness etc. to the network of controlling.
Embedded technology has a lot of advantage as the technological platform of numerical control. People have already begun to use embedded technology for the numerical control system at present. It is the embedded technology that can meet numerical control technology's demands at first, the present embedded systems are all improved greatly no matter in operation tempo, precision, systematic function and software development, running environment. Secondly, it can realize the optimum performance-cost ratio to adopt embedded technology. And then thirdly it is the developing direction that the embedded technology especially accords with numerical control with networked technology. In addition, embedded technology can be developed independently through the hard , software, the cutting of operating system and system module, form it finally and totally have a independent intellectual property right on the basis of the embedded numerical control system. So, the embedded numerical control system controlled on the basis of the network will become developing direction of the numerical control system in the future gradually.
This paper has described the design of the embedded numerical control system controlled and monitored on the basis of Web and realized the course, can offer the solution which uses experience and relevant respect for reference for design and realization of the advanced numerical control system even more, And the concrete implementation technique and implementation method are provided. Embedded operating systemμC/OS-II is selected as the operating system of this subject finally for its simplified kernel, small necessary memory, good real-time character and high reliability.μC/OS-II is transplant to developing board of ARM7 based on SAMSUNG Company S3C44B0X microprocessor. The API function and hardware driver ofμC/OS- II have been written. On the basis ofμC/OS- II operating system, light-weight embedded TCP/IP protocol inn lwIP was selected for use. The transplantation of lwIP and RTI8019as net card driver is written. AfterμC/OS-II+lwIP platform is built up, embedded WEB server is designed. CGI technology is used to realize the dynamic webpage, which can make the form on the webpage communicated with WEB server, thus control the operation of the lathe. Meanwhile, AJAX method is adopted to obtain real-time data through asynchronous WEB communication on the webpage. The client is no need to install any ActiveX control, and raise the transfer rate of the real-time data. Summarize this thesis finally, question and deficiency existing at present are analyzed systematically, and has proposed imagining the content and direction of next research work.
引文
[1] 周祖德，魏仁选等，开放式控制系统的现状、趋势与对策，中国机械工程，1999，10(10)：1090-1093
[2] 凌志浩，张文超，俞金寿，嵌入式系统结构及其发展概况，自动化仪表，2003，24(4)：1～5
[3] 田平 耿锋 张武 韩铁强，基于CAN总线开放式数控系统的研究，组合机床与自动化加工技术，2004
[4] 沈绪榜，何立民，2001嵌入式系统与单片机国际学术交流会论文集，北京：北京航空航天大学出版，2001
[5] 金晟，傅建中，陈子辰，基于ARM的嵌入式数控系统设计，机电工程，2005年第22卷第2期
[6] Lin, Whe Dar, A Web services method on embedded systems, Lecture Notes in Computer Science, v 3579, Web Engineering: 5th International Conference, ICWE 2005, Proceedings, 2005, p 600-602
[7] Ramakrishnan, Abhilash, 16-Bit Embedded Web Server, Proceedings of the ISA/IEEE Sensors for Industry Conference, Proceedings of the ISA/IEEE Sensors for Industry Conference: The Development and Use of Sensors and Transducers, from Theory to the Application of New Technology, SIcon/04, 2004, p187-193
[8] 贾激雷，陈冰，基于嵌入式技术的网络化数控系统，机电工程，2004年第21卷第8期
[9] 王太勇，陈海鹏，李宏伟，李波，基于MC68K平台的嵌入式数控系统的研究和设计，机械与电子，2004(6)
[10] 葛宝珊，李波，马伍新，基于TMS320C64XX和NET+ARM的嵌入式网络视频压缩编码器硬件平台的设计，2003
[11] Zhang, Xi-Min, Technique of the Web server in the micro-embedded system, Xi'an Dianzi Keji Daxue Xuebao/Journal of Xidian University, v 32, n 1, February, 2005, p 116-121
[12] 朱利东，殷苏民，基于嵌入式实时操作系统的开放式数控系统的研究，机床与液压 2004，No．11
[13] Gao, Popo, Research and implementation of embedded web server on low-end device, Jisuanji Gongcheng/Computer Engineering, v 31, n 10, May 20, 2005, p 219-221
[14] 谭峰，李虹霞，李诚人，基于uC／OS的开放式数控系统研究，机械与电子2004(12)
[15] Xu, M,, An implement of embedded Web server based on TCP/IP sockets, Huadong Chuanbo Gongye Xueyuan Xuebao/Joumal of East China Shipbuilding Institute, v 15, n 5, October, 2001, p 40-43
[16] 悉立群，刘德华，Web服务器的嵌入式技术，吉林化工学院学报，2003，12，Vol．20，No．4
[17] Cumplido, Rene, A high-performance processor for embedded real-time control, IEEE Transactions on Control Systems Technology, v 13, n 3, May, 2005, p 485-492
[18] 陈丽娟，白瑞林，基于IP2022单芯片的嵌入式Web服务器设计，江南大学学报(自然科学版)第4卷第4期2005年8月
[19] 徐明，柴志雷，基于TCP／IP套接口的嵌入式Web服务器实现，华东船舶工业学院学报(自然科学版)，第15卷第5期，2001年10月7
[20] Wilkinson, Jason, Embedded systems and PC-based motion control, Elektron, v 20, n 3, March, 2003, p 30-33
[21] 柴志雷，张曦煌，应用于控制系统的嵌入式Web服务器，江南大学学报(自然科学版)，第1卷第1期，2002年3月
[22] 孙恺，王田苗，魏洪兴，基于ARM的嵌入式可重构数控系统的设计与实现，机床与液压 2003，No16
[23] Jin, Min, Design and implementation of embedded Web server in substation automation system, Dianli Xitong Zidonghue/Automation of Electric Power Systems, v 26, n 18, Sep 25, 2002, p 65-69
[24] Iaccarino, Christiane, embedded web-based control applications, Proceedings-Real-Time Systems Symposium, 1999, p 214-217
[25] 张曦煌，柴志雷，嵌入式Web服务器中CGI的特点及实现，小型微型计算机系统，第24卷第11期，2003年11月
[26] Ju, Hong-Taek, An embedded Web server architecture for XML-based network management, IEEE Symposium Record on Network Operations and Management Symposium, 2002, p5-18
[27] Huang, Tianshu, Design and research of a new kind of embedded Web server, Jisuanji Gongcheng/Computer Engineering, v 31, n 11, Jun 5, 2005, p 174-178
[28] Choi, Mi-Joung, Efficient Embedded Web Server for Web-based network element management, IEEE Symposium Record on Network Operations and Management Symposium, 2000, p 187-200
[29] Han, Guang-Jie, Design and realization of embedded web server based on web management, Dongbei Daxue Xuebao/Journal of Northeastern University, v 23, n 11, November, 2002, p1021-1204
[30] Lin, Tao, An embedded web server for equipments, Proceedings of the International Symposium on Parallel Architectures, Algorithms and Networks, I-SPAN, Proceedings on the International Symposium on Parallel Architectures, Algorithms and Networks, I-SPAN 2004, 2004, p 345-350
[31] 左静，魏仁选，数控系统软件芯片的研制和开发，中国机械工程，1999，10(4)：424-427
[32] 张学东，Ajax技术在Web应用系统开发中的应用，华南金融电脑，2006，12，10，第12期
[33] Wu, Guanglin, Design and realization of embedded web server based on platform, Jisuanji Gongcheng/Computer Engineering, v 31, n 18, Sep 20, 2005, p 216-218+227
[34] Mullen, John, FORTH IN THE COMPUTER NUMERICAL CONTROL ENVIRONMENT, Journal of Forth Application and Research, v 3, n 4, 1986, p 21-35
[35] 高珀珀，邵时，低端嵌入式设备Web服务器的研究与实现，计算机工程，2005年5月，Vol．31．№10
[36] Gao, Junli, Building open architecture computer numerical controller, Journal of Information and Computation Science, v 1, n 3, December, 2004, p 55-60
[37] 白嶙，孙肖子，白玉霞，基于N ios Ⅱ的嵌入式Web服务器，嵌入式技术，2005
[38] 郝秉华，刘建辉，基于单片机的嵌入式WEB服务器的研究，《微计算机信息》(嵌入式与SOC)2005年第21卷第9-2期
[39] 柯昌正，Ajax技术原理及应用，《铁路计算机应用》，2006，7，第16卷第一期
[40] Thompson, Bill, Applications and benefits of embedded Web technologies: Emerging eService opportunities, ISA TECH/EXPO Technology Update Conference Proceedings, v401, 2000, p 43-47
[41] 吴广霖，白瑞林，基于平台的嵌入式Web服务器的设计与实现，计算机工程，第31卷第18期，2005年9月
[42] 张喜民，张建国，周利华，微嵌入式系统Web服务器技术，西安电子科技大学学报(自然科学版)，2005年2月第32卷，第1期
[43] Borriello, Gaetano, Embedded computation meets the world wide web, Communications of the ACM, v 43, n 5, May, 2000, p 59-66
[44] 廖文江，蒋大明，戴胜华，基于VxWorks的实时监测系统的嵌入Web服务，武汉理工大学学报(交通科学与工程版)第29卷，第4期，2005年8月
[45] Chang, Kyung-Bae, System integration using embedded web server and wireless communication, Lecture Notes in Computer Science, v 3560, Distributed Computing in Sensor Systems: First IEEE International Conference, DCOSS 2005, Proceedings, 2005, p420
[46] Wang, Jin-Dong, Web-based management model of embedded system, Dongbei Daxue Xuebao/Journal of Northeastern University, v 24, n 7, July, 2003, p 643-646
[2] 凌志浩，张文超，俞金寿，嵌入式系统结构及其发展概况，自动化仪表，2003，24(4)：1～5
[3] 田平 耿锋 张武 韩铁强，基于CAN总线开放式数控系统的研究，组合机床与自动化加工技术，2004
[4] 沈绪榜，何立民，2001嵌入式系统与单片机国际学术交流会论文集，北京：北京航空航天大学出版，2001
[5] 金晟，傅建中，陈子辰，基于ARM的嵌入式数控系统设计，机电工程，2005年第22卷第2期
[6] Lin, Whe Dar, A Web services method on embedded systems, Lecture Notes in Computer Science, v 3579, Web Engineering: 5th International Conference, ICWE 2005, Proceedings, 2005, p 600-602
[7] Ramakrishnan, Abhilash, 16-Bit Embedded Web Server, Proceedings of the ISA/IEEE Sensors for Industry Conference, Proceedings of the ISA/IEEE Sensors for Industry Conference: The Development and Use of Sensors and Transducers, from Theory to the Application of New Technology, SIcon/04, 2004, p187-193
[8] 贾激雷，陈冰，基于嵌入式技术的网络化数控系统，机电工程，2004年第21卷第8期
[9] 王太勇，陈海鹏，李宏伟，李波，基于MC68K平台的嵌入式数控系统的研究和设计，机械与电子，2004(6)
[10] 葛宝珊，李波，马伍新，基于TMS320C64XX和NET+ARM的嵌入式网络视频压缩编码器硬件平台的设计，2003
[11] Zhang, Xi-Min, Technique of the Web server in the micro-embedded system, Xi'an Dianzi Keji Daxue Xuebao/Journal of Xidian University, v 32, n 1, February, 2005, p 116-121
[12] 朱利东，殷苏民，基于嵌入式实时操作系统的开放式数控系统的研究，机床与液压 2004，No．11
[13] Gao, Popo, Research and implementation of embedded web server on low-end device, Jisuanji Gongcheng/Computer Engineering, v 31, n 10, May 20, 2005, p 219-221
[14] 谭峰，李虹霞，李诚人，基于uC／OS的开放式数控系统研究，机械与电子2004(12)
[15] Xu, M,, An implement of embedded Web server based on TCP/IP sockets, Huadong Chuanbo Gongye Xueyuan Xuebao/Joumal of East China Shipbuilding Institute, v 15, n 5, October, 2001, p 40-43
[16] 悉立群，刘德华，Web服务器的嵌入式技术，吉林化工学院学报，2003，12，Vol．20，No．4
[17] Cumplido, Rene, A high-performance processor for embedded real-time control, IEEE Transactions on Control Systems Technology, v 13, n 3, May, 2005, p 485-492
[18] 陈丽娟，白瑞林，基于IP2022单芯片的嵌入式Web服务器设计，江南大学学报(自然科学版)第4卷第4期2005年8月
[19] 徐明，柴志雷，基于TCP／IP套接口的嵌入式Web服务器实现，华东船舶工业学院学报(自然科学版)，第15卷第5期，2001年10月7
[20] Wilkinson, Jason, Embedded systems and PC-based motion control, Elektron, v 20, n 3, March, 2003, p 30-33
[21] 柴志雷，张曦煌，应用于控制系统的嵌入式Web服务器，江南大学学报(自然科学版)，第1卷第1期，2002年3月
[22] 孙恺，王田苗，魏洪兴，基于ARM的嵌入式可重构数控系统的设计与实现，机床与液压 2003，No16
[23] Jin, Min, Design and implementation of embedded Web server in substation automation system, Dianli Xitong Zidonghue/Automation of Electric Power Systems, v 26, n 18, Sep 25, 2002, p 65-69
[24] Iaccarino, Christiane, embedded web-based control applications, Proceedings-Real-Time Systems Symposium, 1999, p 214-217
[25] 张曦煌，柴志雷，嵌入式Web服务器中CGI的特点及实现，小型微型计算机系统，第24卷第11期，2003年11月
[26] Ju, Hong-Taek, An embedded Web server architecture for XML-based network management, IEEE Symposium Record on Network Operations and Management Symposium, 2002, p5-18
[27] Huang, Tianshu, Design and research of a new kind of embedded Web server, Jisuanji Gongcheng/Computer Engineering, v 31, n 11, Jun 5, 2005, p 174-178
[28] Choi, Mi-Joung, Efficient Embedded Web Server for Web-based network element management, IEEE Symposium Record on Network Operations and Management Symposium, 2000, p 187-200
[29] Han, Guang-Jie, Design and realization of embedded web server based on web management, Dongbei Daxue Xuebao/Journal of Northeastern University, v 23, n 11, November, 2002, p1021-1204
[30] Lin, Tao, An embedded web server for equipments, Proceedings of the International Symposium on Parallel Architectures, Algorithms and Networks, I-SPAN, Proceedings on the International Symposium on Parallel Architectures, Algorithms and Networks, I-SPAN 2004, 2004, p 345-350
[31] 左静，魏仁选，数控系统软件芯片的研制和开发，中国机械工程，1999，10(4)：424-427
[32] 张学东，Ajax技术在Web应用系统开发中的应用，华南金融电脑，2006，12，10，第12期
[33] Wu, Guanglin, Design and realization of embedded web server based on platform, Jisuanji Gongcheng/Computer Engineering, v 31, n 18, Sep 20, 2005, p 216-218+227
[34] Mullen, John, FORTH IN THE COMPUTER NUMERICAL CONTROL ENVIRONMENT, Journal of Forth Application and Research, v 3, n 4, 1986, p 21-35
[35] 高珀珀，邵时，低端嵌入式设备Web服务器的研究与实现，计算机工程，2005年5月，Vol．31．№10
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