基于μCOS的多轴运动控制器的通信模型
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摘要
基于μCOS(Micro-Controller Operating System)的多轴运动控制器与传统运动控制器相比,裁剪了冗余功能,具有更高的实时性,且能更好地控制生产成本,在工业化生产中获得了广泛应用。但基于μCOS的多轴运动控制器在操作平台上相比传统运动控制器有较大差异,所以传统通信模型并不适用,需要重新构建通信模型。针对此问题,在分析其操作平台的基础上,采用RCS(Real-Time Control Systems)库中的NML(Neutral Message Language)通信方式和Socket套接字通信方式来构建新的通信模型。通过重新构建通信模型,能实现多轴运动控制器中每个功能模块之间的有机互联,增强运动控制器整体的实时性能。
Compared with the traditional motion controllers, the multi-axis motion controller based on μCOS(Micro-Controller Operating System) cuts the redundancy function, has higher real-time performance, and can better control the production cost, and can be widely used in industrial production. However, the multi-axis motion controller based on μCOS is quite different from the traditional motion controller on the operating platform, so the traditional communication model is not applicable and the communication model needs to be reconstructed. In response to this problem, based on the analysis of its operating platform, the NML( Neutral Message Language) communication method and Socket communication method in the RCS( Real-time Control Systems)library are used to construct a new communication model. By reconstructing the communication model, the organic interconnection between each functional module in the multi-axis motion controller can be realized, and the overall real-time performance of the motion controller can be enhanced.
Compared with the traditional motion controllers, the multi-axis motion controller based on μCOS(Micro-Controller Operating System) cuts the redundancy function, has higher real-time performance, and can better control the production cost, and can be widely used in industrial production. However, the multi-axis motion controller based on μCOS is quite different from the traditional motion controller on the operating platform, so the traditional communication model is not applicable and the communication model needs to be reconstructed. In response to this problem, based on the analysis of its operating platform, the NML( Neutral Message Language) communication method and Socket communication method in the RCS( Real-time Control Systems)library are used to construct a new communication model. By reconstructing the communication model, the organic interconnection between each functional module in the multi-axis motion controller can be realized, and the overall real-time performance of the motion controller can be enhanced.
引文
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[3]孙会会.基于LinuxCNC的工业机器人控制系统软件研究与开发[D].广州:华南理工大学,2016.
[4]李校慧,于东,胡毅,等.数控系统网络通信平台的设计与实现[J].计算机工程与设计,2013,34(4):1141-1146.
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[6]吴晶,史步海.基于EMC2的数控系统软件架构及通信机制分析[J].控制与检测,2010(10):48-51.
[7]张睿恒.基于LinuxCNC的多轴控制系统设计与实现[D].成都:电子科技大学,2016.