嵌入式四轴运动控制器的设计
|
摘要
为了解决传统基于PC平台的运动控制器渐显高能耗、高成本、低可靠性等缺点,结合ARM和DSP运动控制芯片特点,给出一种基于ARM微处理器LPC1788和专用DSP运动控制芯片PCL6045BL组合的嵌入式四轴运动控制器。该控制器在硬件上采用ARM+DSP的主从式双CPU结构,并结合ARM在人机界面显示、通信接口方面的优势以及PCL6045BL高控制精度的优点,在软件上通过LPC1788上移植μC/OS-Ⅱ实时操作系统来管理总体的运动控制系统。最后通过圆弧插补实验验证了嵌入式四轴运动控制器具有可靠性高和快速响应等优点。
Traditional microcontrollers based on PC increasingly exposed high-cost,high-consumption,low reliability and other shortcomings. According to the characteristics of ARM and DSP motion control chip,a novel embedded four-axis motion controller is designed based on LPC1788 and PCL6045 BL. The controller on the hardware adopts the double CPU master-slave structure of ARM + DSP,combined with the ARM on the man-machine interface display and communication interface,and the advantages of high control precision of PCL6045 BL. On the software through LPC1788 transplanted mu C / OS- Ⅱ real-time operating system to manage the overall motion control system. The results show that the embedded four-axis motion controller can be implemented in 2-axis circular interpolation. The system has a good stability and fast response.
Traditional microcontrollers based on PC increasingly exposed high-cost,high-consumption,low reliability and other shortcomings. According to the characteristics of ARM and DSP motion control chip,a novel embedded four-axis motion controller is designed based on LPC1788 and PCL6045 BL. The controller on the hardware adopts the double CPU master-slave structure of ARM + DSP,combined with the ARM on the man-machine interface display and communication interface,and the advantages of high control precision of PCL6045 BL. On the software through LPC1788 transplanted mu C / OS- Ⅱ real-time operating system to manage the overall motion control system. The results show that the embedded four-axis motion controller can be implemented in 2-axis circular interpolation. The system has a good stability and fast response.
引文
[1]刘建群,陈新度.Qt环境下基于PMAC运动控制器的控制系统开发与应用[J].组合机床与自动化加工技术,2014(1):114-120.LIU Jianqun,CHEN Xindun.Qt environment with PMAC motion controller based control system development and application of[J].Journal of Combination Machine Tools and Automatic Processing Technology,2014(1):114-120.(in Chinese)
[2]彭全海.基于GT运动控制器开放式数控系统的研究[D].大连:大连交通大学,2012.
[3]马义德,刘映杰,张新国.嵌入式系统的现状及发展前景[J].信息技术,2001(12):57-59.MA Yide,LIU Yingjie,ZHANG Xinguo.Current situation and development prospect of the embedded system[J].Journal of Information Technology,2001(12):57-59.(in Chinese)
[4]Jack Ganssle.Changes in embedded design mathodology[J].Embedded System Programming,1999,9:35-40.
[5]孙安青.ARM Cortex-M3嵌入式开发实例详解:基于NXP LPC1768[M].北京:北京航空航天大学出版社,2012.
[6]郑广,刘电霆.基于Rabbit6000和PCL6045BL的运动控制器设计[J].软件导刊,2012,11(4):100-102.ZHENG Guang,LIU Dianting.Motion controller design based on Rabbit6000 and PCL6045BL[J].Journal of Software Tribune,2012,11(4):100-102.(in Chinese)
[7]CHEN Y D,WEI H X,WANG T M.Embedded control system for industrial robots[C]//2010 International Conference on Computer,Mechatronics,Control and Electronic Engineering.Shanghai:Shanghai Jiaotong University,2010:122-125.
[8]叶佩青,张辉.PCL6045B运动控制与数控应用[M].北京:清华大学出版社,2007.
[9]陈瑶,李佳,宋宝华.Cortex-M3+μC/OS-Ⅱ嵌入式系统开发入门与应用[M].北京:人民邮电出版社,2010.
[10]Jean J Labrosse.Micro C/0S—ⅡThe Real Time Kernel[M].Montreal,Canada:CMP Books,2002.
[11]贾丽.基于μC/OS-Ⅱ的以太网设备远程管理软件设计与实现[D].成都:电子科技大学,2010.
[12]李海强.基于ARM+μC/OS-Ⅱ的智能变功率开水器控制器的研究与设计[D].南京:南京理工大学,2013.
[13]李杰.基于μC/OS-Ⅱ的磁电机焊锡机器人控制系统设计与研究[D].重庆:重庆大学,2013.
[2]彭全海.基于GT运动控制器开放式数控系统的研究[D].大连:大连交通大学,2012.
[3]马义德,刘映杰,张新国.嵌入式系统的现状及发展前景[J].信息技术,2001(12):57-59.MA Yide,LIU Yingjie,ZHANG Xinguo.Current situation and development prospect of the embedded system[J].Journal of Information Technology,2001(12):57-59.(in Chinese)
[4]Jack Ganssle.Changes in embedded design mathodology[J].Embedded System Programming,1999,9:35-40.
[5]孙安青.ARM Cortex-M3嵌入式开发实例详解:基于NXP LPC1768[M].北京:北京航空航天大学出版社,2012.
[6]郑广,刘电霆.基于Rabbit6000和PCL6045BL的运动控制器设计[J].软件导刊,2012,11(4):100-102.ZHENG Guang,LIU Dianting.Motion controller design based on Rabbit6000 and PCL6045BL[J].Journal of Software Tribune,2012,11(4):100-102.(in Chinese)
[7]CHEN Y D,WEI H X,WANG T M.Embedded control system for industrial robots[C]//2010 International Conference on Computer,Mechatronics,Control and Electronic Engineering.Shanghai:Shanghai Jiaotong University,2010:122-125.
[8]叶佩青,张辉.PCL6045B运动控制与数控应用[M].北京:清华大学出版社,2007.
[9]陈瑶,李佳,宋宝华.Cortex-M3+μC/OS-Ⅱ嵌入式系统开发入门与应用[M].北京:人民邮电出版社,2010.
[10]Jean J Labrosse.Micro C/0S—ⅡThe Real Time Kernel[M].Montreal,Canada:CMP Books,2002.
[11]贾丽.基于μC/OS-Ⅱ的以太网设备远程管理软件设计与实现[D].成都:电子科技大学,2010.
[12]李海强.基于ARM+μC/OS-Ⅱ的智能变功率开水器控制器的研究与设计[D].南京:南京理工大学,2013.
[13]李杰.基于μC/OS-Ⅱ的磁电机焊锡机器人控制系统设计与研究[D].重庆:重庆大学,2013.