基于RT-Linux的雕刻机的运动控制系统的研究及单处理器模式下的实现
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摘要
实时性是影响运动控制系统性能的关键问题之一。研究提高控制系统的实时性对提高控制系统的整体性能、推动控制系统技术的发展具有重要的意义。近年来，人们越来越关注控制系统的实时性问题，不断地探索着在Windows、Windows NT和Linux平台上做实时扩展的方法，以提高控制系统的实时性。
由于Linux源代码开放，在Linux上做实时扩展，同样也是源代码开放的。在Windows或Windows NT上做实时扩展或者采用商用实时操作系统，价格昂贵。而RT-Linux源代码开放，具有出色的实时性、稳定性和可靠性。因此，本文采用Linux+RT-Linux作为操作系统平台。随着计算机技术的迅猛发展，计算机的运算能力、存储能力足以满足单处理器模式下的控制系统的应用需求。与多处理器模式相比，其结构简单，稳定性好，节省硬件投资，实现全软件化。因此，本文采用在单处理器模式下进行控制系统的设计与实现。
本文说明了RT-Linux提供高实时性的原理与机制，分析了单处理器模式下构建基于RT-Linux的雕刻机的运动控制系统的可行性、实现方法和关键技术。对控制系统的软、硬件进行了设计。硬件由一台普通PC和I/O接口卡构成；软件部分按照对实时性要求的不同分为实时任务(插补运算、加减速运算、I/O处理)和非实时任务(数据处理等)。实时任务在RT-Linux中完成，非实时任务在Linux中完成，两者之间通过FIFO进行数据交换。本文最后实现了一个单处理器模式下的基于RT-Linux的雕刻机的控制系统的实验平台，并给出了实验结果。实验结果表明，RT-Linux完全能够满足控制系统对实时性的要求，而且稳定性好、可靠性高。Linux+RT-Linux是目前开发基于PC的控制系统的理想的操作系统平台。
Real-time performance is one of the key components that influence the performance of motion control system. So it is very important to develop real-time performance of the control system for improving performance. In recent years, people pay more and more attentions to Real-time performance and constantly investigate the methods that embed real-time extension on Windows, Windows NT or Linux platform, to improve the real-time performance of control system.
Linux source code is open, so real-time extension on Linux is open too. It is very expensive to embed real-time extension on Windows or Windows NT or use commercial real-time operation system. However, RTLinux is free and has outstanding real-time, stability and reliability. Consequently, Linux+RTLinux is used as the platform in this paper. With the development of computer, its arithmetic and storage capability can meet the need of control system based on single processor. Comparison with the mode of multiprocessors, its construction is simple, and the stability is good and its hardware cost is low. So the single processor mode is adopted.
In this paper, the principles of RTLinux is explained, the feasibility, realization and key technique to construct control system based on RTLinux for carve machine based on single processor is analyzed. Firstly the software and hardware of the control system is designed. The hardware is composed of the common computer and I/O card. The segment of software is divided into real-time tasks(interpolation, acceleration/deceleration, input/output) and non-real-time tasks(data processing and so on) according to the need of real-time. Real-time tasks are implemented in RT-Linux and non-real-time tasks are implemented in Linux, and data are exchanged through FIFO between Real-time tasks and non-real-time tasks. Lastly, a control system of carve machine based on RTLinux experimental platform is carried out in this paper, and the experimental results are presented. The experimental results prove that RTLinux can meet the need of real-time performance. Also its stability and reliability are good. Linux+RTLinux is the suitable operation system platform for control system based on PC.
由于Linux源代码开放，在Linux上做实时扩展，同样也是源代码开放的。在Windows或Windows NT上做实时扩展或者采用商用实时操作系统，价格昂贵。而RT-Linux源代码开放，具有出色的实时性、稳定性和可靠性。因此，本文采用Linux+RT-Linux作为操作系统平台。随着计算机技术的迅猛发展，计算机的运算能力、存储能力足以满足单处理器模式下的控制系统的应用需求。与多处理器模式相比，其结构简单，稳定性好，节省硬件投资，实现全软件化。因此，本文采用在单处理器模式下进行控制系统的设计与实现。
本文说明了RT-Linux提供高实时性的原理与机制，分析了单处理器模式下构建基于RT-Linux的雕刻机的运动控制系统的可行性、实现方法和关键技术。对控制系统的软、硬件进行了设计。硬件由一台普通PC和I/O接口卡构成；软件部分按照对实时性要求的不同分为实时任务(插补运算、加减速运算、I/O处理)和非实时任务(数据处理等)。实时任务在RT-Linux中完成，非实时任务在Linux中完成，两者之间通过FIFO进行数据交换。本文最后实现了一个单处理器模式下的基于RT-Linux的雕刻机的控制系统的实验平台，并给出了实验结果。实验结果表明，RT-Linux完全能够满足控制系统对实时性的要求，而且稳定性好、可靠性高。Linux+RT-Linux是目前开发基于PC的控制系统的理想的操作系统平台。
Real-time performance is one of the key components that influence the performance of motion control system. So it is very important to develop real-time performance of the control system for improving performance. In recent years, people pay more and more attentions to Real-time performance and constantly investigate the methods that embed real-time extension on Windows, Windows NT or Linux platform, to improve the real-time performance of control system.
Linux source code is open, so real-time extension on Linux is open too. It is very expensive to embed real-time extension on Windows or Windows NT or use commercial real-time operation system. However, RTLinux is free and has outstanding real-time, stability and reliability. Consequently, Linux+RTLinux is used as the platform in this paper. With the development of computer, its arithmetic and storage capability can meet the need of control system based on single processor. Comparison with the mode of multiprocessors, its construction is simple, and the stability is good and its hardware cost is low. So the single processor mode is adopted.
In this paper, the principles of RTLinux is explained, the feasibility, realization and key technique to construct control system based on RTLinux for carve machine based on single processor is analyzed. Firstly the software and hardware of the control system is designed. The hardware is composed of the common computer and I/O card. The segment of software is divided into real-time tasks(interpolation, acceleration/deceleration, input/output) and non-real-time tasks(data processing and so on) according to the need of real-time. Real-time tasks are implemented in RT-Linux and non-real-time tasks are implemented in Linux, and data are exchanged through FIFO between Real-time tasks and non-real-time tasks. Lastly, a control system of carve machine based on RTLinux experimental platform is carried out in this paper, and the experimental results are presented. The experimental results prove that RTLinux can meet the need of real-time performance. Also its stability and reliability are good. Linux+RTLinux is the suitable operation system platform for control system based on PC.
引文
[1] 夏一民．实时Linux操作系统初探[J]．计算机应用研究,2001(1)：45-48
[2] 周凯．发展国产数控系统的技术途径[J]．制造技术与机床，2000(3)：5-7
[3] 叶佩青．走中国特色的数控技术发展之路[J]，计算机辅助设计与制造，2000(5)：3-6
[4] 张正勇．Windows系列平台下的实时控制研究[J]．机电工程，1999(3)：36-38
[5] 爱林．基于Windows的开放式数控系统[J]．机械与电子，1999(4)：32-34
[6] Frederick Open-architecture Controllers[M]. IEEE Spectrum,6/1997:60-64
[7] Y. Koren Real-Time Open Control Architecture and System Performance[M]. Annals of the CIRP Vol.45/1/1996:377-380
[8] Humphrey. Experiences using RT-Linux to implement a controller for a high speed magnetic bearing system[M]. Real-Time Technology and Applications-Proceedings Jun2-Jun 4 1999:121-130
[9] Liu S, Ragunathan R, John P L,Priority inheritance protocols: an approach to real time synchronization[M]. IEEE Tran on computer, 1990,39(9): 1175-1185
[10] Mok A K. Fundamental design problems of distributed system for the hard real time environment Ph.d dissertation MIT, US,1993
[11] 李善平、郑扣根，Linux内核分析和实验教程[M]，机械工业出版社，1999
[12] 周巍松．Linux 系统分析与高级编程技术[M]．北京：机械工业出版社，1999
[13] Neil Matthew Richard Stones. Linux 程序设计[M]．北京：机械工业出版社，2002
[14] FSM Labs. Getting Started With RTLinux [EB/OL]. http://www. rtlinux.com,2000.05
[15] Linux在中国的前景[J]．河北大学学报，2001，(1)：1-2
[16] 郭春生．硬实时操作系统-RTLinux[J]．电子技术应用，2002(4)：17-19
[17] http://www. rtlinux.org/documents.html
[18] Yodaiken V. The RTLinux Manifesto. Internet [EB/OL]. http://www. rtlinux.org
[19] Ziker M, Heimann P. High-speed Data Acqusition with the Solaris and Linux Operating Systems[J]. Fusion Engineering and Design,2000,48:193-197
[20] 郭晋峰．基于RT-Linux SMP功能的数控系统的实现[J]．制造技术与机床,2001，(12)：14-16
[21] 李峰厚．基于RT-Linux 的开放式数控系统研究[J]．组合机床与自动化加工技术，2001(7)：1-3
[22] pzw．RT-Linux简介(1)[EB/OL]．http://www.bbs.sjtu.edu.cn, 2000．11
[23] Darrick Addison．嵌入式Linux应用：概述 [EB/OL]．http://www.IBM.developerWorks，2001．08
[24] 曹计昌．关于提高Linux核心实时处理能力的讨论[J]．计算机应用,2001，(1)：75-78
[25] Matt Sherer. Writing Application with RTLinux [EB/OL]. http://www.rtlinux.org,2002.08
[26] 郭晋峰．RTLinux的原理及其实时程序开发[J]．微型机与应用,2001,(4)：8-10
[27] 陈一民．单处理器机器人控制的模拟[J]．微型电脑应用，1998(6)：30-33
[28] 运算最快的超级计算机[EB/OL]．http://www.edu.cn，2002．10．05
[29] 蔡德聪．工业控制计算机实时操作系统[M]．北京：清华大学出版社，1999
[30] 王学龙．嵌入式Linux系统设计与应用[M]．北京：清华大学出版社，2000
[31] 曾大宁，田园．迎接自由软件的春天——Linux 发行版本横向评测 [EB/OL]．http://微电脑世界，2000．03
[32] 郭东航．一种实时调度算法及在RTLinux中的实现[J]．计算机工程与应用，2002，(9)：61-63
[33] Alessandro R著，LISOLEC 译．Linux设备驱动程序[M]．北京：中国电力出版社，2000
[34] 钟伟弘等．步进电机的驱动及微机控制[J]．天津理工学院学报，2000，(6)：66-68
[35] 智爱鹃．步进电机步矩角细分的微机控制法[J]．洛阳大学学报，1999，(6)：46-49
[36] 任玉田．机床计算机数控技术[M]．北京：北京理工大学出版社，2001
[37] 凌澄．PC总线工业控制系统精粹[M]．北京：清华大学出版社，1998
[38] 焦振学．微机数控技术[M]．北京：北京理工大学出版社，2000
[39] 黄义源．机械设备电气与数字控制[M]．北京：中央广播电视大学出版社，1995
[40] Eric Harlow．实用技术：开发Linux应用—用GTK+和GDK开发Linux图形用户界面应用[M]．北京：电子工业出版社，2000
[2] 周凯．发展国产数控系统的技术途径[J]．制造技术与机床，2000(3)：5-7
[3] 叶佩青．走中国特色的数控技术发展之路[J]，计算机辅助设计与制造，2000(5)：3-6
[4] 张正勇．Windows系列平台下的实时控制研究[J]．机电工程，1999(3)：36-38
[5] 爱林．基于Windows的开放式数控系统[J]．机械与电子，1999(4)：32-34
[6] Frederick Open-architecture Controllers[M]. IEEE Spectrum,6/1997:60-64
[7] Y. Koren Real-Time Open Control Architecture and System Performance[M]. Annals of the CIRP Vol.45/1/1996:377-380
[8] Humphrey. Experiences using RT-Linux to implement a controller for a high speed magnetic bearing system[M]. Real-Time Technology and Applications-Proceedings Jun2-Jun 4 1999:121-130
[9] Liu S, Ragunathan R, John P L,Priority inheritance protocols: an approach to real time synchronization[M]. IEEE Tran on computer, 1990,39(9): 1175-1185
[10] Mok A K. Fundamental design problems of distributed system for the hard real time environment Ph.d dissertation MIT, US,1993
[11] 李善平、郑扣根，Linux内核分析和实验教程[M]，机械工业出版社，1999
[12] 周巍松．Linux 系统分析与高级编程技术[M]．北京：机械工业出版社，1999
[13] Neil Matthew Richard Stones. Linux 程序设计[M]．北京：机械工业出版社，2002
[14] FSM Labs. Getting Started With RTLinux [EB/OL]. http://www. rtlinux.com,2000.05
[15] Linux在中国的前景[J]．河北大学学报，2001，(1)：1-2
[16] 郭春生．硬实时操作系统-RTLinux[J]．电子技术应用，2002(4)：17-19
[17] http://www. rtlinux.org/documents.html
[18] Yodaiken V. The RTLinux Manifesto. Internet [EB/OL]. http://www. rtlinux.org
[19] Ziker M, Heimann P. High-speed Data Acqusition with the Solaris and Linux Operating Systems[J]. Fusion Engineering and Design,2000,48:193-197
[20] 郭晋峰．基于RT-Linux SMP功能的数控系统的实现[J]．制造技术与机床,2001，(12)：14-16
[21] 李峰厚．基于RT-Linux 的开放式数控系统研究[J]．组合机床与自动化加工技术，2001(7)：1-3
[22] pzw．RT-Linux简介(1)[EB/OL]．http://www.bbs.sjtu.edu.cn, 2000．11
[23] Darrick Addison．嵌入式Linux应用：概述 [EB/OL]．http://www.IBM.developerWorks，2001．08
[24] 曹计昌．关于提高Linux核心实时处理能力的讨论[J]．计算机应用,2001，(1)：75-78
[25] Matt Sherer. Writing Application with RTLinux [EB/OL]. http://www.rtlinux.org,2002.08
[26] 郭晋峰．RTLinux的原理及其实时程序开发[J]．微型机与应用,2001,(4)：8-10
[27] 陈一民．单处理器机器人控制的模拟[J]．微型电脑应用，1998(6)：30-33
[28] 运算最快的超级计算机[EB/OL]．http://www.edu.cn，2002．10．05
[29] 蔡德聪．工业控制计算机实时操作系统[M]．北京：清华大学出版社，1999
[30] 王学龙．嵌入式Linux系统设计与应用[M]．北京：清华大学出版社，2000
[31] 曾大宁，田园．迎接自由软件的春天——Linux 发行版本横向评测 [EB/OL]．http://微电脑世界，2000．03
[32] 郭东航．一种实时调度算法及在RTLinux中的实现[J]．计算机工程与应用，2002，(9)：61-63
[33] Alessandro R著，LISOLEC 译．Linux设备驱动程序[M]．北京：中国电力出版社，2000
[34] 钟伟弘等．步进电机的驱动及微机控制[J]．天津理工学院学报，2000，(6)：66-68
[35] 智爱鹃．步进电机步矩角细分的微机控制法[J]．洛阳大学学报，1999，(6)：46-49
[36] 任玉田．机床计算机数控技术[M]．北京：北京理工大学出版社，2001
[37] 凌澄．PC总线工业控制系统精粹[M]．北京：清华大学出版社，1998
[38] 焦振学．微机数控技术[M]．北京：北京理工大学出版社，2000
[39] 黄义源．机械设备电气与数字控制[M]．北京：中央广播电视大学出版社，1995
[40] Eric Harlow．实用技术：开发Linux应用—用GTK+和GDK开发Linux图形用户界面应用[M]．北京：电子工业出版社，2000