基于ARM的空间交会运动模拟平台的主控制系统设计
摘要
本文以采用集中监控、分散控制多电机方案的国防某实验基地弹目空间交会模拟平台控制系统为基础,运用嵌入式系统方案设计了其主控制器,并通过设计的ZigBee无线协调器加入无线网络,最终实现了集中监控的功能要求。
文章首先对弹目交会系统现状进行了研究,深入分析了运动控制系统相关技术和嵌入式系统发展现状。根据对总体方案的研究和主控制系统功能要求,提出了基于ARM的嵌入式Linux系统的主控制系统方案。然后分别设计了嵌入式主控制器和基于CC2430芯片的ZigBee无线协调器的硬件系统。
接着,在硬件系统的基础上完成了嵌入式Linux系统的构建,其中包括Bootloader与Linux内核的定制和移植、LCD等设备驱动程序的设计和文件系统的建立。同时根据ZigBee无线网络协调器在整个系统中的功能特点,设计了基于Z-Stack协议栈的ZigBee无线网络协调器的软件系统,实现了ZigBee无线网络的协调功能以及与主控制器的通信接口。然后通过分析弹目空间交会模拟系统的特点,建立了弹目运动数学模型,并采用嵌入式图形用户界面开发工具Qt/Embedded完成了系统监控软件的设计。
最后,通过对监控软件和ZigBee无线通信进行实验测试,检验了主控制系统方案的可行性,验证了监控软件和ZigBee通信的可靠性,证明系统达到了期望的功能要求。
Based on Motion Control Scheme of Missile-Target Space Encounter Simulation System, the master controller of the system is designed by adopting embedded system. A ZigBee coordinator is applied to wireless network, both of which help meet the functioning requirements of centralized monitoring.
At the beginning, a research on current situation of the Missile-Target Encounter experiment system and a thorough analysis of the present development of embedded system and technologies related with motion control system have been carried out. According to researches on general scheme and functioning requirements of master controller, the scheme of the master controller by using an embedded system of Linux based on Arm has been brought forward. Then the hardware system of master controller and Zigbee coordinator based on CC2430 is designed.
During the following part, an embedded Linux system has been established which includes transplant and customization of Bootloader and Linux kernel, design of device driver such as LCD, construction of file system. Meanwhile, the coordinator's software system according to functional characteristics of the ZigBee coordinator has been developed which realizes wireless communication between the master and motor controller. Afterwards based on mathematical model of Missile-Target motion, the monitoring application program has been developed by adopting Qt/Embedded.
Finally, the feasibility of master controller as well as the reliability of monitoring software and ZigBee communication has been tested. The results prove that the system meets the expected functioning requirements.
文章首先对弹目交会系统现状进行了研究,深入分析了运动控制系统相关技术和嵌入式系统发展现状。根据对总体方案的研究和主控制系统功能要求,提出了基于ARM的嵌入式Linux系统的主控制系统方案。然后分别设计了嵌入式主控制器和基于CC2430芯片的ZigBee无线协调器的硬件系统。
接着,在硬件系统的基础上完成了嵌入式Linux系统的构建,其中包括Bootloader与Linux内核的定制和移植、LCD等设备驱动程序的设计和文件系统的建立。同时根据ZigBee无线网络协调器在整个系统中的功能特点,设计了基于Z-Stack协议栈的ZigBee无线网络协调器的软件系统,实现了ZigBee无线网络的协调功能以及与主控制器的通信接口。然后通过分析弹目空间交会模拟系统的特点,建立了弹目运动数学模型,并采用嵌入式图形用户界面开发工具Qt/Embedded完成了系统监控软件的设计。
最后,通过对监控软件和ZigBee无线通信进行实验测试,检验了主控制系统方案的可行性,验证了监控软件和ZigBee通信的可靠性,证明系统达到了期望的功能要求。
Based on Motion Control Scheme of Missile-Target Space Encounter Simulation System, the master controller of the system is designed by adopting embedded system. A ZigBee coordinator is applied to wireless network, both of which help meet the functioning requirements of centralized monitoring.
At the beginning, a research on current situation of the Missile-Target Encounter experiment system and a thorough analysis of the present development of embedded system and technologies related with motion control system have been carried out. According to researches on general scheme and functioning requirements of master controller, the scheme of the master controller by using an embedded system of Linux based on Arm has been brought forward. Then the hardware system of master controller and Zigbee coordinator based on CC2430 is designed.
During the following part, an embedded Linux system has been established which includes transplant and customization of Bootloader and Linux kernel, design of device driver such as LCD, construction of file system. Meanwhile, the coordinator's software system according to functional characteristics of the ZigBee coordinator has been developed which realizes wireless communication between the master and motor controller. Afterwards based on mathematical model of Missile-Target motion, the monitoring application program has been developed by adopting Qt/Embedded.
Finally, the feasibility of master controller as well as the reliability of monitoring software and ZigBee communication has been tested. The results prove that the system meets the expected functioning requirements.
引文
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[27]陈文智等.嵌入式系统开发原理与实践编著[M].清华大学出版社,2005.
[28]桑楠.嵌入式系统原理及应用开发技术[M].北京:北京航空航天大学出版社,2002.
[29]胥静.嵌入式系统设计与开发实例详解[M].北京:北京航空航天大学出版社,2005.
[30]刘炎,冯穗力,叶梧.通用串行总线(USB)原理及接口设计[J].电子技术应用,2000,3(12).
[31]郑康,铁斌,唐宗良,朱昌昌,陈国平.TFT-LCD技术的研究进展与发展趋势[J].固体电子学研究与进展,1999,5(03).
[32]张义磊,安吉宇,仲崇亮等.ARM芯片S3C2410驱动TFr-LCD的研究[J].液晶与显示,2005:2(01).
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[36]Frank Vahid Tony Givargis著.骆丽译.嵌入式系统设计[M].北京航空航天大学出版社,2004.
[37]孙琼.嵌入式Linux应用程序开发详解[M].人民邮电出版社,2006.
[38]李善平,刘文峰,王焕龙等.Linux与嵌入式系统[M].北京:清华大学出版社,2003.
[39]邹思轶.嵌入式Linux设计与应用[M].北京:清华大学出版社,2001.
[40]刘峥嵘,张智超,许振山.嵌入式Linux应用开发详解[M].北京:机械工业出版社,2004:121-133.
[41]孙天泽,袁文菊.嵌入式设计及Linux驱动开发指南(第2版)[M].电子工业出版社,2007.
[42]沈连丰.嵌入式系统及其开发应用[M].电子工业出版社,2005.
[43]Karim Y H.Building Embedded Linux systems[M].O'Reilly,2003.
[44]Alessandro Rubini.Linux Device Drivers 3~(rd)Edition[M].O'Reilly,2005:6-21.
[45]刘淼.嵌入式系统接口设计与Linux驱动程序开发[M].北京航空航天大学出版社,2006.
[46]王集森,刘昊,胡晨.嵌入式Linux中多文件系统的构建[J].单片机与嵌入式系统应用,2003(12):12-15.
[47]钱华锋,雷航.面向对象嵌入式GUI研究和模式应用[J].计算机应用,2004,(4).12-14.
[48]徐广毅,张晓林,崔迎炜,蒋文军.Qt/Embedded在嵌入式Linux系统中的应用[J].单片机与嵌入式系统应用.2004,(12).12-16.
[49]Sohrabi K,Gao J,Ailawadhi V,Pottie GJ.Protocols for self-organization of a wireless sensor network[J].IEEE Personal Communications.2000,7(5):16-27.
[50]Taaffe,Ouida.ZigBee:Control and power.Telecommunications Internationa[J].2005,5(39):27-28.
[51]Smith,Zachary.Choosing wisely for ZigBee apps.Electronic Engineering Times[J].2005,6.
[52]Shizhuang Lin,Jingyu Liu.ZigBee Based Wireless Sensor Networks and Its Applications in Industrial[J].Automation and Logistics.2007,8.
[53]Adams,Jon.Zigbee meshes with sensor nets[J].Electronic Engineering Times.2005,3.
[54]Kohvakka,Mikko.Network signaling channel for improving zigBee performance in dynamic cluster-tree networks[J]Eurasip Journal on Wireless Communications and Networking.2008,1
[55]唐厚成.弹目空间交会模拟系统运动控制设计[D].北京:北京交通大学,2007.
[56]Jasmin Blanchette,Mark Summerfield.C++ GUI Programming with Qt3[M].PretieeHallPTR,2004.
[2]张元庆.引信系统概论[M].国防工业出版社,1987.
[3]彭建东.全尺寸近场目标特性及弹目交会仿真实验系统[J].制导与引信,1996,4(3).
[4]李永红,杜力力,候晋兵等.多卜勒引信的弹目交会模拟实验与测试系统研究[J].仪器仪表学报,2004.6(6).
[5]史志中.利用引信多普勒频率提高引战配合效率[J].制导与引信,2005,25(3):38-42.
[6]李铁,强雪,吴振森.无线电引信弹目交会信号的数字仿真[J].兵工学报,2005,26(5):634-637.
[7]刘洪兴,吴进华,李伟.舰空导弹武器系统的引战配合研究[J].探测与控制学报,2002,24(3):17-20.
[8]刘松.弹目交会模拟系统设计与控制技术研究[D].北京:北京理工大学,2006.
[9]杨树仁.弹目空间交会模拟系统设计与仿真[D].北京:北京交通大学,2007.
[10]饶运涛,邹继军,郑勇芸.现场总线CAN原理与应用技术[M].北京:北京航空航天大学出版社,2003.
[11]徐杰等.异步伺服驱动的直角坐标机械手控制系统的设计与实现[J].机器人技术及应用,2003,6.
[12]杨振中,周骥平,朱兴龙等.基于IPC和直流伺服电机网络的解耦型球关节控制系统设计[J].电气自动化,2007,29(3).
[13]陈德传,黎琦.织物生产设备的多轴线协调分部传动控制[J].纺织学报,2005,3.
[14]吴雅婷.基于仿生扫描探测系统的运动平台设计[D].北京:北京交通大学,2006.
[15]陈斌,梁春燕等.基于Device Net总路线的马达中心(Motor Control Center)的研究[J].传感技术学报,2001,2.
[16]黄建,韩梅.基于CAN总线的虚拟仪器在多电机控制中的应用[J].北京航空航天大学学报,2005,2.
[17]吴明辉.基于ARM的嵌入式系统开发与应用[M].人民邮电出版社,2004.
[18]李驹光等编.AMR应用系统开发详解—基于S3C4510B的系统设计[M].清华大学出版社,2003.
[19]田泽.嵌入式系统开发与应用教程[M].北京航空航天大学出版社,2004.
[20]苑林桢.导弹引战配合设计与验证[J].现代防御技术,2002,2.
[21]王田苗.嵌入式系统设计与实例开发—基于AMR处理器与uC/OS-Ⅱ实时操作系统[M].清华大学出版社,2004,6.
[22]李佳 ARM系统处理器应用技术完全手册[M].人民邮电出版社,2006.
[23]孙天泽,袁文菊,张海峰.嵌入式设计及Linux驱动开发指南[M].电子工业出版社,2005.
[24]吴明辉.基于ARM的嵌入式系统开发与应用[M].人民邮电出版,2004.06.
[25]S3C2410 32-Bit R/SC Microprocessor Developer's Manual.[EB/OL],http://www.samsung.com.
[26]EduKit3ARM9_UserGuide_V3.0.[EB/OL].http://www.embedinfo.com.
[27]陈文智等.嵌入式系统开发原理与实践编著[M].清华大学出版社,2005.
[28]桑楠.嵌入式系统原理及应用开发技术[M].北京:北京航空航天大学出版社,2002.
[29]胥静.嵌入式系统设计与开发实例详解[M].北京:北京航空航天大学出版社,2005.
[30]刘炎,冯穗力,叶梧.通用串行总线(USB)原理及接口设计[J].电子技术应用,2000,3(12).
[31]郑康,铁斌,唐宗良,朱昌昌,陈国平.TFT-LCD技术的研究进展与发展趋势[J].固体电子学研究与进展,1999,5(03).
[32]张义磊,安吉宇,仲崇亮等.ARM芯片S3C2410驱动TFr-LCD的研究[J].液晶与显示,2005:2(01).
[33]Wong,William.Zigbee-in-a-chip:A new wireless ERA[J].Electronic Design,2005.6.
[34]Texas Instrument.A True System-on-Chip solution for 2.4GHz IEEE 802.15.4/ZigBee(TM)[EB/OL],http://www.ti.com.
[35]Rick Grehan等著;许汝峰译.32位嵌入式系统编程[M].北京电力出版社,2005.
[36]Frank Vahid Tony Givargis著.骆丽译.嵌入式系统设计[M].北京航空航天大学出版社,2004.
[37]孙琼.嵌入式Linux应用程序开发详解[M].人民邮电出版社,2006.
[38]李善平,刘文峰,王焕龙等.Linux与嵌入式系统[M].北京:清华大学出版社,2003.
[39]邹思轶.嵌入式Linux设计与应用[M].北京:清华大学出版社,2001.
[40]刘峥嵘,张智超,许振山.嵌入式Linux应用开发详解[M].北京:机械工业出版社,2004:121-133.
[41]孙天泽,袁文菊.嵌入式设计及Linux驱动开发指南(第2版)[M].电子工业出版社,2007.
[42]沈连丰.嵌入式系统及其开发应用[M].电子工业出版社,2005.
[43]Karim Y H.Building Embedded Linux systems[M].O'Reilly,2003.
[44]Alessandro Rubini.Linux Device Drivers 3~(rd)Edition[M].O'Reilly,2005:6-21.
[45]刘淼.嵌入式系统接口设计与Linux驱动程序开发[M].北京航空航天大学出版社,2006.
[46]王集森,刘昊,胡晨.嵌入式Linux中多文件系统的构建[J].单片机与嵌入式系统应用,2003(12):12-15.
[47]钱华锋,雷航.面向对象嵌入式GUI研究和模式应用[J].计算机应用,2004,(4).12-14.
[48]徐广毅,张晓林,崔迎炜,蒋文军.Qt/Embedded在嵌入式Linux系统中的应用[J].单片机与嵌入式系统应用.2004,(12).12-16.
[49]Sohrabi K,Gao J,Ailawadhi V,Pottie GJ.Protocols for self-organization of a wireless sensor network[J].IEEE Personal Communications.2000,7(5):16-27.
[50]Taaffe,Ouida.ZigBee:Control and power.Telecommunications Internationa[J].2005,5(39):27-28.
[51]Smith,Zachary.Choosing wisely for ZigBee apps.Electronic Engineering Times[J].2005,6.
[52]Shizhuang Lin,Jingyu Liu.ZigBee Based Wireless Sensor Networks and Its Applications in Industrial[J].Automation and Logistics.2007,8.
[53]Adams,Jon.Zigbee meshes with sensor nets[J].Electronic Engineering Times.2005,3.
[54]Kohvakka,Mikko.Network signaling channel for improving zigBee performance in dynamic cluster-tree networks[J]Eurasip Journal on Wireless Communications and Networking.2008,1
[55]唐厚成.弹目空间交会模拟系统运动控制设计[D].北京:北京交通大学,2007.
[56]Jasmin Blanchette,Mark Summerfield.C++ GUI Programming with Qt3[M].PretieeHallPTR,2004.