GJS系列伺服手持终端的设计与实现
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摘要
目前,国内伺服系统主要是通过伺服驱动器的控制面板进行调试。采用这种调试方式,工程人员不易观察机床的运行状态,并且恶劣的现场环境容易造成控制面板按键的失效,从而给伺服系统的调试带来了诸多不便。
本文在这种需求和背景下,采用软硬件协同设计思想设计并实现了一个方便、灵活且低成本的伺服手持终端。该终端以C8051F单片机作为处理器;以数码管作为显示器;通过键盘控制伺服运行参数的选择和发送;通过串行口与伺服系统进行通信;系统配置了大容量E2PROM,可以存储编译好的伺服运行参数,即使在掉电状态下也不会丢失数据;又能通过JTAG接口与PC机连接对系统进行编译修改等操作。
本系统采用PROTEL99SE电路板绘图工具,完成了电路板原理图和PCB图的设计。为了提高系统的可靠性和实时性在硬件平台的基础上移植μC/OS-Ⅱ操作系统,实现了系统的实时响应。最后在Silicon Laboratories IDE编译环境下完成了显示、键盘、通信等功能模块的驱动编写。
经测试,伺服手持终端能够实现与伺服系统通信,了解伺服的运行情况、向伺服系统传递伺服运行参数等功能。起到辅助伺服系统、方便工作人员调试的作用。
At present, the domestic servo system realizes debugging with the control panel of the servo drivers. Using this method, the engineering staff cannot easily observe the operating conditions of the machines. In addition, the terrible working conditions may cause the invalidation of the keys on the control panel, which brings a lot of inconvenience to the debugging of the servo system.
With the requirement and background conditions, the thesis adopts the co-design idea of software and hardware and realizes a convenient, flexible and low-cost servo handhold terminal. The terminal uses C8051F MCU as the processor, with nixie tube functioning as the display. It can use keyboard to choose and transmit servo operation parameters. It realizes communication with servo system through serial port. Such system is equipped with large-capacity E2PROM which can store compiled servo operation parameters. Data can not lose even in the power-off condition. The system can also modify and edit the system when connected with PC with the JTAG interface.
The system uses PROTEL99SE circuit board tracers, realizing the principle graph of the circuit board and the design of PCB Graph. In order to improve the reliability and real-time ability,μC/OS-Ⅱoperating system is embedded on the basis of hardware platform, which achieves the real-time response. The last but not the least, under the translation and editing condition of Silicon Laboratories IDE, the driving system editing of the displaying, keyboard, communication and other function modules can be realized.
Being tested, servo handhold terminal can realize the communication with servo system, observe the operating condition and transmit servo operation parameters to the system. It serves as an assistant which makes the debugging convenient for the staff.
本文在这种需求和背景下,采用软硬件协同设计思想设计并实现了一个方便、灵活且低成本的伺服手持终端。该终端以C8051F单片机作为处理器;以数码管作为显示器;通过键盘控制伺服运行参数的选择和发送;通过串行口与伺服系统进行通信;系统配置了大容量E2PROM,可以存储编译好的伺服运行参数,即使在掉电状态下也不会丢失数据;又能通过JTAG接口与PC机连接对系统进行编译修改等操作。
本系统采用PROTEL99SE电路板绘图工具,完成了电路板原理图和PCB图的设计。为了提高系统的可靠性和实时性在硬件平台的基础上移植μC/OS-Ⅱ操作系统,实现了系统的实时响应。最后在Silicon Laboratories IDE编译环境下完成了显示、键盘、通信等功能模块的驱动编写。
经测试,伺服手持终端能够实现与伺服系统通信,了解伺服的运行情况、向伺服系统传递伺服运行参数等功能。起到辅助伺服系统、方便工作人员调试的作用。
At present, the domestic servo system realizes debugging with the control panel of the servo drivers. Using this method, the engineering staff cannot easily observe the operating conditions of the machines. In addition, the terrible working conditions may cause the invalidation of the keys on the control panel, which brings a lot of inconvenience to the debugging of the servo system.
With the requirement and background conditions, the thesis adopts the co-design idea of software and hardware and realizes a convenient, flexible and low-cost servo handhold terminal. The terminal uses C8051F MCU as the processor, with nixie tube functioning as the display. It can use keyboard to choose and transmit servo operation parameters. It realizes communication with servo system through serial port. Such system is equipped with large-capacity E2PROM which can store compiled servo operation parameters. Data can not lose even in the power-off condition. The system can also modify and edit the system when connected with PC with the JTAG interface.
The system uses PROTEL99SE circuit board tracers, realizing the principle graph of the circuit board and the design of PCB Graph. In order to improve the reliability and real-time ability,μC/OS-Ⅱoperating system is embedded on the basis of hardware platform, which achieves the real-time response. The last but not the least, under the translation and editing condition of Silicon Laboratories IDE, the driving system editing of the displaying, keyboard, communication and other function modules can be realized.
Being tested, servo handhold terminal can realize the communication with servo system, observe the operating condition and transmit servo operation parameters to the system. It serves as an assistant which makes the debugging convenient for the staff.
引文
[1]冉汉政.嵌入式实时操作系统uC/OS在控制工程中的应用[J].现代电子技术. 2003, (3):84-86.
[2]臧怀泉,范亚伟,李海生.基于uC/OS与MSP430的手持数据采集系[J].微计算机信息. 2005年第21卷第2期.
[3]徐捷.基于C8051嵌入式通用控制板的研究与设计[D].武汉理工大学. 2006.
[4]于东,郭锐峰.数控机床中伺服系统的现状及展望[J].机械工人. 2005, (3):19-21.
[5]王少平,王京谦,钱玮.嵌入式系统的软硬件系统设计[J].现代电子技术. 2005, (2):83-84.
[6]邵贝贝.学习RTOS的教科书[J].电子产品世界,2003, (10):7-8.
[7]谭勋琼.基于ARM7+μC/OSⅡ的数据采集系统设计[J].现代电子技术2005, (3):84-85.
[8] Jean J. Labrosse. MicroC/OSII: The Real Time Kernel[M]. Second Edition. CMP Books, CMP Media LLC. 2002.
[9]苏维嘉,李书新.基于C8051F的动平衡测试系统[J].微计算机信息. 2008, 24(7):159-160.
[10]潘琢金,孙德龙,夏秀峰译. C8051F单片机应用解析[M].北京航空航天大学出版社. 2002, 10.
[11] C8051F020/1/2/3混合信号微控制器数据手册[DB/OL]. www.xhl.com.cn. 2004.
[12]沈华,王俞心.基于FPGA的I2C总线主控器的设计与实现[J].航空计算技术. 2007, 37(6):109-111.
[13] THE I2C-BUS SPECIFICATION. VER2.1. Philips Semiconductors. 2000. 1.
[14]张海岩.基于C8051F的便携式双通道振动数据采集系统[D].华北电力大学.2007.
[15]李辛.电气设计禁忌手册[M].北京:机械工业出版社,1995.
[16] Ramtron International Corp. FM24CL04 Datasheet. March 2005.
[17]吴多明,韩朝伦,胡庆虎等.华为技术有限公司印制电路板(PCB)设计规范. VER 1.0 1999. 7.
[18]蒋方华,程耕国.实时操作系统μC/OS-Ⅱ在ARM7上的移植[J].微计算机信息2008. 24(7):95-97.
[19] D. Stepner, N. Rajan, D. Hui. Embedded Application Design Using A Real-time OS[C]. Design Automation Conference,1999:151-156.
[20] Yanbing Li, M. Potkonjak, W. Wolf. Real-time Operating Systems for Embedded Computing[C]. 1997 IEEE International Conference,1997:388-392.
[21] Jean J. Labrosse著,邵贝贝译,嵌入式实时操作系统[M],北京航空航天大学初版社. 2003. 5.
[22]范亚伟,基于嵌入式操作系统μC/OS-Ⅱ的嵌入式软件设计研究[D].燕山大学,2005.
[23] R. Le Moigne, O. Pasquier, J.P. Calvez. A Generic RTOS Model for Real-time Systems Simulation with SystemC. United States: Institute of Electrical and Electronics Engineers Computer Society, 2004:82-87.
[24]余丽霞,虞鹤松,刘昱欣.μC/OS-Ⅱ在C8051F020中的移植[J]电子技术. 2003, (7):6-9.
[25] L.Jae-ho, K.Heung-Nam. Implementing Priority Inheritance Semaphore onμC/OS Real-time Kernel[J]. Software Technologies for Future embedded Systems, 2003:83-86.
[26]于再兴,陈江.基于C8051F的数据传输系统设计与实现[J].微计算机信息. 2008. 24(4):99-101.
[27]龚建伟,熊光明著. Visual C++/Turbo C串口通信编程与实践[M] .北京,电子工业出版社. 2007. 9.第2版
[28] JieLiu,Edward ALee. Timed Multitasking For Real-Time Embedded Software[J]. IEEE Control Systems Magazine,2003, (2):66-68.
[29]王春铭.实时操作系统中应用软件设计的任务划分[J].计算机工程, 2000, (7):87-88
[30]孙高鑫.浅析μC/OS-Ⅱ设备驱动的设计与实现[J].创新应用. 2007, (5):50-53.
[2]臧怀泉,范亚伟,李海生.基于uC/OS与MSP430的手持数据采集系[J].微计算机信息. 2005年第21卷第2期.
[3]徐捷.基于C8051嵌入式通用控制板的研究与设计[D].武汉理工大学. 2006.
[4]于东,郭锐峰.数控机床中伺服系统的现状及展望[J].机械工人. 2005, (3):19-21.
[5]王少平,王京谦,钱玮.嵌入式系统的软硬件系统设计[J].现代电子技术. 2005, (2):83-84.
[6]邵贝贝.学习RTOS的教科书[J].电子产品世界,2003, (10):7-8.
[7]谭勋琼.基于ARM7+μC/OSⅡ的数据采集系统设计[J].现代电子技术2005, (3):84-85.
[8] Jean J. Labrosse. MicroC/OSII: The Real Time Kernel[M]. Second Edition. CMP Books, CMP Media LLC. 2002.
[9]苏维嘉,李书新.基于C8051F的动平衡测试系统[J].微计算机信息. 2008, 24(7):159-160.
[10]潘琢金,孙德龙,夏秀峰译. C8051F单片机应用解析[M].北京航空航天大学出版社. 2002, 10.
[11] C8051F020/1/2/3混合信号微控制器数据手册[DB/OL]. www.xhl.com.cn. 2004.
[12]沈华,王俞心.基于FPGA的I2C总线主控器的设计与实现[J].航空计算技术. 2007, 37(6):109-111.
[13] THE I2C-BUS SPECIFICATION. VER2.1. Philips Semiconductors. 2000. 1.
[14]张海岩.基于C8051F的便携式双通道振动数据采集系统[D].华北电力大学.2007.
[15]李辛.电气设计禁忌手册[M].北京:机械工业出版社,1995.
[16] Ramtron International Corp. FM24CL04 Datasheet. March 2005.
[17]吴多明,韩朝伦,胡庆虎等.华为技术有限公司印制电路板(PCB)设计规范. VER 1.0 1999. 7.
[18]蒋方华,程耕国.实时操作系统μC/OS-Ⅱ在ARM7上的移植[J].微计算机信息2008. 24(7):95-97.
[19] D. Stepner, N. Rajan, D. Hui. Embedded Application Design Using A Real-time OS[C]. Design Automation Conference,1999:151-156.
[20] Yanbing Li, M. Potkonjak, W. Wolf. Real-time Operating Systems for Embedded Computing[C]. 1997 IEEE International Conference,1997:388-392.
[21] Jean J. Labrosse著,邵贝贝译,嵌入式实时操作系统[M],北京航空航天大学初版社. 2003. 5.
[22]范亚伟,基于嵌入式操作系统μC/OS-Ⅱ的嵌入式软件设计研究[D].燕山大学,2005.
[23] R. Le Moigne, O. Pasquier, J.P. Calvez. A Generic RTOS Model for Real-time Systems Simulation with SystemC. United States: Institute of Electrical and Electronics Engineers Computer Society, 2004:82-87.
[24]余丽霞,虞鹤松,刘昱欣.μC/OS-Ⅱ在C8051F020中的移植[J]电子技术. 2003, (7):6-9.
[25] L.Jae-ho, K.Heung-Nam. Implementing Priority Inheritance Semaphore onμC/OS Real-time Kernel[J]. Software Technologies for Future embedded Systems, 2003:83-86.
[26]于再兴,陈江.基于C8051F的数据传输系统设计与实现[J].微计算机信息. 2008. 24(4):99-101.
[27]龚建伟,熊光明著. Visual C++/Turbo C串口通信编程与实践[M] .北京,电子工业出版社. 2007. 9.第2版
[28] JieLiu,Edward ALee. Timed Multitasking For Real-Time Embedded Software[J]. IEEE Control Systems Magazine,2003, (2):66-68.
[29]王春铭.实时操作系统中应用软件设计的任务划分[J].计算机工程, 2000, (7):87-88
[30]孙高鑫.浅析μC/OS-Ⅱ设备驱动的设计与实现[J].创新应用. 2007, (5):50-53.