嵌入式实时控制系统的研究及应用

【作者】 王琪；

【导师】 张科；

【作者基本信息】 西北工业大学 ， 导航、制导与控制， 2004， 硕士

【摘要】 在现代科学技术的许多领域中，自动控制技术起着越来越重要的作用。在国民经济各部门中，由于广泛应用了自动控制技术，改善了劳动条件，提高了产品质量和劳动生产率。近几十年来，随着数字计算机技术的发展和应用，嵌入式控制系统被广泛地应用于办公自动化，消费，通信，智能设备，机器人，工业和军事领域，其中，办公自动化，消费，通信领域占的份额约90％以上。可以说大至航天器、飞机、军舰，小到车床、电视、手机都有嵌入式控制系统的用武之地。 嵌入式实时控制系统是以应用为中心，以计算机技术为基础，并且软硬件可剪裁，对可靠性，成本，体积，功耗有严格要求的控制系统。嵌入式实时控制系统一般用于对实时性及系统响应时间要求较高的专用实时控制系统。 本文围绕着针对直流伺服电机设计一套伺服试验系统，对于嵌入式实时控制系统应用技术进行了比较全面的研究，提出了嵌入式实时控制系统的开发流程和步骤，并对其中的一些问题进行了专门研究，在实物实验中获得了比较好的效果，这些问题包括：嵌入式操作系统开发，分析了使用Linux操作系统进行嵌入式操作系统软件开发的优越性，并且从内核定制、文件系统裁剪、系统启动等几个方面研究嵌入式Linux操作系统的开发；实时性研究，分析了在操作系统中影响系统实时性能的因素，研究了Linux操作系统的几种实时解决方案，并且研究了基于优先级的可抢占式与可选择的同优先级按时间片轮转相结合的调度算法以及最迟响应与最快处理的可抢占式调度算法。详细介绍了Linux下外设驱动程序的特点，编写了数据采集卡在Linux操作系统下的设备驱动程序；解释了采用MiniGUI的原因，研究了MiniGUI的实现原理，以及如何进行基于MiniGUI进行图形应用程序的开发；最后进行了整套嵌入式实时控制伺服试验系统的联合调试，检测并且修改各种参数的设置，分析实物实验和计算机仿真结果之间的差异原因。更多还原

【Abstract】 The technology of automatic control plays more and more important role in the many modern fields. We have improved working conditions, the qualities of products and productivity as a result of the extensive application of the technology of automatic control. In the recent years, embedded control system is applied for office automation, consumption, communication, intelligent facility, robot, industry and military domains, particularly in the fields of office automation, consumption, communication it accounts for about more than 90% of share. From spacecrafts airplanes, warships to lathes, televisions, cellphones, applications of embedded control system are very broad.The application of Real-time embedded control system is the emphasis, the technique of computer application is basis, hardware and software can be cut out. There is a pretty strict limit of reliability, cost, volume and energy-consuming. Real-time embedded control system is applied for firm Real-time and responding circumstance.Aiming at direct current servo electromotor, a set of servo experiment system is designed, exploitation flow and process of Real-time embedded control system are advanced, some issues of them are paid much more attention, the satisfied effects are obtained in the real circumstance, these issues include: exploitation of embedded system, analysis of superiority of the exploitation, the exploitation of embedded Linux operation system from kernel customizing and file system cutting out to system starting up is researched, some factors which effect the system’s capability are analyzed, the settled Real-time schemes of Linux OS and the arithmetic of preemptive priority scheduling and round-robin scheduling and latest and rapid arithmetic are researched. Particularly characteristics of driver of Linux OS are introduced, the date-collecting card’s driver has been written, causes of using MiniGUI are explained, actualizing principles of MiniGUI are studied and the program which actualizes MiniGUI has been compiled. Finally a complete set of Real-time embedded control system is debugged, all kinds of parameters are measured and amended, the causes of difference between real experiment and computer simulation are analyzed.更多还原