基于RTLinux的嵌入式机电系统的应用研究

【作者】 晏密英；

【导师】 廖迎新； 范大鹏；

【作者基本信息】 中南林学院 ， 计算机应用技术， 2003， 硕士

【摘要】 在2003年国家高新技术研究发展计划中，把在通用和嵌入式CPU、操作系统、信息获取与处理技术等一些重大应用行业方面取得突破性进展作为“十五”863计划信息技术领域的战略目标，而研究与发展机器人技术与自动化工艺装备中的核心技术是国家863计划在先进制造与自动化技术领域的主题。由此可见，机电一体化产品在嵌入式方面的开发和应用已越来越重要，面临的挑战是核心操作系统软件开发工作与机电控制系统软件的控制算法。在嵌入式操作系统中，RTLinux以其优秀的实时性能、免费开放的源代码以及丰富的工具套装等优点赢得了许多软件开发人员的青睐。目前国内已有数家公司提供商用的嵌入式RTLinux平台。 本研究课题在比较几种典型的嵌入式系统优缺点的基础上，选定RTLinux操作系统作为机电系统嵌入式开发的软件开发平台，分析了RTLinux实时化的关键问题和实现原理以及系统的结构，提出了嵌入式机电产品开发的思路和实现途径；结合国防科学技术大学机电工程与自动化教研室开发和使用的某武器伺服控制系统，针对系统中使用的四轴伺服控制器—PCI接口的运动控制卡MC400D进行具体的实践：根据产品特定的硬件环境。细致的分析了RTLinux系统下多任务实现和调度机制、进程的通讯机制、内核中断机制、内存访问和硬件访问等嵌入式功能实现的特殊性，在此基础上，着重深入的研究了RTLinux下块设备驱动程序的编写，设计了MC400D运动控制卡在RTLinux下的驱动程序，并将Windows系统下用VC++编写的伺服控制软件移植到RTLinux系统下；编制了一套实现伺服电机各种控制的实时控制软件，提出了一种适用于武器伺服平台的嵌入式操作系统的解决方案，实验表明了本方法的可行性和实用性；论文最后还进一步研究了嵌入式系统的引导和界面设计问题。实践证明，基于RTLinux开发的嵌入式伺服机电系统具有内核可裁减、实时性强、可用电子盘引导、移植性强等优点，是小巧稳定、高效而且实用的控制系统。更多还原

【Abstract】 In the year of 2003, it takes the piercely evolvement in those large application field as the stratage purpose in the information technique field on the general and embedded CPU, operating system, information gotten and dealt and so on in the plan of National high technique research and development. And also the research and devolpnent of robot technique and the core technique in the automation arts equipment, are the rthyn of the advanced manufacture and automation technique in the plan of 863. From this point, the research and development in the embedded system has been more and more important. The challenge ahead is the development work of the core operating system and software control arithmetic of machatronic control system. Of all the embedded systems, RTLinux has been more and more popular to the software researchers for its advantages such as the excellent realtime performance, free source code, abundant toolkits and so on. At the present, commercial embedded RTLinux platform are provided in many companies in our country. At the present, commercial embedded RTLinux platform are provided in nany companies in our country.The article takes RTLinux as the software development platform in the embedded servo system after compared with some typical embedded operating system, and analysized the key problem of the realtime and the realization principle and also the system’ s construction, and brought about the thought of the development and method of the realization of the embedded machatronic product. Combining with the servo control system which was developed and used by Mechatronic and Automation staff room of National University of Defense Technology .aimed to the four-axis servo controller in the system桺CI interface motion card MC400D research. According to the special hardware inviroment of the mechtronic product, the particularity of the embedded function under the RTLinux system is deeply introduced about the mechanism of the muti-task realization, scheduler, the communication, kernel interrupt, memory access and hardware access. On this basis, the block device driver program is deeply and emphasisly researched. Finally, the MC400D motion card’ s driver is programmed, and also the servo control software which was programmed with VC++ under Windows operating system was successfully transplanted to be under the RTLinux system; A set of RTLinux control software to realize all kinds of controllation of servo machatronic was programmed and a scheme of embedded operating system for veapon servo platform was brought about. The experiment shows the usability and practicability. Finally problem of the load and GUI were researched in the end of the article. The practice show: The embedded servo mechtronic system based on the RTLinux has so many excellence:kernel code being cut, high realtime performance, loading with electron disk, high transplanting performance,is a cabinet, stable, high efficiency and practical operating system.更多还原