【作者】 刘绿山；

【导师】 刘建群；

【作者基本信息】 广东工业大学 ， 机械电子工程， 2007， 硕士

【摘要】 运动控制器是运动控制系统的核心部件，在各行各业中都有着广泛的应用。当前市场上的运动控制器主要是基于PC总线的运动控制卡，需要插入计算机主板的PCI或者ISA插槽，因此难以独立运行和小型化。针对这些问题，本论文提出以“ARM+DSP运动控制器”的模式取代传统的“PC机+运动控制卡”的模式，采用嵌入式CPU和专用DSP运动控制芯片，设计了一种高性能、低成本、体积小、可独立运行的基于PC104总线架构的嵌入式四轴运动控制器，并详细介绍了该控制器的软、硬件平台设计。嵌入式四轴运动控制器的硬件包括两个部分：ARM主控板和DSP运动控制板，两块电路板通过PC104总线接口连接在一起。ARM主控板以高性能低功耗的32位嵌入式ARM处理器S3C44B0X为核心，配置有丰富的存储器资源和通用设备接口，负责完成任务的管理、数据接收及处理、数控指令编译、输入输出、LCD显示、控制外部设备等工作；DSP运动控制板以运动控制芯片MCX314As为核心，负责快速的实时插补运算，并发出脉冲控制伺服电机进行高速运动，完成运动轨迹控制。本文采用Protel 99 SE绘图软件，完成运动控制器硬件原理图和PCB的设计，制作出硬件电路板。通过对电路板上各个功能模块的调试和验证，得出硬件电路板是可靠的，为后面的软件设计提供了良好的基础。在运动控制器的软件设计方面，将嵌入式实时操作系统μC／OS-Ⅱ移植到ARM处理器S3C44B0X上，并编写了系统的启动代码；研究了S3C44B0X对MCX314As的操作方法，设计了嵌入式四轴运动控制器的各个功能模块，编写了运动控制的API函数库。应用程序通过调用API函数库，可设计出各具特色的运动控制系统。总之，本文完成了嵌入式四轴运动控制器硬件平台的设计与制作、实时嵌入式操作系统μC／OS-Ⅱ的移植、运动控制API函数库的编写，为今后嵌入式四轴运动控制器的后续开发提供了一个嵌入式平台。更多还原

【Abstract】 The motion controller is the core of the motion control system, and it has beenused widely in many fields. Currently most of motion controllers on the market aremotion control cards based on PC bus, which need be installed in PCI or ISA slot inthe personal computer (PC), so these controllers depend on computers. The volumeof the system used these controllers is too big to satisfy some applicationrequirements. For solving these problems, this thesis puts forward the mode of"ARM+DSP motion controller" instead of the traditional mode of "PC+motioncontrol card", designs a kind of high performance, low cost, small size and generalpurpose 4-axes embedded motion controller. The controller can work in standalonemode based on embedded ARM processor, special DSP motion control chip andPC104 structure. And this thesis introduces the software and hardware platformdesign of the controller in detail.The hardware structure of 4-axes embedded motion controller includes twoparts: The ARM control board and DSP motion control board, two pieces of circuitboards connect together through the PC 104 bus. The kernel of ARM control board isthe 32-bit embedded ARM CPU S3C44B0X with characteristics of highperformance and low power consumption. And it is also equipped with the requiredperipheral modules to be a complete hardware system. ARM control board mainlyrealizes the function of the task manage, data receiving and handling, numericalcontrol instruction editing, I/O control, LCD display and the external equipmentscontrolling. The kernel of DSP motion control board is the DSP CPU MCX314As,which mainly realizes the function of real-time interpolation algorithm; outputtingpulse to control servo motor to carry on high-speed moving, and complete themotion control.Using the Protel 99 SE drawing software, this thesis designs the schematic andprinted circuit board (PCB) of 4-axes embedded motion controller, and makes thehardware circuit board. By debugging and validating each function of the hardwareplatform, the result of this hardware platform is dependable, which can provide good foundation for the software design in the next work.In the software design, this thesis introduces how to transplant uC/OS-Ⅱreal-time operating system (RTOS) into hardware platform, and discusses how towrite the system boot code. Then this thesis studies the method to operateMCX314As, designs each function of the 4-axes embedded motion controller,develops motion control API functions in order to meet the need of developingapplication software easily. Application program can be designed several kinds ofmotion control system that have special features by using the API functions library.In a word, the article has designed and made the hardware of 4-axes embeddedmotion controller, transplanted RTOS uC/OS-Ⅱinto hardware platform, developed amotion control API functions library, in addition to providing an embedded platformfor the subsequence development.更多还原