中国机械工程 ›› 2013, Vol. 24 ›› Issue (4): 494-499.

• 信息技术 • 上一篇    下一篇

一种嵌入式总线运动控制器的实时系统设计

林立明1,2;于东2,3;胡毅2,3;秦承刚1,2;王志成2,3;陆小虎1,2   

  1. 1.中国科学院研究生院,北京,100049
    2.中国科学院沈阳计算技术研究所高档数控国家工程研究中心,沈阳,110168
    3.沈阳高精数控技术有限公司,沈阳,110168
  • 出版日期:2013-02-25 发布日期:2013-02-28
  • 基金资助:
    国家科技重大专项(2011ZX04016-071)
    National Science and Technology Major Project ( No. 2011ZX04016-071)

Design of  Realtime System for a Fieldbus-based Embedded Motion Controller

Lin Liming1,2;Yu Dong2,3;Hu Yi2,3;Qin Chenggang1,2;Wang Zhicheng2,3;Lu Xiaohu1,2   

  1. 1.Graduate School of Chinese Academy of Sciences,Beijing,100049
    2.National Engineering Research Center for High-End CNC, Shenyang Institute of Computing Technology,Chinese Academy of Sciences,Shenyang,110168
    3.Shenyang Golding NC Tech. Co., Ltd.,Shenyang,110168
  • Online:2013-02-25 Published:2013-02-28
  • Supported by:
    National Science and Technology Major Project ( No. 2011ZX04016-071)

摘要:

针对基于PC的数控系统及采用传统模拟接口存在的不足,提出了一种基于ARM处理器和FPGA的总线式运动控制器设计方法,并采用了Linux+Xenomai架构的实时化构建方案。重点阐述了基于GPMC接口和FPGA的现场总线控制板的实现,及实时操作系统下内核驱动模块的编写。最后,针对中断响应延迟和中断周期抖动开展了实验。结果表明,该方法完全可满足嵌入式数控系统及现场总线通信的性能需求。

关键词: ARM, FPGA, GPMC, 现场总线, 运动控制器

Abstract:

Owing to the disadvantages of current CNC system based on PC and  analog interface between CNC and servo units,this paper proposed a kind of motion controller with field bus interface based on
ARM and FPGA,and adopted the construction scheme based on the structure Linux+Xenomai.The implementation of field bus control card based on GPMC interface and FPGA,and the programming of kernel driver module under RTOS were introduced in detail.Finally,this paper completed the measurement of interrupt latency and jitter of interrupt cycle,which affected system performance.The results prove that this
design can meet the requirements of the embedded NC and field bus completely.

Key words: ARM, FPGA, GPMC, field bus, motion controller

中图分类号: