摘要
针对单个嵌入式处理器硬件资源有限,难以满足多轴的同步运动控制和复杂的运动控制算法等问题,将多核处理技术应用到嵌入式运动控制系统中,提出了一种基于ARM的双CPU协调运动控制系统的设计方法。首先介绍了双CPU运动控制系统的结构组成,然后详细阐述了利用双CPU进行运动控制的实现过程,包括双CPU的任务分工、双CPU之间的数据交互方式及指令脉冲模式的切换方法,重点论述了采用通信方式实现内存共享的方法,以解决双CPU之间的数据交互问题;在分析系统结构的基础上,给出了一种三层架构式的程序设计思想;最后利用该方法设计了一种双CPU运动控制器,并通过实际应用对该运动控制系统进行了验证。研究结果表明,该运动控制系统功能完善、性能稳定、定位精确度高,具有较好的实际推广价值。
As the hardware resource of single embedded CPU was very limited, it was hard to meet the requirements of multi-axis synchronization control and complex control algorithm. Aiming at the problem, multi-core processing technology was applied to the embedded motion control system, and design approach of motion coordination control system with dual CPU based on ARM was proposed. Firstly, the structure of the dual CPU motion control system was introduced. Then the realizing process of motion control with dual CPU was expounded, which contained tasks division in dual CPU, data communication between the two of the CPUs, and the method to change the mode of pluses. A method of sharing memory based communications was stressed, which solved the difficulty of data exchange between the two of the CPUs. Based on analysis of system stcucture, the programming method with the framework of three layers was presented. Finally, a motion controller with dual CPU was designed, which verified the feasibility of this system. The results indicate that the system has sound function, stable performance, highly accurate positioning and worth popularizing.
出处
《机电工程》
CAS
2012年第8期985-988,共4页
Journal of Mechanical & Electrical Engineering
