摘要
针对托卡马克第一壁高稳定、高安全的检测需要,设计并实现了一种实时运动控制系统,给出了该系统的软、硬件设计方案。该系统作为连接遥操作系统与各伺服单元的中间系统,一方面需接收来自遥操作系统的控制指令,另一方面要完成对控制指令的解析,并将解析后的运动指令下发至各伺服单元。基于Ether CAT实时工业以太网的现场总线通信网络可将伺服控制周期提升至微秒级;基于强实时环境QNX RTOS的软件设计,能有效保证系统的实时性。通过实验验证了所设计运动控制系统的有效性。
Aiming at the stability and safety in detecting Tokamak first wall,a real-time motion control system was designed and implemented,including the scheme for system's hardware and software design. As a middle system which connecting tele-operation system and servo units,the motion control system can receive the commands from tele-operation system and then sends motion instructions to the servo units. Based on Ether CAT real-time industry Ethernet,the servo cycle time can be improved to micro level through the field bus network.The real time ability of motion control system can be guaranteed by the software design based on QNX RTOS real-time environment. The experimental results verify the effectiveness of the motion control system proposed.
出处
《化工自动化及仪表》
CAS
2014年第12期1341-1345,共5页
Control and Instruments in Chemical Industry
基金
磁约束聚变堆若干相关工程技术研究--MCF装备的智能维护和远程操控技术研究(2011GB113005)
国际热核聚变实验堆(ITER)计划专项(国内研究)(2012GB102001)
