摘要
针对运动控制的高精度要求,介绍了一种基于PCI(Peripheral Component Interconnect)总线的实时多轴控制系统.为了在执行复杂任务时,减少主机的工作量以及充分利用数字信号处理器(DSP,Digital Signal Processor)的数字处理能力,多轴控制器采用了主从控制结构.这种控制器还可以根据用户的需要使用串行通讯控制来代替PCI总线控制.控制器硬件的研发主要集中在多轴控制器、PCI总线接口电路和PCI局部总线的控制逻辑电路上,这些是设计控制器的关键技术.通过一个三自由度机器人沿一个空间螺旋轨迹运动的实例验证,所研发的多轴控制器可以实现具有准实时性能的高精度协调运动控制.
The characteristics of a PCI （peripheral component interconnect ） -based multi-axis real-time control system for realizing high-accuracy motion control were introduced. To reduce the workload from host computer and utilize the intelligence of DSP（ digital signal processor） efficiently for a complex task, the developed controller was designed with master-slave structure. The controller can also use serial communication control instead of PCI bus to satisfy users＇ requirements to some applications. The hardware development was focused on multi-axis controller, PCI local bus control logic, and PCI bus design; these parts are key technol- ogies for a PCI-based controller design. Through a test in which a 3-DOF manipulator was used to follow a spatial screw trajectory, it was proved that the developed multi-axis controller can realize a near-real-time high-accuracy coordinated motion control.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2008年第1期112-116,共5页
Journal of Beijing University of Aeronautics and Astronautics
基金
国家863基金资助项目(2006AA04Z218)
国家自然科学基金资助项目(60775059)
关键词
总线驱动器
控制器
机器人应用
bus driver
control facilities
robot applications
