摘要
介绍一种具有通用结构的实时控制器的硬件和软件结构，利用这种结构设计的分级并行式数字式位置控制系统在机器人位置控制中的应用。用实时中断与查询技术相结合的方式处理与硬件直接相关的实时控制问题。系统中以 ＰＣ为上位机，下位机为高性能单片机，由双端口ＲＡＭ构成的共享存储区作为上、下位机实时通信的通道。
In this paper, a all-purpose method of real time control is presented and the hardware and software of the parallel control system is discussed. An example, a digital position controller based on this structure, is described. The real-time interrupt and inquirey technologies are both applied in this system to solve the realtime control problem that is associated with hardware operation. In this real time control system, the master computer is PC while the slave computer is Micro-controller 8098, and the dual port RAM acts as the communicating channel.
出处
《计算机工程与设计》
CSCD
北大核心
2000年第1期14-18,共5页
Computer Engineering and Design
关键词
位置控制
机器人
实时控制器
伺服系统
计算机
Real time control
position control
digital position controller
servo system
