基于OMAP-L138的嵌入式运动控制器的研究

发布时间：2018-01-11 13:17

本文关键词：基于OMAP-L138的嵌入式运动控制器的研究　出处：《广东工业大学》2013年硕士论文　论文类型：学位论文

【摘要】：随着当前嵌入式系统技术的高速发展,以及高性能低功耗处理器芯片在工业上的广泛应用,出现了一个新的技术领域——嵌入式运动控制技术,即将嵌入式系统技术应用于运动控制技术,凭借其性价比高、稳定性强、可以脱离PC独立运行等优势,得到了高速发展与广泛应用。本文主要研究基于OMAP平台的嵌入式运动控制器,为通用嵌入式运动控制器的开发提供一种解决方案。文中首先分析了国内外运动控制器的研究现状,并对比说明了嵌入式运动控制器的优势。在此基础上选择TI公司的双核处理器OMAP-L138作为主控芯片,再根据实际需要搭建相关功能模块构成嵌入式运动控制器的最小系统。其中ARM926EJ-S主要负责任务调度、文件管理以及界面显示等系统管理功能；TMS320C674x主要负责数据的接收、数据类型判断及分类处理,根据运动命令完成速度控制以及插补运算,最后输出速度和位置控制量给伺服驱动系统。以此构建一个结构紧凑、开放性好、可靠性高的嵌入式运动控制平台。文中介绍了嵌入式运动控制系统硬件平台的整体框架,并对双核芯片OMAP-L138及其外围功能模块进行了详细的说明。软件设计方面主要分为三个模块,其一为ARM核的嵌入式操作系统Linux的编译、移植,引导程序U-Boot的移植,以及Linux文件系统的建立；其二为DSP运动控制软件的设计,主要包括系统的初始化模块、数据的接收分类处理模块、以及速度规划、插补运算模块；其三为双核通讯协议的制定以及通信程序的开发。最后对基于OMAP的嵌入式运动控制平台进行测试分析,并给出改进方案。通过以上工作,本文对相关技术的研究已经取得了一定的成果,由于其采用双CPU架构及片内内存共享数据的设计方法,能够更好地满足嵌入式运动控制器对实时性、控制精度及功耗的要求。对于嵌入式运动控制平台功能的完善,还需要后续工作的进一步扩展。
[Abstract]:With the high - speed development of the technology of embedded system and the wide application of high - performance low - power processor chip in industry , a new technology field _ embedded motion control technology has emerged . This paper first analyzes the current research situation of the motion controller at home and abroad , and compares the advantages of the embedded motion controller . Based on this , we select the dual - core processor OMAP - L138 of TI Company as the main control chip , and build the minimum system of the embedded motion controller according to the actual requirement . The ARM926S - S is mainly responsible for the system management functions such as task scheduling , file management and interface display . The TMS320C674x is mainly responsible for the receiving of the data , the data type judgment and the classification processing , and the final output speed and the position control amount are given to the servo drive system . This paper introduces the whole framework of the hardware platform of embedded motion control system , and gives a detailed description of the dual - core chip OMAP - L138 and its peripheral function module . The software is mainly divided into three modules , one of which is the compilation of embedded operating system Linux of ARM core , the porting of boot program U - Boot , and the establishment of Linux file system . The second is the design of DSP motion control software , the third is the development of dual - core communication protocol and the development of communication program . Finally , the embedded motion control platform based on OMAP is tested and analyzed , and the improvement scheme is given . Through the above work , this paper has achieved some achievements in the research of related technology , because it adopts double CPU architecture and the design method of internal memory sharing data , it can better meet the requirement of real - time , control precision and power consumption of embedded motion controller . For the improvement of the function of embedded motion control platform , further expansion of the follow - up work is also needed .

【学位授予单位】：广东工业大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TP273;TP368.1

【参考文献】