基于多核异构的运动控制器的研究与实现

发布时间：2018-05-07 23:26

本文选题：运动控制 + 多核异构　；参考：《西南科技大学》2017年硕士论文

【摘要】：随着我国人口红利优势减弱,人力成本的提升,以机器替代人工必将成为我国制造业发展的趋势,而台式机器人主要应用于替换劳动密集型工位,无疑为台式机器人的发展提供了沃土。课题源于实际联合研发项目,结合现有运动控制器相关文献与项目设计要求,分析总结不同控制器架构之间优缺点,确定基于多核异构的运动控制器硬件设计方案。对比分离ARM和DSP与硅片集成双核通信之间的优劣,选定双核异构处理器OMAPL138处理器替换分离ARM和DSP处理器;分析课题通用性要求以及平衡运算负荷问题,FPGA采用Xilinx公司XC6SCX16处理器。重点研究运动控制器各部分硬件电路,多核异构高速数据通信;完成硬件电路设计,实现多核异构高速数据通信。硬件电路设计主要包括电源管理模块、OMAPL138外围电路、FPGA外围电路、电机接口模块以及外部通信模块。各个模块电路设计综合考虑EMI、稳定性、可靠性以及通用性等方面,以确保硬件平台设计的合理性。多核异构通信主要涉及ARM与DSP,DSP与FPGA之间数据通信。ARM与DSP之间采用基于互斥锁可变长缓冲区的软件设计,完成C语言代码编写,对通信速率和正确性进行测试;DSP与FPGA采用u PP并行接口,完成DSP和FPGA端u PP通信代码编写,实现DSP和FPGA高速通信。最后,以台式焊锡机器人为应用对象,对运动控制器进行整体测试,分析测试结果,表明多核异构运动控制器比原控制器有较大的提升,达到设计要求。
[Abstract]:With the weakening of the advantage of population dividend and the increase of manpower cost, it will be a trend of manufacturing industry to replace labor with machines, and desktop robots are mainly used to replace labor-intensive jobs. Undoubtedly, it provides fertile ground for the development of desktop robots. The subject originates from the actual joint R & D project. Combined with the related documents and project design requirements, the advantages and disadvantages of different controller architectures are analyzed and summarized, and the hardware design scheme of motion controller based on multi-core isomerism is determined. Comparing the advantages and disadvantages between the separated ARM and DSP and the silicon chip integrated dual-core communication, the dual-core heterogeneous processor OMAPL138 processor is selected to replace the separated ARM and DSP processor, and the Xilinx XC6SCX16 processor is used to analyze the general requirements of the subject and the problem of balancing the computing load. The hardware circuit of motion controller and the high speed data communication of multi-core heterogeneity are studied emphatically, and the hardware circuit is designed to realize the high speed data communication of multi-core heterogeneity. The hardware circuit design includes power management module OMAPL138 peripheral circuit FPGA peripheral circuit motor interface module and external communication module. In order to ensure the reasonableness of hardware platform design, EMI, stability, reliability and versatility are taken into account in the circuit design of each module. Multi-core heterogeneous communication mainly involves the data communication between ARM and DSP and FPGA. Arm and DSP are designed based on mutex variable length buffer. The communication rate and correctness are tested. The UPP parallel interface is adopted between DSP and FPGA. The UPP communication code of DSP and FPGA is compiled, and the high speed communication between DSP and FPGA is realized. Finally, the motion controller is tested and analyzed, which shows that the multi-core heterogeneous motion controller has a greater improvement than the original controller and meets the design requirements.
【学位授予单位】：西南科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

【参考文献】