基于PCI总线的主从式多轴控制器开发.PDF

2008 1 January 2008 34 1 Journal of Beijing Univers ity of Aeronautics and Astronautics Vo.l 34 No1 PCI 吴星明 陈伟海 于守谦 李 翔 ( , 100083) : 针对运动控制的高精度要求, 介绍了 一种基于 PCI( Peripheral Component In terconnect) 总线的 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, D igital 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 例验证, 所 研发的多轴控制器可以 现具有准 时性能的高精度协调运动控制. : 总线驱动器; 控制器; 机器人应用 : TP 24 : A : 100159 5( 2008) Deve lopment o f PC Ibased m u ltiax is contro lle r W u X ingm ing ChenW eihai Yu Shouqian LiX iang ( School of Autom ation Science and ElectricalEngineering, Beijing University ofA eronautics andA stronautics, Beijing 100083, China) Abstract: The characteristics of a PCI( peripheral component interconnect) based multiaxis realtmi e control system for realizing highaccuracy motion controlw ere introduced. To reduce the w orkload from host computer and utilize the intelligence of DSP( digital signal processor) efficiently for a complex task, the devel oped controller w as designed w ith masterslave structure. The controller can also use serial commun ication control instead of PCI bus to satisfy usersrequ irements to some applications. The hardw are developmentw as focused on multiaxis controller, PCI local bus control logic, and PCI bus design; these parts are key technol ogies for a PCIbased controller design. Through a test inw hich a 3DOF man ipu latorw as used to follow a spa tial screw trajectory, itw asproved that the developedmultiaxis controller can realize a nearrealtmi e h ighac curacy coord inated motion control. Key wo rds: bus driver; control facilities; r