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Alternative TitleResearch and Implementation of the Key Technologies In Embedded Numerical Control System
Thesis Advisor王云宽
Degree Grantor中国科学院研究生院
Place of Conferral中国科学院自动化研究所
Degree Discipline控制理论与控制工程
Keyword数控 嵌入式 Linux Nurbs Cnc Embedded Linux Nurbs
Abstract数控加工技术是衡量一个国家机械制造工业水平的重要标志,对工业以至整个国民经济发展都具有十分重要的战略意义。本文在研究数控系统组成结构和工作原理的基础上,提出了一种以ARM+DSP架构为硬件基础,以Linux嵌入式操作系统和Qt图形界面软件作为软件基础的嵌入式数控系统方案。在方案的实现过程中,对数控系统中的几项关键技术进行了研究与实现: 1. 针对人机交互技术,为了达到界面美观、功能丰富且易修改的目的,首先将嵌入式Linux操作系统在ARM平台上进行了实现,并提出了不同阶段的应用程序开发方法,为人机界面的开发做好准备。然后设计了数控系统的LCD显示布局和菜单,并在嵌入式环境下实现了三维显示功能;最后设计了键盘的布局与USB硬件接口,并结合USB驱动原理和Qt键盘处理机制进行了软件实现。 2. 针对双处理器通信技术,为了完成上位机和下位机之间快速而稳定的通信过程,设计了基于CAN总线的硬件接口,并结合CAN底层协议设计了适用于数控系统的高层通信协议。在软件实现上设计了两层通信机制以增加通用性和灵活性。最后引入Linux的多线程技术,协调通信过程和界面显示,从而保证了两个模块的顺利运行。 3. 针对轨迹加工技术,从G01直线插补存在的问题出发,提出一种基于NURBS曲线拟合和插补相结合的加工方案。在拟合算法中,将现有方法归纳总结为三个具体步骤,并加入了拟合区间选取方法和曲线阶次选择的讨论。在插补算法中,重点研究弓高误差到弦长再到参数的两个计算步骤,分别对步骤中的现有方法进行分析与比较,最后结合为一种较为合理的算法,并在DSP上进行了编程实现,实验表明算法能够满足实时性要求。
Other AbstractNumerical control machining technology is an important symbol of the machinery manufacturing industry of a country, possessing a strategic significance to the development of the national economy and industry. On the basis of the research of numerical control system structure and its working process, an ARM + DSP hardware architecture is proposed, with embedded Linux operating system and the Qt GUI software as its software solutions. During the implementation of the proposal, three key technologies have been studied and realized: First focus is the human-computer interaction technology. To achieve an interface with good appearance, rich features and modifiability, an ARM-based embedded Linux operating system is built and methods for application software development through several phases in embedded OS are summarized. After study of LCD driver of Linux, LCD display interface layout and menus are designed; three-dimensional module with Qt under embedded environment is realized. After study of USB drive structure of Linux and Qt keyboard handling mechanism, keyboard layout and interface are designed. Second focus is the communication technology between the upper and lower CPUs. To realize a fast and steady communication in dual-processor architecture, a hardware design for CAN is provided and its protocol for application level is designed. In software implementation, a two-layer communication mechanism is proposed to increase versatility and flexibility. Linux multithread technology is used to guarantee the smooth operations of the communication process and interface display. Third focus is the trajectory processing technology. To solve the G01 linear interpolation problem, a NURBS curve fitting and interpolation solution is proposed. For NURBS curve fitting algorithm, the current methods are summerized into three steps, with our analysis for some parameters involved. Two steps of NURBS interpolation process are studied with comparison and analysis for current solutions, and then a reasonable algorithm is synthesized and realized in DSP2812 to demonstrate its realtime performance.
Other Identifier200928014628059
Document Type学位论文
Recommended Citation
GB/T 7714
王宏丽. 嵌入式数控系统关键技术研究与实现[D]. 中国科学院自动化研究所. 中国科学院研究生院,2012.
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