基于PCI总线的主从式多轴控制器开发

吴星明; 陈伟海; 于守谦; 李翔

基于PCI总线的主从式多轴控制器开发

北京航空航天大学自动化科学与电气工程学院, 北京 100083

基金项目: 国家863基金资助项目(2006AA04Z218);国家自然科学基金资助项目(60775059)

详细信息

作者简介:
吴星明(1962-)男,浙江义乌人,副教授,wxmworks@sohu.com.

中图分类号: TP 24
计量
- 文章访问数: 2577
- HTML全文浏览量: 144
- PDF下载量: 1237
- 被引次数: 0
出版历程
- 收稿日期: 2006-11-27
- 网络出版日期: 2008-01-31

Development of PCI-based multi-axis controller

School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

摘要

摘要: 针对运动控制的高精度要求,介绍了一种基于PCI(Peripheral Component Interconnect)总线的实时多轴控制系统.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,Digital 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实例验证,所研发的多轴控制器可以实现具有准实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
Abstract: The characteristics of a PCI(peripheral component interconnect)-based multi-axis real-time control system for realizing high-accuracy motion control were introduced. To reduce the workload from host computer and utilize the intelligence of DSP(digital signal processor) efficiently for a complex task, the developed controller was designed with master-slave structure. The controller can also use serial communication control instead of PCI bus to satisfy users- requirements to some applications. The hardware development was focused on multi-axis controller, PCI local bus control logic, and PCI bus design; these parts are key technologies for a PCI-based controller design. Through a test in which a 3-DOF manipulator was used to follow a spatial screw trajectory, it was proved that the developed multi-axis controller can realize a near-real-time high-accuracy coordinated motion control.
- bus driver /
- control facilities /
- robot applications

HTML全文

参考文献(1)

[1] Carena W, Carena F, Csató P, et al. PCI-based readout receiver card in the ALICE DAQ system Proc of the Eighth Workshop on Electronics For Lhc Experiments. Switzerland:CERN,2002: 281-284 [2] 刘全. 基于PCI总线的拟人臂机器人线驱动控制器及驱动系统的开发 .北京:北京航空航天大学自动化科学与电气工程学院,2006 Liu Quan.The design of multi-axis controller and driver system of cable-driven humanoid-arm manipulator based on PCI bus .Beijing: School of Automation Science and Electrical Engineering,Beijing University of Aeronautics and Astronautics,2006(in Chinese) [3] Schreer O, Karl M, Kauff P. PCI-based multi-processor system for immersive videoconference terminals Proc of IEEE International Conference On Multimedia And Expo.Piscataway:IEEE,2002,I/II: A181-A184 [4] Jiang Jie, Zhang Guanjun, Yu Daoyin, et al. A PCI-based real-time image acquisition system for medical electronic endoscope Proc of Fifth International Symposium On Instrumentation And Control Technology.Bellingham,WA:The International Society for Optical Engineering,2003, 5253:85-88 [5] Figl M, Birkfellner W, Watzinger F, et al. PC-based control unit for a head mounted operating microscope for augmented reality visualization in surgical navigation Proc of Medical Imaging 2002: Visualization, Image-guided Procedures, and Display. Bellingham,WA:The International Society for Optical Engineering,2002,4681:722-731 [6] Gee D. The how-s and why-s of PC based control Proceedings of Conference Record of 2001 Annual Pulp and Paper Industry Technical Conference. Piscataway:IEEE,2001:67-74 [7] Xing Jianchun, Yang Qiliang, Wang Lin,et al. A new design of DCS based on PC and fieldbus Proceedings of 2002 IEEE Region 10 Conference On Computers, Communications, Control And Power Engineering. Piscataway:IEEE,2002,3:1416-1419 [8] Liu Jun, Wong W, Feng Lu, et al. Implementation of a high performance multirate control system using PC Proc of Fifth International Conference On Power Electronics and Drive Systems.Piscataway:IEEE,2003,1/2:636-641 [9] Chen Weihai, Daniel T, Lin Wei, et al.Development of embedded integrated servo-controller Proc of the 2004 IEEE Inter Conference on Robotics, Automation, and Mechatronics.Piscataway:IEEE, 2004: 89-94 [10] Chen Weihai, Chen Iming, Lim W, et al.Cartesian coordinate control for redundant modular robots Proc of the 2000 IEEE Inter Conf on System, Man, and Cybernetics. Piscataway:IEEE,2000:3253-3258

施引文献

资源附件(0)

访问统计