基于ARM的嵌入式数控车床控制系统的开发.doc

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中图分类号：TP273 TP391学科分类号：080202 论文编号：1028705 09-0167硕士学位论文 基于ARM的嵌入式车床数控系统研究与开发 研究生姓名 学科、专业 研究方向 指导教师 杨军 机械电子工程 机电控制工程 游有鹏 教授南京航空航天大学研究生院 机电学院二八年十二月 Nanjing University of Aeronautics and AstronauticsThe Graduate SchoolCollege of Mechanical and Electrical Engineering Research of Embeded CNC for LathesBased on ARM A Thesis in Mechanical Engineering By YangJun Advised by Prof. You YoupengSubmitted in Partial Fulfillment of the Requirements for the Degree of Master of Engineering Dec. 2008 承诺书 本人郑重声明：所呈交的学位论文，是本人在导师指导下，独立进行研究工作所取得的成果。尽我所知，除文中已经注明引用的 期： 南京航空航天大学硕士学位论文摘 要传统的中、低档数控车床在结构上往往采用8/16位单片机加精插补器，以获得较高的性价比。随着嵌入式系统的迅速发展，高性能的32位CPU已经普及，以ARM为代表的32位微处理器速度快、功能强、价格低，完全可以开发出具有更高性价比的嵌入式数控系统。规划设计了基于C/OS-的车床数控系统控制任务划分以及各任务模块间的通讯协调机制。控制任务划分为7个：主控、液晶显示、文件系统服务、数控程序解释、速度处理、插补和逻辑控制；利用C/OS-提供的邮箱、信号量等服务机制，有效实现了任务与任务、任务与中断之间的通信与同步。此外，最后，介绍了系统的软硬件开发工具和调试方法。软硬件测试表明，该嵌入式车床数控系统可满足预期目标。 关键词：嵌入式车床数控系统，ARM，CPLD，C/OS-，程序解释I基于ARM的嵌入式车床数控系统研究与开发AbstractTo gain high cost perfermence, traditional CNC for lathes usually adopts 8-bit or 16-bit mcu and fine interpolator. With the development of the embedded system, high perfermence 32-bit CPU has been popularization. ARM as a typical product of 32 bits processors, being of high speed in computation and function and low costs, can be completely used to develop embedded CNC with higher cost perfermence. In this papar an Embended CNC for lathes based on ARM is designed and developed.Based on general analysis of embedded systems and NC technology, the hardware and software platform of embedded CNC for lathes are chosed. A 32-bit CPU LPC2220 is used as the kernel of hardware, together with a fine interpolatorimplemented with a CPLD, and some other necessary peripheral modules. The software of the embedded CNC is based on C/OSII, a real-time embedded operating system with open source code. Some equipment driver and application program are included in the software.For the development of the embedded CNC for lathes based on C/OSII, control tasks in the system are firstly planed and the communication coordination mechanism among each task is then designed. Seven tasks is involved in the CNC: main control, LCD display, file service, NC program interpretation, ACC/DEC control, interpolation and PLC. Upon the service of mailbox and semaphore provided by C/OSII, the communication and synchronization can be efficiently realized among tasks or between task and ISR.In addition, the implementation method of the interpretation of NC program for lathes is investigated. First, a lexical analyzer of NC program is constructed by finite state automaton (DFA) which can transform character streams to inner token streams. Then, syntax and semantic analysis are used for the NC program. Finally, the error-free machining information is stored in a specifical datas tructure which can be received and used by both the task of ACC/DEC control and PLC. The mechanism and implementation of call and return for subroutines are analyzed and given.Finally, the instruments of debugging and development for hardware and software are introduced. By testing, the embedded CNC for lathes can meet the expected design demands. Key Words: embedded CNC for lathes, ARM, CPLD, C/OSII, program interpretationII南京航空航天大学硕士学位论文目 录第一章 绪论 . 11.1 数控技术概况. 11.1.1 数控技术发展背景 . 11.1.2 国外数控发展现状 . 21.1.3 国内数控发展现状 . 31.1.4 数控技术的发展趋势 . 31.2 嵌入式系统概况. 41.3 1.3.1研究意义. 51.3.2论文主要内容 . 6第二章 嵌入式数控车床系统总体结构设计 . 72.1 嵌入式数控系统的总体设计 . 72.2 嵌入式数控系统的硬件组成 . 72.1.1 ARM子系统 . 82.1.2 CPLD子系统 . 82.1.3 液晶模块. 82.1.4 键盘模块. 82.3 嵌入式数控系统软件的结构 . 92.3.1 人机界面管理 . 92.3.2 逻辑处理. 92.3.3 运动控制. 102.3.4 数据处理控制 . 102.3.5 辅助控制. 102.3.6 伺服处理. 102.4 本章小结 . 11第三章 车床数控系统硬件平台设计 . 123.1 LPC2220概述 . 123.1.1 ARM简介 . 123.1.2 LPC2220微控制器概述及特性 . 12III基于ARM的嵌入式车床数控系统研究与开发3.2 电源、时钟及复位电路设计 . 143.2.1 电源电路设计 . 143.2.2 时钟电路设计 . 153.2.3 复位电路设计 . 163.3 LPC2220的外部存储器设计 . 163.4 EPM1270的电路设计 . 173.5 人机界面电路设计 . 183.5.1 键盘输入电路设计 . 183.5.2 液晶显示模块接口电路设计 . 183.6 RS-232串行通信电路 . 203.7 本章小结 . 21第四章 数控系统软件平台设计 . 224.1嵌入式实时操作系统简介 . 224.2.C/OS-简介 . 232.2.1、C/OS-的特点 . 234.2.2 C/OS-的工作原理 . 244.2.3 C/OS-的任务间通讯和同步 . 254.2.3.1 信号量 . 254.2.3.2 消息邮箱 . 264.2.4 C/OS-的中断机制 .