基于arm与实时linux的嵌入式数控铣床系统研究-机械电子工程专业论文.docxVIP

南京航空航天大学硕士学位论文 摘 要 随着微电子技术和计算机技术的飞速发展，嵌入式系统处理能力和稳定性得到了不断提升， 其体积小、成本低、实时性好、硬件配置灵活等优势也更加明显，应用越来越广泛。嵌入式技 术已经被引用到数控系统中，并成为数控技术的主要发展趋势之一。 本文在以 ARM9+CPLD 为核心的硬件平台上，选用 Linux、MiniGUI 作为嵌入式操作系统 和图形用户系统，设计并实现了嵌入式数控铣床软件系统。该软件系统具有开发周期短、成本 低、稳定性好、易于维护等优点。 本文对 Linux 和 MiniGUI 的配置和移植工作进行了研究，其中包括了硬件设备的驱动设计、 IAL 输入引擎开发等。基于 Linux、MiniGUI 和根文件系统，详细阐述了铣床系统各个功能模块 的实现及程序优化研究。此外，在对 Linux 实时性能进行详细研究的基础上，根据 ARM9 和 Linux 特点，提出二级硬件中断控制机制，实现了硬实时 Linux。文中还对三维刀具补偿展开研究， 对不同形状刀具给出了统一的三维刀具半径、长度补偿公式，对基于 RTCP 功能的长度补偿进 行误差分析，并给出了适合嵌入式系统的误差计算公式。 最后通过测试，该嵌入式数控铣床系统各功能模块运行正常，能够正确执行数控加工程序， 并具有良好的硬实时性。 关键词：嵌入式数控系统，ARM9，实时 Linux，三维刀具补偿 I 基于 ARM 与实时 Linux 的嵌入式数控铣床系统研究 ABSTRACT With the rapid development of microelectronics technology and computer technology, the capability and stability of embedded system are improved. The advantages of embedded system become more obvious, such as small size, low cost, good real-time ability, flexible hardware configuration, etc. The embedded system is more and more widely applied. This technology has been used in the numerical control system, and has became one of the major trends in numerical control technology. Based on the hardware platform using ARM9+CPLD as the systems core chip, a software system of embedded CNC milling machine is designed and implemented in this thesis. Linux is selected as embedded operating system while MiniGUI is selected as embedded GUI system. The software system has a short development cycle, low cost, good stability, easy maintenance and so on advantages. The configuration and transplantation of Linux and MiniGUI are studied, including the design of hardware device driver, development of IAL engine and so on. Based on Linux, MiniGUI and root file system, implementation and optimization of the various functional modules of milling machine system are described in detail. In addition, this thesis has a detailed study on the Linux real-time performance. Based on the ARM9 and Linux, the two-level hardware interrupt control mechanism is proposed to