基于μC/OS-Ⅱ的机器人电机混沌现象实时检测  

Real-time detection of chaotic phenomena in thruster motor for deepwater robot based on μC/OS-Ⅱ

作　　者：孙昌志[1] 安辉[1] 曹继伟[1] 卢旺[2] 

机构地区：[1]沈阳工业大学电气工程学院,沈阳110023 [2]上海浦发银行沈阳分行信息科技部,沈阳110023

出　　处：《沈阳工业大学学报》2008年第2期139-142,共4页Journal of Shenyang University of Technology

基　　金：辽宁省科学技术基金资助项目(20031023);辽宁省科技计划重点项目(2005216010)

摘　　要：针对深海机器人推进电机工作中存在的混沌现象以及危害,详细阐述了在基于μCOS-Ⅱ实时操作系统、DSP为底层硬件的嵌入式控制系统中实现对其混沌现象实时检测的设计过程.利用Takens定理进行重构、Wolf计算其Lyapunov指数的方法编写混沌检测程序,并嵌入到操作系统时钟内部实现对混沌现象的周期检测.在操作系统的时钟中断中运行该程序,实现了对混沌现象的实时检测,同时对于具有30MIPS指令执行速度的2407A处理器来说,并不会增加系统的额外开销.For the existence of chaos phenomena and its hazard in thruster motor for deepwater robot,the design procedure for real-time detection of chaos phenomena in emedded control system based on DSP and RTOS μCOSⅡ is describe.To realize the period detection of chaos phenomena,the detection program was built up by Takens theorem reconstruction and compiled according to the scheme of Lyapunov exponent calculation based on Wolf theorem.The program is embedded in the clock of operating system.Operation of this program in OS clock interruption realizes real-time detection of chaos phenomena.For 2407A processor with 30MIPS executive command speed,the detection will not increase extra expenditure.

关 键 词：混沌 嵌入式软件 实时操作系统 数字信号处理器 时钟中断 

分 类 号：TM351[电气工程—电机]