基于嵌入式TCP/IP协议栈的六自由度平台控制系统  

6-DOF Motion Platform Control System Based on Embedded TCP/IP Protocol Stack

作　　者：侯耀[1] 李声晋[1] 卢刚[1] 周勇[1] 

机构地区：[1]西北工业大学,陕西西安710072

出　　处：《微特电机》2013年第5期62-67,共6页Small & Special Electrical Machines

基　　金：国家自然科学基金项目支持(51207129)

摘　　要：设计了六自由度(6-DOF)平台的控制系统,采用分布式控制架构和分层化设计思想,将整个系统划分为协调层与驱动层并进行测试分析。介绍了系统各功能层的模块化软硬件设计,重点实现了协调层和监控工作站之间的基于嵌入式TCP/IP协议栈的工业以太网通讯。测试结果表明协调层和监控工作站之间通讯正常,满足系统设计要求。A control system for 6-DOF （six degrees of freedom） motion platform was designed using distributed control architecture and layered change design thought. The system was divided into coordination layer and drive layer and tested. Modular hardware and software design of functional layers of system were introduced, mean while the industrial Ethernet communication based on embedded TCP/IP protocol stack between coordination layer and monitor workstation was empha- sized. The test results indicate that the communication between coordination layer and monitor workstation is normal and meets the requirement of the system.

关 键 词：六自由度平台 嵌入式TCP IP协议栈 工业以太网通讯 

分 类 号：TM383.4[电气工程—电机]