基于SMP的总线式软运动控制引擎设计  

Design of Bus-style Soft Motion Control Engine Based on SMP

作　　者：孙好春[1] 张承瑞[1] 胡天亮[1] 

机构地区：[1]山东大学机械工程学院,济南250061

出　　处：《农业机械学报》2014年第3期288-292,共5页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家科技重大专项资助项目（2012zx04010-021-002-005）

摘　　要：提出了基于SMP实时架构的EtherMAC实时以太网主站的设计方法，开发了一种运行于内核空间的运动控制引擎，并给出了一种通过在共享内存建立内存堆栈方式的跨平台编程接口设计方法。通过设计总线抽象层将总线控制资源抽象，降低了运动控制引擎与总线之间耦合性，增强了总线系统或从站设备的可替换性。原型机进行功能验证表明，该引擎实现了较好的易用性和可移植性，并间接增强了EtherMAC的实时性能。The design method of real-time Ethernet EtherMAC master based on SMP architecture was proposed, while a field bus oriented motion control engine was developed, which was running in kernel space. To make the procedure of motion control program development easy, a cross-platform programming interface was created by making memory stack in a shared memory for transferring parameters. To reduce the coupling between the motion control engine and the field bus, and to enhance the adaptability of the engine to any other field bus, a bus abstraction layer was proposed and designed. The result from prototype shows that the motion control engine has a better ease of use and a better portability, and indirectly enhances the EtherMAC real-time performance.

关 键 词：实时以太网 软件运动控制 运动控制引擎 实时拓展 

分 类 号：TP393[自动化与计算机技术—计算机应用技术]