基于多核异构的工程机械可编程控制器研究  

Study on multi-core heterogeneous programmable controller system of construction machine

作　　者：王国庆[1] 郭淼[1] 李哲[1] 张向伟[1] 殷周扬 穆东[1] 

机构地区：[1]长安大学道路施工技术与装备教育部重点实验室,陕西西安710064

出　　处：《长安大学学报（自然科学版）》2015年第6期141-144,151,共5页Journal of Chang’an University(Natural Science Edition)

基　　金：中央高校基本科研业务费专项资金项目(CHD2010JC091)

摘　　要：为了解决中国工程机械控制器存在的自主知识产权开发环境缺失、硬件系统高成本以及多任务响应较慢的3个主要问题,提出了拥有自主知识产权的多核异构低成本工程机械可编程控制器软硬件平台。硬件平台采用基于任务分工的低成本多微控制器模式,组建了运动控制板、自定义增强型SPI总线、IO板、模拟板及中央控制通讯板等硬件功能模块,各功能模块根据需求可以自由组合;软件平台自主设计了Engineer C语言及对应的编译器和调试集成开发环境。研究结果表明:设计的文本编辑、图形化编辑、代码自动生成、软件文档自动生成等软件功能模块实现了预期功能,部分达到了微软VS的水平;硬件与软件原型系统的联合测试表明该平台可以实现多核异构系统的快速开发与调试,具备进一步工业化的能力。This paper proposes a novel low-cost multi-core heterogeneous development platform of construction machinery controller.The platform structure is from two basic points,one point is the traditional front-end of interrupt service which can directly response the interrupt without switching delay,the other is the division and deployment of multi real-time tasks into four or more microcontrollers.Based on these ideas,we implemented the syntax of a new programming language Engineer C which can dynamically divide the multi tasks and deploy the division into single low-cost microcontroller,then built the hardware prototype of this platform,which consists of the digital signal board,an analog signal board,a central communication board and a motion control board,every board has its microcontroller as CPU and communicates each other by an enhanced SPI bus.To develop user＇s application,an integrated development environment was implemented too.This IDE has a compiler for Engineer C language,an easy-to-use codegeneration expert module,an automatic document generation module and a code debugging module which can simultaneously debug user＇s code divided and deployed by Engineer C runningin four or more microcontrollers.Testing results show the hardware prototype and IDE can be provided as a low-cost controller solution for construction machinery.6figs,16 refs.

关 键 词：机械工程 工程机械控制器 多核异构 增强型SPI总线 ENGINEER C语言 

分 类 号：U415.5[交通运输工程—道路与铁道工程]