异构多核运动控制器的设计  

Design on Motion Controller System by Heterogeneous Multicore Process

作　　者：梁建红[1] 罗亮[1] 万博雨 刘知贵[1] LIANG Jian-hong;LUO Liang;WAN Bo-yu;LIU Zhi-gui(College of Information Engineering Southwest University of Science and Technology,Sichuan Mianyang 621000,China)

机构地区：[1]西南科技大学信息工程学院,四川绵阳621000

出　　处：《机械设计与制造》2018年第5期225-228,共4页Machinery Design & Manufacture

基　　金：四川省教育厅科技项目(16ZB0145);四川省研究生教育改革创新项目(14JGCX01)

摘　　要：针对传统运动控制器稳定性差、控制效率低、软件构架不完善等特点,结合异构多核技术的优势,提出并开发一种异构多核处理器运动控制器。文章详细阐明该系统硬件设计和软件设计,硬件设计主要说明以异构多核处理器OMAPL138为核心,FPGA为扩展的系统构架;软件设计借助于不同指令集操作系统,利用Sys Link完成多系统平台通信。结合运动控制器的特性,提出异构多核任务调度策略。分析异构多核通信Sys Link的Notify和List MP组件特点,将任务调度策略各条规则,封装到List MP表头,通过查表法实现任务调度策略。通过实验表明,该运动控制器具有较好的实时性和稳定性。The traditional motion controller had poor stability,low control performance,not perfect software architecture and so on,combined with the advantages of heterogeneous multi-core,proposed and developed a kind of heterogeneous multicore processor motion controller. It elaborated hardware design and software design of the system,the hardware design mainly display the architecture of system that OMAPL138 heterogeneous multi-core processor which as the core and the FPGA as extension; Software designed by different instruction order operating system, using Sys Link complete multi-platform communication. Binding properties of the motion controller is proposed heterogeneous multi-core scheduling strategy. Analysis Notify and List MP components characteristics of Sys Link of heterogeneous multi-core communications,the scheduling policy of the rules,encapsulate List MP header,task scheduling strategy to achieve by lookup table. Experiments show that the motion controller has better real-time performance and stability.

关 键 词：运动控制器 异构多核 ListMP 查表法 

分 类 号：TH16[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]