面向RTC的微秒级采样实时控制系统设计与实现  

Design and implementation of a microsecond-level sampling real-timecontrol system for RTC applications

作　　者：周杏伟 胡文山[1] 刘国平 雷忠诚 Zhou Xingwei;Hu Wenshan;Liu Guoping;Lei Zhongcheng(School of Electrical Engineering and Automation,Wuhan University,Wuhan 430072,China;School of Design and Intelligent Manufacturing,Southern University of Science and Technology,Shenzhen 518055,China)

机构地区：[1]武汉大学电气与自动化学院,武汉430072 [2]南方科技大学系统设计与智能制造学院,深圳518055

出　　处：《电子测量技术》2025年第5期1-12,共12页Electronic Measurement Technology

基　　金：国家自然科学基金(62073247,62173255)项目资助。

摘　　要：随着现代控制系统对高实时性和高精度要求的不断提升,微秒级采样的实时控制技术已成为研究热点。针对现有技术高度依赖国外平台的问题,本研究基于STM32微控制器,设计并实现了一种具有自主知识产权的微秒级采样实时控制系统,重点解决了控制任务的实时性、通信任务的高效性以及自动代码生成的复杂性问题。系统采用FreeRTOS实时操作系统进行任务调度,通过硬件定时器实现控制任务的高优先级执行,同时引入LwIP协议以实现低延迟网络通信,支持实验数据的高效上传与指令接收。此外,本研究提出了一种基于图形化框图的控制算法解析与自动代码生成方法,通过服务器对用户前端搭建的控制框图进行解析,并生成适配STM32硬件的高效控制代码。以永磁同步电机的场向量控制为案例的实验验证表明,所设计系统在微秒级采样下具备优异的实时性和控制性能,有效突破了国外技术封锁对相关领域发展的限制,显著提升了自主控制系统的研发能力。该成果为解决关键技术“卡脖子”问题提供了一种可行的技术方案,并展现出广泛的应用前景与推广价值。As modern control systems demand increasingly higher real-time performance and precision,microsecond-level sampling real-time control technology has become a research hotspot.To address the reliance on foreign platforms in existing solutions,this paper presents a microsecond-level sampling real-time control system based on the STM32 microcontroller,designed with independent intellectual property rights.The system addresses key challenges,including the real-time performance of control tasks,the efficiency of communication tasks,and the complexity of automatic code generation.It employs the FreeRTOS real-time operating system for task scheduling,hardware timers for high-priority execution of control tasks,and the LwIP protocol for low-latency network communication,enabling efficient data uploading and command reception.Furthermore,the paper proposes a graphical block diagram-based approach for control algorithm parsing and automatic code generation,where a server parses user-designed block diagrams and generates optimized control code tailored for STM32 hardware.Experimental validation using the field-oriented control of a permanent magnet synchronous motor demonstrates the system′s excellent real-time performance and control capability under microsecond-level sampling.This system effectively overcomes the constraints imposed by foreign technological barriers,significantly enhancing the development capabilities of domestic control systems.The proposed solution offers a viable approach to addressing critical“bottleneck”issues in key technologies and holds great potential for wide-ranging applications and scalability.

关 键 词：STM32 微秒级控制 实时操作系统 自动代码生成 永磁同步电机 场向量控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TN05[自动化与计算机技术—控制科学与工程]