基于多微处理器的X-Y工作平台闭环控制系统

Close Loop Controlling System of X-Y Motion Control Platform Based Single Chip

在对X-Y两轴运动的工作平台进行闭环控制时,一般采用单片机为主控制单元。如果系统只有一个CPU,功能完全由程序完成,当需要同时处理多个输入、输出量时,不易保证控制的实时性。系统设计采用多个单片机分别作为一个主CPU、两个从CPU。主CPU主要处理键盘、显示和通信;从CPU则用于驱动步进电机、光栅位移传感器输入信号检测等。原理和实际系统的运行均表明:这种设计即保证了控制系统的实时性,又可取代部分硬件电路,如驱动步进电机用的“硬件脉冲分配器”。

When controlling the working platform of X-Y motion in close .Ioop,a single chip is usually used as a dominative controlling unit.If there is only one CPU in the system, all function is implemented by software.When multi-input and multi-output need to be computed synchronously,it is not easy to guarantee satisfaction to real-time of controlling.The system designed in this paper is composed of multi-single-chip （such as, one primary CPU and two subsidiary CPUs）,The primary CPU mainly deals with the keyboard,the display and communication while the subsidiary CPUs are used to serve driving stepping motor and detect the signal of Grating Displacement Sensor,etc.Judging from both the principium and the actual execution of the system,this design not only ensures real-time of the control system, but also replaces some parts of the hardware circuit,such as ＂Hardware Pulse Assignor＂ used by driving stepping motor.