基于CPCI总线的运动控制卡及其VxWorks下的驱动设计

Design of Motion Control Card Based on CPCI Bus and Its Driver in VxWorks

为了满足汽车无人驾驶机器人系统运动控制的实时性、可靠性要求,研制了一种基于CPCI总线的运动控制卡,给出了其在VxWorks环境下驱动程序设计的详细过程。试验结果表明,运动控制卡及其驱动程序工作正常、可靠,较好地满足了汽车无人驾驶机器人对运动控制的要求,应用前景广泛。

According to requirements of real-time and reliability of the system in motion control of vehicle unmanned robot system, a motion control card based on CPCI Bus is developed and its driver design in VxWorks is introduced in detail. The test results indi- cate： the motion control card and its driver can operate normally and stably and the system meets well requirements for motion con- trol in vehicle unmanned robot system. At the same time, the foreground of application is broad.