多过程数控系统运动控制器的设计与性能测试

Design and Performance Test of Multi-process CNC Motion Controller

在重点研究单过程数控系统运动控制器的基础上,提出一种基于RT-Linux的多过程数控系统运动控制器设计方法.采用基于组件的设计思想给出了多过程运动控制器的设计框架,并采用了轮转调度策略实现了多个过程的调度.通过实验对多过程数控系统运动控制器的性能进行了测试,实验结果表明采用轮转调度策略会出现严重的抖动现象.为了解决这个问题,本文提出将伺服周期分片的调度策略,实验结果表明该调度策略很好的解决了抖动现象并能满足多过程数控系统运动控制器的要求.

Based on mainly studying motion controller of single process CNC,this paper presents a design method about multi-process CNC motion controller on RT-Linux system environment and a design framework of motion controller based on components,and adopt a Round-Robin scheduling to schedule multi-process.Some experiments were done to test the performance of the multi-process CNC motion controller,and the results show that wobbling effect appears severely.To solve this problem this paper gives another scheduling policy which splits servo cycle time into slices,the results of experiments show that this policy can resolve the problem well and satisfy the requirements of multi-process CNC motion controller.