运动控制系统接口模块设计

Design of interface module of a motion control system

为一种微小型车辆和机器人的双处理器主从控制系统设计接口模块,控制系统以PC为上位机,DSP为下位机。该接口模块采用PCI总线通讯的方式,实现上位机和下位机之间的通讯,上位机和下位机配合完成对某小型履带式车多个自由度的控制和车体姿态信息采集的功能。文中选用总线接口芯片CH365完成接口模块电路的硬件设计,并且选择驱动模型WDM,介绍驱动开发软件和调试工具,对接口模块进行驱动开发,完成驱动程序的编写。

An interface module for micro vehicle motion control system is designed in this paper.The control system is composed of a PC as host computer and a DSP as slave computer.It implementes PCI-BUS to realize communication between the host computer and slave computer.They cooperate to control DOF movements of a micro tracklayer and collect the posture information about it.This paper designs the hardware and completes the interface module with CH365 chip.It chooses drive module WMD and introduces the develop tool software,then develops the drive program.