摘要
针对移动焊接机器人控制系统对可靠性、实时性、稳定性、高效性的要求,提出了基于CAN总线的控制系统方案;首先论述了基于ARMv7架构的,CPU为TIAM3517的Cortex-A8嵌入式平台上的CAN总线设备的硬件接口设计,介绍了CAN/RS232转换控制器UIM2501和步进电机驱动控制器UIM242;接着详细论述了ARM WinCE平台上CAN驱动程序开发的设计方法与具体实现;硬件平台结构简单,经反复实验结果证明,该系统高效、稳定、可靠,可用于移动焊接机器人驱动系统。
A CAN bus control system is put forward to meet the demand of system reliability,real-time capability,system stability and efficiency on a mobile welding robotic control system.Firstly,the hardware interface design which is based on ARMv7 architecture,the CPU architecture of TIAM3517 Cortex-A8 embedded platform devices on a CAN bus and CAN/RS232 Conversion controller UIM2501,Stepper motor drive controller UIM242 is then introduced.Then the general method of device driver designing in ARM WinCE and implementation of CAN device driver is in deep description.The hardware structure is simple,after repeated experiments,it shows the system is efficient,stable and reliable,and it can be competent in the drive system of mobile welding robot.
出处
《计算机测量与控制》
2015年第2期526-528,共3页
Computer Measurement &Control
基金
国家863项目(SS2013AA041003)
江西省自然科学基金项目(20132BAB206028)
江西省科技厅工业重点攻关项目(20041A0100300)
