Design Of Embedded Servo Motor Speed Regulating Systems

Embedded system is a special OS that focused on application, based on computer technique, strictly bounded by function, reliability, cost, size and power consumption. Its hardware and software are configurable. It is defined by IEEE that the embedded system is a device that used to control, monitor or aid to operate machine and equipment. Embedded microprocessor and embedded OS is at the core of embedded technique which is a new technique development in recent years has been widely used in some areas.In this paper, an embedded system for servo motor speed regulating is developed based on AT91RM9200 producted by ATMEL whose core is ARM920T.To design the hardware, the core circuit base on AT91RM9200 is provided and FLASH, SDRAM and a servo motor controller board that linked to PWM ports are expanded.To design the algorithm, a solution to iterative learning control (ILC) for linear time-variant discrete systems is approached by using Roesser-type model of the two-dimensional (2-D) system theory. To the system with known disturbances, the scope of ILC rule's parameters and the way to choose the parameters that insures the output following the desired trajectory by only one iteration are provided. To the system with unknown disturbances, the existing condition of the SISO system ILC rule and how to choose the parameters are given firstly, then, these results are extended to the MIMO systems, the way to choose the parameters of ILC rules for the systems is also given. Finally, two numerical examples are presented to illustrate the proposed results. The algorithm and the model of motor are combined and a simulative result is provided, too.Linux is a very popular open source OS that compatible with the UNIX system. It was originally designed for desktop system and now be widely used in servers. It has greater impact because it is gradually applied to embedded system when uCLinux arise. In uCLinux, u expressed Micro and C expressed Control in English. Therefore, uCLinux is Micro-Control-Linux. Literally it is the "micro Linux system designed for control." The embedded OS in this paper is uCLinux and all the software is designed based on it. To design the software, the uBoot and the uCLinux OS is transplanted firstly, then the Linux drivers for general I/O ports, memory and the driver board as well as complete API function library is provided. Finally, the multithread speed regulating programme bases on uCLinux is provided.