Design And Development Of Networked Embedded Real-Time Controller

Currently, most of the researchers conduct research on control method of complex objects by simulation or theory analyzing, lacking the validation of physical experiment system. Great significance is attached to the supplement of a convenient physical experiment system for the purpose of research on control method of complex objects. Therefore, the Automation Reseach Center in Norhesten Universiy is committed to reseaching and developping advanced control theory experiment platform, and take the research in Rapid Prototyping Controller as the core of research in the whole experimental system. On the background of that, this dissertation analysed the current situation of Rapid Prototyping Controller, home and abroad, and then puts forword the Networked Embedded Real-Time Controller, with regards to problems of current controllers, of which high-end products have a high cost and are not fit for small size mobile experimental platform, while samll size low-end products have weak functoin and can not support network. Based on Rapid Prototyping Technology, this dissertation employed ARM+DSP in hardware syetme, employed real-time Linux as embeded OS real-timed by RTAI, and completed the design and development of Networked Embedded Real-Time Controller. At the end, functions of the controller were verified by specific experiments, which gave expression to features of networked, low cost, low power and small size.The main contributions of the dissertation are summarized as follows:1. To analyse research and development situation of domestic and foreign real-time controller, and summe up the advantages and disadvantages of the existing controller to make Networked Embedded Real-Time Controller program. From the view of control theory experimental system, to put forward the development process for rapid prototyping controller, and in this way designe the overall system architecture of networked embedded real-time controller, as well as hardware and software function functional structure.2. To make the detailed design and development of the Networked Embedded Real-Time Controller hardware system, including the ARM main control board, DSP data acquisition board and motor driver board. ARM main control board has functions as running real-time systems, digital IO input and output, user information exchange, network interface and so on; DSP data acquisition board has fuonctions as analog signal acquisition and output, digital pulse signal capture and counting, PWM signal output and so on. Through the SPI interface is to be used between the dual-processor communications. Motor drive board is to achieve PWM DC motor drive circuit and the DA conversion circuit. 3. To make the detailed design and development of the Networked Embedded Real-Time Controller software system,,including the ARM-side and DSP-side software. ARM-side software system is mainly, through the realization of embedded real-time operation, to run the real-time code, and based on the network and a server-client mode to achieve real-time data interaction between the host and controller. DSP software is major to realize the data acquisition and processing for board function modules, as well as to provide drive signal output to driver board. SPI Communication Program for ARM and DSP is to realizesfdata communication between them.4.Through experiments on Networked Embedded Real-Time Controller to verify its various kinds of functions,and the experimental results will be analyzed and summarized.