【摘要】 以固高科技有限公司计算机可编程自动化控制器(CPAC)为硬件平台,结合win CE的开放性和软PLC的实时性,C#高级语言和结构文本(ST)语言各自优点,开发出开放性和实时性的机器人控制软件。其中用C#完成人机界面编程,负责显示、文件操作、用户程序编译等低实时任务;ST完成软PLC编程,负责轴状态和IO刷新以及运动执行逻辑等高实时任务;两个进程用共享内存方式进行通信,并通过互斥防止读写冲突;数学规划函数做成动态链接库(DLL)应用于两个进程分别调用。实验证明该方案在保持良好人机界面的同时提高了控制系统的实时性。更多还原

【Abstract】 A robot open and realtime control system is developed which is based on CPAC hardware,product of Googoltech. Ltd,and embedded system win CE5. 0. The user interface( UI) with C# programming and the soft PLC with ST programming. The UI is responsible for lower realtime tasks such as display,file management and user program compile and so on. The soft PLC is responsible for higher realtime tasks such as axis state and IO state,motion logic and so on. The two processes communicate with share memory which is protected by mutex against reading and writing in one time. The math function is applied to two processes with dynamic link library. At last,the experiment shows that the control software owns good user interface and improves the realtime performance.更多还原