【摘要】 统一规范化的数字式关节轴控嵌入式驱控软件是实现液压机器人实时运动控制的基础技术之一。针对液压机器人关节轴控，设计一种基于Cortex-M7硬件架构与实时操作系统FreeRTOS的液压机器人关节轴控嵌入式实时系统软件框架，并进行实时性验证。硬件以Cortex-M7硬件架构的STM32H7系列为主控芯片，整合传感检测、驱动、通信模块，满足液压机器人关节的传感信号采集、电液阀驱动控制、指令通信交互的功能需求。软件采用分层设计结构，基于FreeRTOS实时操作系统进行任务管理与调度，实现液压机器人关节闭环控制、数据监测、动态维护功能。实验表明：系统各任务执行时间均满足实时性要求，高频任务的执行时间和响应时间均小于1 ms, FreeRTOS抢占式调度的成效显著；在运动控制能力方面，各液压关节的位置控制误差均小于0.6°,误差平均值和误差均方根均小于0.35°;在运行维护方面，故障诊断模块能够快速精准识别故障。更多还原

【Abstract】 Unified and standardized digital joint axis control embedded drive-control software is one of the fundamental technologies for achieving real time motion control of hydraulic robots.In view of the joints axis control of hydraulic robotic, an embedded real time system software framework for hydraulic robot joint-axis control was designed based on the Cortex-M7 hardware architecture and the FreeRTOS real time operating system, and real time performance verification was conducted.The hardware used the STM32H7 series with a Cortex-M7 architecture as the main control chip, integrating sensor detection, drive and communication modules to meet the functional requirements of sensor signal acquisition, electro-hydraulic valve drive control and command communication interaction for hydraulic robot joints.The software adopted a layered design structure and used the FreeRTOS real time operating system for task management and scheduling, enabling closed-loop control of hydraulic robot joints, data monitoring and dynamic maintenance functions.Experiments show that the execution time of all tasks in the system meets real time requirements.For high-frequency tasks, both execution time and response time are less than 1 ms, demonstrating the effectiveness of FreeRTOS preemptive scheduling.In terms of motion control capability, the position control error of all hydraulic joints is less than 0.6°,with both the average error and the root mean square error being less than 0.35°.Regarding operation and maintenance, the fault diagnosis module can quickly and accurately identify faults.更多还原