分布嵌入式实时控制实验系统研究与开发

【作者】 田进；

【导师】 张科；

【作者基本信息】 西北工业大学 ， 导航、制导与控制， 2006， 硕士

【摘要】 本文以分布嵌入式实时控制实验系统的开发为背景,对实验系统用到的分布式技术和嵌入式技术进行了深入的研究。分布式控制系统要求网络通信有很好的实时性;而嵌入式控制系统要求以精确的控制周期输出控制信号,所以它是一个嵌入式实时控制系统。满足这两个实时性是整个系统设计的基本目标,围绕着这目标,本文设计了使用实时中间件和嵌入式实时操作系统的系统基本构架,所做的工作有: 1.介绍了分布式控制和分布式中间件技术,并对系统中用到的实时中间件ACE/TAO进行重点阐述: 2.介绍了嵌入式系统、嵌入式实时操作系统以及系统中用到的RTLinux和MiniGUI; 3.详细论述了实验系统的开发过程,内容包括需求分析、软硬件结构设计、硬件选型、软件开发环境、嵌入式实时RTLinux内核的定制以及嵌入式Linux文件系统的构建,本文结尾还对实验系统未来的研发工作进行了展望。 本文研究开发的分布嵌入式实时控制实验系统,在实际的实验课教学中获得了成功,取得了良好的效果,达到了预期的要求。更多还原

【Abstract】 This thesis is based on the development of a distributed, embedded and real-time servo control experimentation system. To develop such a complex system, I did quite deep research in distributing and embedding technology. A distributed control system requires real-time communication over network;an embedded control system requires to generating control signal with high precise control cycle, so it’s an embedded real-time control system. Then the basic goal of system architecture design is to meet these two "real-time" requirements. Aiming at this goal, the basic system architecture with both real-time middleware and embedded real-time OS is designed.1. The technology of distributed control and distributed middleware are introduced in this thesis, a real-time middleware called ACE/TAO used in system is also introduced in detail.2. Embedded system, embedded real-time OS, RTLinux and MiniGUI used in system are introduced separately.3. The development process of the experimentation system is discussed, including requirement analyzing, software and hardware architecture designing, selection of hardware, software development environment, customizing of embedded real-time RTLinux kernel and Building of the embedded Linux file system. Also an expectation of future development roadmap of the experimentation system is giving in the end of this thesis.The distributed, embedded and real-time servo control experimentation system designed by this thesis have got good results in the laboratory and reached the expected effects.更多还原