【作者】 刘煜；

【导师】 张科；

【作者基本信息】 西北工业大学 ， 导航、制导与控制， 2005， 硕士

【摘要】 在现代科学技术的许多领域中,自动控制技术起着越来越重要的作用。在国民经济各部门中,由于广泛应用了自动控制技术,改善了劳动条件,提高了产品质量和劳动生产率。近几十年来,随着数字计算机技术的发展和应用,嵌入式控制系统被广泛地应用于办公自动化,消费,通信,智能设备,机器人,工业和军事领域,其中,办公自动化,消费,通信领域占的份额约90%以上。可以说大至航天器、飞机、军舰,小到车床、电视、手机都有嵌入式控制系统的用武之地。 嵌入式控制系统是以应用为中心,以计算机技术为基础,并且软硬件可剪裁,对可靠性,成本,体积,功耗有严格要求的控制系统。嵌入式控制系统一般用于对系统响应时间要求较高的专用计算机控制系统。 本文基于嵌入式应用技术对直流伺服电机设计了一套伺服控制系统,并对于嵌入式控制系统应用技术进行了比较全面的研究,提出了嵌入式控制系统的开发的一般方法和步骤,在最终的系统测试中获得了良好的效果。本文内容包括:通过对电机系统数学模型的建立以及相关地计算、仿真,系统对阶跃信号响应的仿真结果和系统Bode图的分析,得到了系统的最优控制状态。研究了本嵌入式伺服控制系统运行所需的软件以及硬件平台。包括Linux操作系统内核的定制、文件系统的裁减和系统启动程序的修改,以及与该Linux操作系统相匹配的硬件的选取。在已经配置的嵌入式控制系统软件和硬件环境的基础上,建立了在嵌入式编程过程中需要使用的交叉开发环境。为了使嵌入式应用程序的编写更为明晰,做了系统功能需求和数据流图分析。研究了MiniGUI的体系结构特点,以及MiniGUI程序的安装流程。接着在数据流图分析的基础上对嵌入式系统应用程序进行了设计。通过交叉调试,完成了该嵌入式控制系统的整个软件和硬件的设计工作。最后,针对不同的参数设置,对本系统进行了大量的测试,并将其与理论仿真结果进行了对比分析,验证了整个设计工作的合理性。并对本嵌入式控制系统的后续工作给予了设想和规划。更多还原

【Abstract】 The technology of automatic control plays more and more important role in the many modern fields. We have improved working conditions, the qualities of products and productivity as a result of the extensive application of the technology of automatic control. In the recent years, embedded control system is applied for office automation, consumption, communication, intelligent facility, robot, industry and military domains, particularly in the fields of office automation, consumption, communication it accounts for about more than 90% of share. From spacecrafts airplanes, warships to lathes, televisions, cellphones, applications of embedded control system are very broad.The application of embedded control system is the emphasis, the technique of computer application is basis, hardware and software can be cut out. There is a pretty strict limit of reliability, cost, volume and energy-consuming, embedded computer control system is applied for firm and responding circumstance.Aiming at direct current servo electromotor, a set of servo experiment system is designed, exploitation flow and process of embedded control system are advanced, some issues of them are paid much more attention, the satisfied effects are obtained in the real circumstance. These issues include: through math modeling to electromotor system and related calculating and simulating, the difference between the result of simulink of system responding to unit step signal and the BODE figures of system is analyzed, the best control state has been acquired. It is necessary for the embedded control system to research the plat of hardware and software. The exploitation of embedded Linux operation system from kernel customizing and file system cutting out to system starting up is researched, and selecting the hardware matching to the operation system of Linux. Basing on the condition of hardware and software of embedded control system, the cross-development circulation that is necessary when the programs of embedded system are compiled is built up. In order to make the programs of embedded system more clear, the research of functional requirement and data flow are made. The characteristics of frame and loading flow of program of MiniGUI are studied. And then, basing on the analyses of data flow, the application programs of embedded system are compiled. The design of hardware and software of whole embedded system have been made by cross-debug. Finally, setting of the parameters, the amount of tests are made and compared with the result of simulink, which identifies the rationality of all work. The following work of embedded control system is assumed and marked out.更多还原