基于RTX64的软运动控制器设计与实现

Research and Implementation of Soft Motion Controller Based on RTX64

摘要:

针对运动控制器实时性、开放性、柔性化、可配置的需求,实现了基于RTX64的软运动控制器。根据多任务对实时性需求不同,采用“Windows7 + RTX64”的方案,将实时任务运行在RTX实时子系统内；采用分层架构模式、功能模块化的设计思想,使用共享内存、环形缓冲区分别作为进程、线程间的通讯方式,同时利用互斥体、临界区域保证数据交互的正确性；通过实时工业以太网EtherCAT总线技术实现软控制器与从站设备的通讯；讨论了软控制器的事件流与数据流模型；最后,设计了以软控制器为主控单元的测试平台。实验表明,基于RTX64的软运动控制器达到了通用运动控制平台的高性能要求,具有较高的稳定性、开放性、扩展性。

Abstract:

The soft motion controller based on RTX64 is implemented to meet the requirements of real-time, openness, flexibility and configurability. According to the different real-time requirements of multi-task, the scheme of “Windows7 + RTX64” is adopted and the real-time task is run in the real-time subsystem. Applying the idea of layered architecture and function modularization, the shared memory is used in inter-process communication with mutex, the ring buffer is used in inter-thread communication with critical section and the communication between controller and slave devices is realized by EtherCAT bus technology. Furthermore, the task and data flow are also studied in detail. Finally, the platform based on controller is designed. Experimental results show the controller fulfills the high performance requirements of the general motion control platform, and achieves high stability, openness and expansibility.