基于ARM9的嵌入式数控系统的研究
机电工程技术2011年第40卷第05
期
基于ARM9的嵌入式数控系统的研究
*
于剑锋
（东莞职业技术学院，广东东莞
523808）
*东莞市科技计划（编号：200910814034）；科技型中小企业技术创新基金项目（编号：09C26214402123）为核心的嵌入式数控硬件平台，通过在ARM 上扩展CAN ，并对数控系统软件进行了研究。；MCX314AL ；CAN 文献标识码：A
文章编号：1009－9492(2011)05－0103－03
传统基于PC 的嵌入式数控系统有诸多缺点，如资源浪费比较大，系统稳定性差等。所以很多场合下不易于应用。而以ARM-MCX314AL 为硬件基础，RTLinux 为嵌入式操作系统的低价位、高性能、小体积的经济型数控系统较好克服了这些缺点，在中小企业数控机床的生产制造和技术改造中有较好的应用前景。
另外，网络化数控系统已成为当前数控技术发展的主要趋势。CAN 总线的数据通信具有突出的可靠性、实时性和灵活性，特别适合于工业现场自动化设备的互连，越来越受到工业界的重视。
文中设计的低价位、高性能的经济型数控系统，并且通过CAN 总线技术，实现了与工业现场自动化设备的通信，对现场设备进行必要控制。与一般通信总线相比，
CAN 总线的数据通信具有突出的可靠性、实时性和灵活
性。解决了传统加工中的局限性，使本地各设备的信息交互更加迅速。将数控机床组网后，由计算机统一控制管理构成数控机床生产线，可有效提高数控机床的利用率和生产率。
各数控系统微处理器之间均通过CAN 总线联系起来，这种局域网嵌入式数控系统能实现一台服务器对多台数控机床的管理，能够起到提高数控加工的效率和增强实时性的作用，使得系统很好地进行多任务处理，并保证了运动控制的实时性、可靠性。
1ARM9嵌入式数控系统中的硬件设计
1.1ARM9嵌入式数控系统总体结构框图
本嵌入式数控系统主要由S3C2410微处理器和
MCX314AL 运动控制芯片与MCP2515及MCP2551CAN 总
线控制、接收器组成。如图1所示。
为了提高系统的抗干扰性能，对电源进行了滤波；为了实现各节点处理器之间的通信，通过S3C2410的
SPI 口与CAN 控制器相连，再通过CAN 收发器接入CAN 总线；CAN 控制器主要由实现CAN 总线协议的部
分和实现与微处理器接口部分的电路组成。本系统是以
MCP2515来完成CAN 的通信协议的。NC 代码经过主控
板S3C2410后代码编译处理生成二进制代码，由ARM 主控板上一个总线接口传送到MCX314AL 运动控制板处理，产生运动控制脉冲，经放大器放大后，从而驱动动伺服电机动作。
图1
ARM9嵌入式数控系统硬件图
研究与开发
机电工程技术2011年第40卷第05期
1.2S3C2410与MCP2515的连接
S3C2410处理器有两路SPI，每一路分别有两个8位转移寄存器，用来发送和接收数据。SPI系统使用四个I/O 引脚，分别是主机输入/从机输出数据线MISO；主机输出/从机输入数据线MOSI；串行时钟SCK和低有效的从机选择线SS。
MCP2515与S3C2410的连接比较简单，如图2所示。
1.3CAN收发器MCP2551与MCP2515的连接
MCP2551是CAN协议控制器和物理总线之间的接口，它向总线提供差动的发送能力，向CAN控制器提供差动的接收能力。为了增强CAN总线节点的抗干扰能力，CAN 控制器MCP2515的TXCAN和RXCAN并不是直接与CAN 收发器MCP2551的TXD和RXD相
连，而是通过高速光耦6N137后与
MCP2551相连，这样就很好地实现
了总线上各CAN节点间的电气隔离。
1.4S3C2410与MCX314AL的
信号连接
MCX314AL是日本NOVA电子
有限公司研制的DSP运动控制专用
芯片，MCX314AL芯片低功耗3.3V，
不需电压转换，可以与S3C2410直
接相连，是以单一芯片而可控制4的
轴脉冲序列输出驱动伺服马达、步进
马达的运动控制芯片，可以进行各轴
独立的定位控制、速度控制，另一方
面亦可在4轴中任意的选择2轴或是
3轴来进行圆弧、直线、位模式插
补。
运动控制芯片MCX314AL与S3C2410处理器的连接就是通过ARM9主控板上的总线接口电路，把两者的数据线、地址线、读写控制线、片选信号和中断等信号连接起来。
1.5MCX314AL运动控制板的硬件设计
MCX314AL芯片有144个引脚，构建MCX314AL最小系统，需要接好16MHz晶振，把引脚中的EXPLSN、TESTN接高电平，VCC和GND脚接上电源，还有接好各种数据、地址、读写控制等信号线，MCX314AL芯片就可以正常运行了。
为了使数控运动控制系统稳定，从图3中可以看出，在MCX314AL向外界输出的脉冲信号以及外界机床给MCX314AL反馈的信号之间都用光耦合器进行了光电的隔离，并使用了一些电阻和电容组成RC电路来进行电路信号的滤波，在接地电路、数字电路和模拟电路的硬件设计上都力求达到工业控制上所需要的高稳定和高可靠性的要求。
2ARM9嵌入式数控系统中的软件设计ARM9嵌入式数控系统中的软件可分为四个部分：系统引导程序、嵌入式操作系统、设备驱动程序和应用程序。在嵌入式系统系统中，软件设计的主要任务之一就是设备驱动程序的设计，因为任何硬件设备都需要有相应的驱动程序的支持才能工作。设备驱动程序作为操作系统内核的一部分，一方面它运行内核空间，另一方面它又为上层的软件提供了操作设备的接口。
3结论
本文为网络数控系统的研制提供了一个较为合理的硬件基础，简化了数控系统运动控制的实现。能够大量地减
图2S3C2410与MPC2515的连接
图3MCX314AL运动控制板的硬件组成框图研究与开发
机电工程技术2011年第40卷第05期
轻研发任务量，解决了局域网型数控机床网络的缺点；具有结构简单、实时性好、可靠性高、通信距离长、连接设备多等特点，具有较高的实用价值。
参考文献：
［1］SAMSUNG ELECTRONICS.S3C2410A200MHz&266MHz 32-BIT RISC MICROPROCESSOR User’s MANUAL Re-vision1.0［Z］.2004
［2］NOVA electronics.MCX314As/AL User’s Manual Ver.1.0［Z］.2007-07-02.［3］Stand-Alone CAN Controller With SPI?Interface.2005Mi-crochip Technology Inc.
［4］叶佩青，汪劲松.MCX314运动控制芯片与数控系统设计［M］.北京：北京航空航天大学出版社，2002.
作者简介：于剑锋，男，1979年生，山西人，硕士，助教。研究领域：机械制造与数控技术。已发表论文5篇。
(编辑：向飞)
研究与开发
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!" !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"中国机械工业联合会近日发布的《“十二五”机械工业发展总体规划》提出，“十二五”期间，我国机械工业要实施五大发展战略。一是主攻高端战略。要主攻高技术产品，加快发展目前严重依赖于进口的高端机械产品，将以前“吃不了”的需求变成“十二五”的增长空间。要致力于传统产品向精品的升级，解决传统产品“做不好”“不做好”的痼疾，提升中国机械产品在国际国内市场上的形象。同时，要力促产业结构高端化，鼓励优势企业兼并重组，做大做强，提高产业集中度；要因势利导，发展以中小企业为主的各具特色和优势的产业集聚区。二是创新驱动战略。“十二五”机械工业必须从过度依赖于能源、资源等要素投入驱动发展，转向更多地依赖于科技创新、体制机制管理创新和人员素质提高驱动发展。实现“创新驱动”不仅需要加大对产品研发的投入，更重要的是加强行业创新体系的建设，加强对创新人才和创新能力的培育。此外，根据诸多国产化依托工程的成功经验，还要特别注意争取用户和政府主管部门的支持，以更多更好地落实自主创新的市场条件。三是强化基础战略。改革开放以后，机械工业在许多主机国产化的进程中，实行了先在世界范围内采购关键零部件和材料，系统集成以满足用户需求的“逆向发展”战略。这一战略成就了主机产业的高速成长。但随着高端主机产业规模的迅速发展，无论是进口零部件的价格、数量、水平还是交货期，都已感受到国际竞争伙伴越来越强烈的有意制约。“十二五”机械工业必须千方百计地强化基础件、基础技术、基础工艺等机械工业的共性基础领域。在加强基础的问题上，要打破原有行业分割，主机行业与零部件行业要发挥各自优势，相互支持和配合，全力推进。四是两化融合战略。“两化融合”不仅在于将信息技术融入机械产品之中，加快机械产品向数字化、智能化发展，实现传统机械产品功能的提升和可靠性的提高；也不仅在于将信息技术应用于机械企业的经营管理，使研发、生产和企业管理向信息化、自动化、网络化发展，大幅度改善企业的经营管理水平；“两化融合”的深度推进更在于可以促进新发展理念的建立，促进研发能力、产品水平、市场模式、服务体系等方面的创新，提升研发设计、加工制造、企业管理及营销服务的效率和效益。五是“绿色为先”战略。节能减排和环境友好要成为“十二五”期间机械工业自身生产过程必须高度重视的基本要求，尤其是作为机械工业中高耗能环节的热加工企业更要重视节能减排和环境友好。机械工业要积极发展高效节能产品，大力发展新能源装备，为各行各业用户的节能降耗减排提供先进装备。同时，机械产品的设计和制造要更加关注体现全生命周期的绿色理念，“高效、低污染、能回收、资源可重复利用”等因素必须置于优先位置。要发展机械产品再制造，坚持走绿色制造和循环经济的新型工业化道路。（新华社）“十二五”期间我国机械工业要实施五大发展战略
11-05-93 Resin Liquid Level Control and Recoating of 11-05-109 The Controlling Improvements of the Speed of Vacuum Drum Filter
Stereolithography Apparatus
11-05-95 Research of the Water-saving Dejection Collecting Device with Increase Pressure Flush on Warship
11-05-111 Linkage Design for Unmanned Aerial Vehicle(UAV) Main Landing Gear Door
11-05-98 Study on 3d Solder Paste Inspector Error 11-05-115 Cant Compaction Agency Force Compensation System
Transmission Rod Connecting Mechanism of Improvement
11-05-118 Brief Analysis on the Maintenance of Amusement Equipment
11-05-103 Study of Embedded NC System Based on ARM9
11-05-121 Reflections on the Imported Second-Hand Excavating Machine
11-05-106 Technical Study of Low-Pressure Casting for 2.0L Gasoline Engine Cylinder Head
CHEN Wen-feng YE Shi-dong, LI Yao-tang Abstract: According to the speed control system problems of the Abstract: Stereolithography apparatus is a rapid prototyping belt speed gear motor of the pre-coated vacuum drum filter technique with the highest accuracy. The accuracy of cued parts is introduced from the DORR-OLIVER company in Netherlands, the subject to the influence of resin liquid level control and recoating of use of FRN2.2G11S-4CX Fuji inverter frequency control system, the SLA system. In this paper, the detailed analysis and summary the selection of the Y100L / 4 drive motor, and the setting of about liquid level control and recoating of the SLA system are frequency /frequency conversion switching circuit, carry out the reported.
device speed of technological transformation.After more than 5 Key words: SLA; liquid level control; recoating
years of practice, technical improvements of the equipment proved stable and normal operation, simple operation, control efficiency, easy maintenance and energy saving.
Key words: vacuum drum filter; frequency inverter; speed controlling; technical improvement
122ZHANG Wei-dong , ZHENG Hai-bin , WANG Zheng-qing , 2ZHANG Wei LI Tian-nan, WANG Xiao-feng, ZHANG Jian-quan Abstract: This paper analyzes the problems of dejects collecting Abstract: Under the situation of space layout compactness, device on certain warship, Combine the work environment and analyzing extension and retraction room of unmanned, aerial characteristic, water-saving dejection collecting device with vehicle(UA V) main landing gear door .making extension and increase pressure flush was brought. Then introduce this device’s retraction design between port and main landing gear come true . structural characteristics and work principle. This device has some And describing its extension and retraction status through computer characteristics, for example water-saving, simple operation, good simulation such kind of method can be used as a design reference flush effect, high reliability and so on. It can satisfy the warship for the linkage design of UA V main landing gear and the door with need.
the same type
Key words: naval ships; increase pressure flush; water-saving Key words: unmanned aerial vehicle; main landing gear door; dejection collecting device
linkage
122SHI Xue-chao , SUN Zhen-zhong , LU Sheng-lin XIONG Xu-ping, YAN Qiao-zhi
Abstract: from the problems in actual use starting, points out the Abstract: Because 3d solder paste inspector with large cant compaction institutions original force transmission rod measurement error was vulnerable to environment, operators and connecting mechanism easy generation of the cause of the problem, operation method, etc, an adaptive error compensation method was and on the analysis of the causes of the problems is proposed, based proposed. Automatic focusing system was realized by evaluating the on using a modified connecting mechanism structure method to solve the existing problems occurring again theoretical basis.
image quality using image quality analysis method, feeding the Key words: cant compaction institution; force transmission rod; result back to control system and searching optical focus by the connecting mechanism; improve
golden segmentation method. The dynamic reference plane which size was field of view (FOV) was established by fitting coordinates of non-pad regional points. Experimental results indicate that 3d solder paste inspector with adaptive error compensation method can CHEN Shao-peng eliminate error from PCB deformation effectively, which has stronger measurement ability and higher measurement precision.Abstract: Aiming at the recent accidents of big amusement Key words: 3d solder paste inspector; error compensation; auto equipment and the cause of the 6.29 accident in Shenzhen, focus; dynamic reference plane
combining the present utilization of amusement equipment in Guangdong Province and the problems we discovered through inspection, this paper confirms that a major cause leading to the accidents is the lack of routine maintenance, and the concrete YU Jian-feng solutions are put forward.
Abstract: Through expanding the CAN-bus interface on ARM to Key words: amusement equipment; maintenance; present condition and cause; countermeasure
realize the network function of embedded NC system based on ARM9 and MCX314AL. The embedded NC system structure and network function are described in detail. Besides the structure of the embedded NC system software is introduced. Key words: CNC; ARM9; MCX314AL;CAN
LONG Sai-qiong, CHEN Zhi-dan Abstract: The article analyzed the present situation of imported second-hand excavating machine. And it pointed out the problems existed in function safety, health and environmental aspect, which HE Shao also causes a hit to mechanical engineering industry in China. For Abstract: By absorbing production technology and experience from this case, it advocates that scientific methods must be used to Japan Honda, by the application of low-pressure casting production decrease the amount of imported second-hand excavating machines technology, to develop 2.0L Gasoline Engine Cylinder Head into Chinese market to protect natural resources at home, machinery independently, to realize industrialized production, and to supply to industry, and the whole industry chain related, to achieve the high-performance engines of domestic independent brands.
sustainable development.
Key words: cylinder head; low-pressure casting; temperature Key words: second-hand excavating machine; present situation; control; progressive solidification; Negative pressure exhaust
regulate
(Guangzhou Shuangqiao Company Ltd, (Guangzhou Electronic Technology Co., Ltd,
Guangzhou510280, China)
Guangzhou510070, China)
(1.Navy Military Representative Office in Bohai Shipyard,
Huludao125004, China; Wuhan Second Ship Design and Research (AVIC Institute,Wuhan430064,China)
Landing-gear Advanced Manufacturing Corp, Changsha410200, China)
(1.South China
University of Technology, School of Mechanical and Automotive (Pingdingshan industrial vocational Engineering, Guangzhou510640, China; 2.Dongguan University of and technical college, Pingdingshan 467001, China)Technology, Institute of Mechanical Engineering, Dongguan523808, China)
(Guangdong Special Equipment Inspection Institute, Guangzhou510643, China)
(Dongguan Polytechnic, Dongguan523808, China)(Nansha Entry-Exit Inspection and Quarantine Bureau, Guangzhou511457, China)
(Guangdong Zhaoqing Power Co., Ltd, Zhaoqing526000, China)Abstracts