Study On The Motion Control Of A Carve Machine Based On RTLinux And Its Application Under The Single Processor Mode

Real-time performance is one of the key components that influence the performance of motion control system. So it is very important to develop real-time performance of the control system for improving performance. In recent years, people pay more and more attentions to Real-time performance and constantly investigate the methods that embed real-time extension on Windows, Windows NT or Linux platform, to improve the real-time performance of control system.Linux source code is open, so real-time extension on Linux is open too. It is very expensive to embed real-time extension on Windows or Windows NT or use commercial real-time operation system. However, RTLinux is free and has outstanding real-time, stability and reliability. Consequently, Linux+RTLinux is used as the platform in this paper. With the development of computer, its arithmetic and storage capability can meet the need of control system based on single processor. Comparison with the mode of multiprocessors, its construction is simple, and the stability is good and its hardware cost is low. So the single processor mode is adopted.In this paper, the principles of RTLinux is explained, the feasibility, realization and key technique to construct control system based on RTLinux for carve machine based on single processor is analyzed. Firstly the software and hardware of the control system is designed. The hardware is composed of the common computer and I/O card. The segment of software is divided into real-time tasks(interpolation, acceleration/deceleration, input/output) and non-real-time tasks(data processing and so on) according to the need of real-time. Real-time tasks are implemented in RT-Linux and non-real-time tasks are implemented in Linux, and data are exchanged through FIFO between Real-time tasks and non-real-time tasks. Lastly, a control system of carve machine based on RTLinux experimental platform is carried out in this paper, and the experimental results are presented. The experimental results prove that RTLinux can meet the need of real-time performance. Also its stability and reliability are good. Linux+RTLinux is the suitable operation system platform for control system based on PC.