Research On Distributed Embeded Real-time Control System Applied On Robot Excavator

This dissertation is based on design and implementation of a real-time embedded control system that applied in excavator robot. In this dissertation, on the basis of analyzing the control of the hydraulic excavator and studying the distributed control method and technology deeply, the author brings forward a new plan for excavator robot that called "distributed excavator robot real-time embedded control system".The change from centralized control to distributed control makes each execute components be controlled by one controller. The whole control system works in a execrable environment and the volume and power cost should be small. The system should have high reliability and be resistant against disturb.In this dissertation, the author analyses the development of distributed control system, embedded real-time operation system and the request of real time and opening of the control system applied on excavator robot, and then put forward the distributed embedded control system that use the PC/104 as superior controller and the ADuC812 as the inferior controller. In the process of design of hardware of intelligent controller, the author introduce the modularization to the best of his ability in according to meet the request of real time and opening, make the volume small enough , the development time short enough and the cost low enough. CANbus is introduced for communication between intelligent controller, and the high reliability and speed make sure of the real time and correctness of the system.Real time operation system RTX51 is introduced in this dissertation. It's a real time operation system developed for 8051 microprocessor that can deal with multitask. RTX51 has the advantages of small capacity and can be used freely. According to the characters of RTX51, the application software of intelligent controller is composed by several tasks, and each task will be finished in stated time. This kind of design of software simplified the frame and improve the ability of realtime.It is proved by experimentation on pump control and automatic excavation that the distributed embedded control system has a good real time characteristic correctness and reliability.