Research Of Motion Control System Based On Embedded Linux

With the development of computer, Micro-electronics and technology related, embedded system is applied to more and more areas. In industrial control, the use of industrial computer and PLC is popular, especially for the motion control. However, in the application of small volume demanded such as mobile rotot, industrial computer and PLC have many disadvantages, but the motion control system based on micro-processor and embedded Linux become more popular because of its small volume, high processing capacity and good adaptability.In the thesis, the motion control system developed consists of two parts: the upper layer computer based on PXA255 CPU of Intel Xscale architecture uses the Linux operating system; the bottom layer DC servo motor digital control board is constructed by AT89S52. Two parts communicate by serial port and make up a motion control system.In the paper, firstly, the conception and structure of embedded system are introduced, subsequently merits and shortcomings of using Linux as embedded operating system are discussed after the history and characteristics of Linux operating system are analyzed.Subsequently, the system structure and configuration of the upper layer computer are analysed, then, the conception, main function, and the structure of Boot Loader are introduced, and also the popular Boot Loader: U-Boot's structure and its transplant to the upper layer computer are analyzed.Operating system guarantees the processing ability of the embedded system. So the paper introduces the setup of cross compiling circumstance for embedded Linux, cuts down and compiles the Linux kernel, discusses the transplant of ARM-Linux to the upper layer computer. Meanwhile, it not only introduces the technology and development of device driver procedure of Linux but also analyzes the module design technology of Linux and introduces the programming process of the serial port communication procedure in embedded Linux.The last section of the thesis analyses the hardware of the servo control board constructed by AT89S52 and introduces the software development of it. The design of the motion control system is completed.